DUNE: Uniform Navigational Environment  2019.02.0
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

Member Function Documentation

void Actuators::SingleSIMCT01::Task::consume ( const IMC::SetThrusterActuation *  msg)
inline
void Actuators::SingleSIMCT01::Task::demand ( void  )
inline
void Actuators::SingleSIMCT01::Task::onResourceAcquisition ( void  )
inline
void Actuators::SingleSIMCT01::Task::onResourceRelease ( void  )
inline

References m_uart.

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

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
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
Collaboration diagram for Actuators::SingleSIMCT01::Task:
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