Actuators::MicroCamD::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::RemoteActions *msg)
void	consume (const IMC::CameraZoom *msg)
void	setMirror (bool value)
void	setCameraMode (CameraMode mode)
void	setZoom (Zoom zoom)
void	setOSD (OSD osd)
void	setMode (Mode mode)
void	setPitchRate (int16_t pitch)
void	setRollRate (int16_t roll)
void	computeChecksum (void)
void	sendCommand (void)
bool	parse (uint8_t byte)
void	task (void)

Public Attributes
SerialPort *	m_uart
uint8_t	m_cmd [20]
Arguments	m_args
ParserStates	m_pstate
uint8_t	m_pdata [16]
uint8_t	m_pdata_idx
uint8_t	m_pdata_crc
IMC::EulerAngles	m_euler

Constructor & Destructor Documentation

Actuators::MicroCamD::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Actuators::MicroCamD::IDX_HDR1, Actuators::MicroCamD::IDX_HDR2, Actuators::MicroCamD::IDX_HDR3, m_args, m_cmd, Actuators::MicroCamD::Arguments::uart_baud, and Actuators::MicroCamD::Arguments::uart_dev.

Member Function Documentation

void Actuators::MicroCamD::Task::computeChecksum ( void  )

inline

References Actuators::MicroCamD::IDX_CSUM, and m_cmd.

Referenced by sendCommand().

void Actuators::MicroCamD::Task::consume ( const IMC::RemoteActions *  msg )

inline

References setMirror(), setPitchRate(), setRollRate(), setZoom(), Actuators::MicroCamD::ZOOM_IN, Actuators::MicroCamD::ZOOM_NO_CHANGE, and Actuators::MicroCamD::ZOOM_OUT.

void Actuators::MicroCamD::Task::consume ( const IMC::CameraZoom *  msg )

inline

References setZoom(), Actuators::MicroCamD::ZOOM_IN, Actuators::MicroCamD::ZOOM_NO_CHANGE, and Actuators::MicroCamD::ZOOM_OUT.

void Actuators::MicroCamD::Task::onResourceAcquisition ( void  )

inline

References m_args, m_uart, Actuators::MicroCamD::Arguments::uart_baud, and Actuators::MicroCamD::Arguments::uart_dev.

void Actuators::MicroCamD::Task::onResourceInitialization ( void  )

inline

References Actuators::MicroCamD::CAM_MODE_NDEP_FOV, Actuators::MicroCamD::MODE_RATE, Actuators::MicroCamD::OSD_NONE, sendCommand(), setCameraMode(), setMode(), and setOSD().

void Actuators::MicroCamD::Task::onResourceRelease ( void  )

inline

References m_uart.

bool Actuators::MicroCamD::Task::parse ( uint8_t  byte )

inline

References m_pdata, m_pdata_crc, m_pdata_idx, m_pstate, Actuators::MicroCamD::PST_CSUM, Actuators::MicroCamD::PST_DATA, Actuators::MicroCamD::PST_HDR1, Actuators::MicroCamD::PST_HDR2, and Actuators::MicroCamD::PST_HDR3.

Referenced by task().

void Actuators::MicroCamD::Task::sendCommand ( void  )

inline

References computeChecksum(), m_cmd, and m_uart.

Referenced by onResourceInitialization(), and task().

void Actuators::MicroCamD::Task::setCameraMode ( CameraMode  mode )

inline

References Actuators::MicroCamD::IDX_CAM_MODE, and m_cmd.

Referenced by onResourceInitialization().

void Actuators::MicroCamD::Task::setMirror ( bool  value )

inline

Referenced by consume().

void Actuators::MicroCamD::Task::setMode ( Mode  mode )

inline

References Actuators::MicroCamD::IDX_MODE, and m_cmd.

Referenced by onResourceInitialization().

void Actuators::MicroCamD::Task::setOSD ( OSD  osd )

inline

References Actuators::MicroCamD::IDX_MODE, and m_cmd.

Referenced by onResourceInitialization().

void Actuators::MicroCamD::Task::setPitchRate ( int16_t  pitch )

inline

References Actuators::MicroCamD::IDX_PITCH_RATE_MSB, Actuators::MicroCamD::IDX_PITCH_ROLL_LSB, and m_cmd.

Referenced by consume().

void Actuators::MicroCamD::Task::setRollRate ( int16_t  roll )

inline

References Actuators::MicroCamD::IDX_PITCH_ROLL_LSB, Actuators::MicroCamD::IDX_ROLL_RATE_MSB, and m_cmd.

Referenced by consume().

void Actuators::MicroCamD::Task::setZoom ( Zoom  zoom )

inline

References Actuators::MicroCamD::IDX_ZOOM, and m_cmd.

Referenced by consume().

void Actuators::MicroCamD::Task::task ( void  )

inline

References m_euler, m_pdata, m_uart, parse(), and sendCommand().

Member Data Documentation

Arguments Actuators::MicroCamD::Task::m_args

Referenced by onResourceAcquisition(), and Task().

uint8_t Actuators::MicroCamD::Task::m_cmd[20]

Referenced by computeChecksum(), sendCommand(), setCameraMode(), setMode(), setOSD(), setPitchRate(), setRollRate(), setZoom(), and Task().

IMC::EulerAngles Actuators::MicroCamD::Task::m_euler

Referenced by task().

uint8_t Actuators::MicroCamD::Task::m_pdata[16]

Referenced by parse(), and task().

uint8_t Actuators::MicroCamD::Task::m_pdata_crc

Referenced by parse().

uint8_t Actuators::MicroCamD::Task::m_pdata_idx

Referenced by parse().

ParserStates Actuators::MicroCamD::Task::m_pstate

Referenced by parse().

SerialPort* Actuators::MicroCamD::Task::m_uart

Referenced by onResourceAcquisition(), onResourceRelease(), sendCommand(), and task().

Collaboration diagram for Actuators::MicroCamD::Task: