Actuators::SingleSIMCT01::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onUpdateParameters (void)
bool	sendCommand (const char *cmd, char *bfr, unsigned bfr_len)
void	demand (void)
void	queryCurrent (void)
void	queryRPM (void)
void	consume (const IMC::SetThrusterActuation *msg)
void	task (void)

Public Attributes
SerialPort *	m_uart
int8_t	m_demand
char	m_scratch [15]
IMC::Rpm	m_rpm
IMC::Current	m_amp
std::string	m_cmd_query_amp
std::string	m_cmd_query_rpm
std::string	m_rpl_demand
unsigned	m_err_count
Counter< float >	m_err_wdog
Arguments	m_args

Static Public Attributes
static const unsigned	c_err_max

Constructor & Destructor Documentation

Actuators::SingleSIMCT01::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References m_args, Actuators::SingleSIMCT01::Arguments::motor_id, Actuators::SingleSIMCT01::Arguments::scale, Actuators::SingleSIMCT01::Arguments::thruster_id, Actuators::SingleSIMCT01::Arguments::uart_baud, Actuators::SingleSIMCT01::Arguments::uart_dev, and Actuators::SingleSIMCT01::Arguments::uart_echo.

Member Function Documentation

void Actuators::SingleSIMCT01::Task::consume ( const IMC::SetThrusterActuation *  msg )

inline

References m_args, m_demand, Actuators::SingleSIMCT01::Arguments::scale, and Actuators::SingleSIMCT01::Arguments::thruster_id.

void Actuators::SingleSIMCT01::Task::demand ( void  )

inline

References m_args, m_demand, m_err_count, m_rpl_demand, m_scratch, Actuators::SingleSIMCT01::Arguments::motor_id, and sendCommand().

Referenced by task().

void Actuators::SingleSIMCT01::Task::onResourceAcquisition ( void  )

inline

References m_args, m_uart, Actuators::SingleSIMCT01::Arguments::uart_baud, and Actuators::SingleSIMCT01::Arguments::uart_dev.

void Actuators::SingleSIMCT01::Task::onResourceRelease ( void  )

inline

References m_uart.

void Actuators::SingleSIMCT01::Task::onUpdateParameters ( void  )

inline

References m_args, m_cmd_query_amp, m_cmd_query_rpm, m_rpl_demand, Actuators::SingleSIMCT01::Arguments::motor_id, and Actuators::SingleSIMCT01::Arguments::thruster_id.

void Actuators::SingleSIMCT01::Task::queryCurrent ( void  )

inline

References m_amp, m_cmd_query_amp, m_err_count, and sendCommand().

Referenced by task().

void Actuators::SingleSIMCT01::Task::queryRPM ( void  )

inline

References m_cmd_query_rpm, m_err_count, m_rpm, and sendCommand().

Referenced by task().

bool Actuators::SingleSIMCT01::Task::sendCommand ( const char *  cmd, char *  bfr, unsigned  bfr_len  )

inline

References m_args, m_uart, and Actuators::SingleSIMCT01::Arguments::uart_echo.

Referenced by demand(), queryCurrent(), and queryRPM().

void Actuators::SingleSIMCT01::Task::task ( void  )

inline

References c_err_max, demand(), m_err_count, m_err_wdog, DUNE::Time::Counter< T >::overflow(), queryCurrent(), queryRPM(), and DUNE::Time::Counter< T >::reset().

Member Data Documentation

const unsigned Actuators::SingleSIMCT01::Task::c_err_max

static

Referenced by task().

IMC::Current Actuators::SingleSIMCT01::Task::m_amp

Referenced by queryCurrent().

Arguments Actuators::SingleSIMCT01::Task::m_args

Referenced by consume(), demand(), onResourceAcquisition(), onUpdateParameters(), sendCommand(), and Task().

std::string Actuators::SingleSIMCT01::Task::m_cmd_query_amp

Referenced by onUpdateParameters(), and queryCurrent().

std::string Actuators::SingleSIMCT01::Task::m_cmd_query_rpm

Referenced by onUpdateParameters(), and queryRPM().

int8_t Actuators::SingleSIMCT01::Task::m_demand

Referenced by consume(), and demand().

unsigned Actuators::SingleSIMCT01::Task::m_err_count

Referenced by demand(), queryCurrent(), queryRPM(), and task().

Counter<float> Actuators::SingleSIMCT01::Task::m_err_wdog

Referenced by task().

std::string Actuators::SingleSIMCT01::Task::m_rpl_demand

Referenced by demand(), and onUpdateParameters().

IMC::Rpm Actuators::SingleSIMCT01::Task::m_rpm

Referenced by queryRPM().

char Actuators::SingleSIMCT01::Task::m_scratch[15]

Referenced by demand().

SerialPort* Actuators::SingleSIMCT01::Task::m_uart

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

Collaboration diagram for Actuators::SingleSIMCT01::Task: