Monitors::Servos::Arguments Struct Reference

Public Attributes
bool	pos_fault_detect
float	pos_error_threshold
float	rate_factor
double	pos_error_delay
unsigned	pos_error_samples
double	max_rotation_rate
bool	curr_fault_detect
float	curr_lower
float	curr_upper
int	max_lfaults
int	max_ufaults
double	fault_cooldown
std::string	elabel_ampg [c_servo_count]
double	error_time
unsigned	error_count

Member Data Documentation

bool Monitors::Servos::Arguments::curr_fault_detect

Monitor electric current faults.

Referenced by Monitors::Servos::Task::consume(), Monitors::Servos::Task::onResourceAcquisition(), Monitors::Servos::Task::onResourceInitialization(), Monitors::Servos::Task::onUpdateParameters(), and Monitors::Servos::Task::Task().

float Monitors::Servos::Arguments::curr_lower

Current lower threshold to consider abnormal behavior.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

float Monitors::Servos::Arguments::curr_upper

Current upper threshold to consider abnormal behavior.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

std::string Monitors::Servos::Arguments::elabel_ampg[c_servo_count]

Servo current entity labels.

Referenced by Monitors::Servos::Task::onEntityResolution(), and Monitors::Servos::Task::Task().

unsigned Monitors::Servos::Arguments::error_count

Failure error counter.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::updateState().

double Monitors::Servos::Arguments::error_time

Failure error timeout.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

double Monitors::Servos::Arguments::fault_cooldown

Period of time after which the fault vectors will be reset to zero.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

int Monitors::Servos::Arguments::max_lfaults

Number of faults above the lower threshold to consider a fault detection.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

double Monitors::Servos::Arguments::max_rotation_rate

Maximum rotation rate of the servos.

Referenced by Monitors::Servos::Task::onUpdateParameters(), Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

int Monitors::Servos::Arguments::max_ufaults

Number of faults above the upper threshold to consider a fault detection.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

double Monitors::Servos::Arguments::pos_error_delay

Delay for the detection triggering using DelayedTrigger class.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

unsigned Monitors::Servos::Arguments::pos_error_samples

Number of samples for the moving average in the DelayedTrigger object.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

float Monitors::Servos::Arguments::pos_error_threshold

Threshold for fault detection in the position error (command vs position)

Referenced by Monitors::Servos::Task::onUpdateParameters(), Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

bool Monitors::Servos::Arguments::pos_fault_detect

Monitor position faults.

Referenced by Monitors::Servos::Task::consume(), Monitors::Servos::Task::onMain(), Monitors::Servos::Task::onResourceInitialization(), Monitors::Servos::Task::onUpdateParameters(), and Monitors::Servos::Task::Task().

float Monitors::Servos::Arguments::rate_factor

Factor in detection for comparing accumulated difference (command vs position)

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

Collaboration diagram for Monitors::Servos::Arguments: