Actuators::SCRTv4::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityReservation (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	consume (const IMC::SetServoPosition *msg)
bool	readConstantParameters (void)
bool	readEffectiveParameters (void)
bool	startContinuous (void)
bool	stopContinuous (void)
LUCL::Command *	waitForReply (Commands command, double timeout)
bool	waitForReplyAndDiscard (Commands command, double timeout)
uint8_t	convertAngleToDemand (unsigned servo, double angle)
void	setServoPosition (uint8_t servo, double position)
void	handleState (LUCL::Command::CommandPayload &cmd)
void	handleCommand (LUCL::Command *cmd)
void	dispatchStats (void)
void	clearStats (void)
void	onMain (void)

Public Attributes
Arguments	m_args
IMC::ServoPosition	m_servo_pos [c_servo_count]
IMC::Current	m_servo_amp [c_servo_count]
SerialPort *	m_uart
Listener *	m_listener
double	m_exc_min [c_servo_count]
double	m_exc_max [c_servo_count]
uint8_t	m_demand_res
unsigned	m_stat_invalid
unsigned	m_stat_error
unsigned	m_stat_timeout
Counter< double >	m_wdog

Constructor & Destructor Documentation

Actuators::SCRTv4::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Actuators::SCRTv4::Arguments::servo_dirs, and Actuators::SCRTv4::Arguments::uart_dev.

Member Function Documentation

void Actuators::SCRTv4::Task::clearStats ( void  )

inline

void Actuators::SCRTv4::Task::consume ( const IMC::SetServoPosition *  msg )

inline

uint8_t Actuators::SCRTv4::Task::convertAngleToDemand ( unsigned  servo, double  angle  )

inline

References Actuators::SCRTv4::Arguments::servo_dirs.

void Actuators::SCRTv4::Task::dispatchStats ( void  )

inline

void Actuators::SCRTv4::Task::handleCommand ( LUCL::Command *  cmd )

inline

References Actuators::SCRTv4::CMD_STATE.

void Actuators::SCRTv4::Task::handleState ( LUCL::Command::CommandPayload &  cmd )

inline

References Actuators::SCRTv4::Arguments::servo_dirs.

void Actuators::SCRTv4::Task::onEntityReservation ( void  )

inline

void Actuators::SCRTv4::Task::onMain ( void  )

inline

References Actuators::SCRTv4::Listener::pop(), and Actuators::SCRTv4::Listener::waitForCommand().

void Actuators::SCRTv4::Task::onResourceAcquisition ( void  )

inline

References Actuators::SCRTv4::Arguments::uart_dev.

void Actuators::SCRTv4::Task::onResourceInitialization ( void  )

inline

void Actuators::SCRTv4::Task::onResourceRelease ( void  )

inline

bool Actuators::SCRTv4::Task::readConstantParameters ( void  )

inline

References Actuators::SCRTv4::CMD_PARAMS_CON.

bool Actuators::SCRTv4::Task::readEffectiveParameters ( void  )

inline

References Actuators::SCRTv4::CMD_PARAMS_EFF.

void Actuators::SCRTv4::Task::setServoPosition ( uint8_t  servo, double  position  )

inline

References Actuators::SCRTv4::CMD_SERVO_SET.

bool Actuators::SCRTv4::Task::startContinuous ( void  )

inline

References Actuators::SCRTv4::CMD_STATE, and Actuators::SCRTv4::CONT_OUT_RATE_10HZ.

bool Actuators::SCRTv4::Task::stopContinuous ( void  )

inline

References Actuators::SCRTv4::CMD_CHECK_FUSES, Actuators::SCRTv4::CMD_STATE, and Actuators::SCRTv4::CONT_OUT_RATE_0HZ.

LUCL::Command* Actuators::SCRTv4::Task::waitForReply ( Commands  command, double  timeout  )

inline

References Actuators::SCRTv4::Listener::pop(), and Actuators::SCRTv4::Listener::waitForCommand().

bool Actuators::SCRTv4::Task::waitForReplyAndDiscard ( Commands  command, double  timeout  )

inline

Member Data Documentation

Arguments Actuators::SCRTv4::Task::m_args

Task arguments.

uint8_t Actuators::SCRTv4::Task::m_demand_res

Demand resolution.

double Actuators::SCRTv4::Task::m_exc_max[c_servo_count]

Maximum excursion (º).

double Actuators::SCRTv4::Task::m_exc_min[c_servo_count]

Minimum excursion (º).

Listener* Actuators::SCRTv4::Task::m_listener

Command listener.

IMC::Current Actuators::SCRTv4::Task::m_servo_amp[c_servo_count]

Current messages.

IMC::ServoPosition Actuators::SCRTv4::Task::m_servo_pos[c_servo_count]

Servo position messages.

unsigned Actuators::SCRTv4::Task::m_stat_error

Count of communication errors.

unsigned Actuators::SCRTv4::Task::m_stat_invalid

Count of invalid checksums.

unsigned Actuators::SCRTv4::Task::m_stat_timeout

Count of command timeouts.

SerialPort* Actuators::SCRTv4::Task::m_uart

Serial port device.

Counter<double> Actuators::SCRTv4::Task::m_wdog

Watchdog.

Collaboration diagram for Actuators::SCRTv4::Task: