Classes
struct	Arguments

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	consume (const IMC::SetServoPosition *msg)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (void) const

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

DebugLevel	getDebugLevel (void) const

uint16_t	getActivationTime (void) const

uint16_t	getDeactivationTime (void) const

unsigned int	resolveSystemName (const std::string &name) const

const char *	resolveSystemId (unsigned int id) const

void	loadConfig (void)

void	setPriority (unsigned int value)

unsigned int	getPriority (void) const

void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2

void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

void	receive (const IMC::Message *msg)

void	reserveEntities (void)

void	resolveEntities (void)

void	acquireResources (void)

void	releaseResources (void)

void	initializeResources (void)

void	updateParameters (bool act_deact=true)

void	writeParamsXML (std::ostream &os) const

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)

virtual	~AbstractTask (void)

Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)

virtual	~Thread (void)

int	getProcessorUsage (void)

Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)

virtual	~Runnable (void)

void	start (void)

void	stop (void)

void	join (void)

void	stopAndJoin (void)

void	setPriority (Scheduler::Policy policy, unsigned priority)

unsigned	getPriority (void)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
Arguments	m_args

ServoPwm *	m_servo_0

ServoPwm *	m_servo_1

ServoPwm *	m_servo_2

bool	updateMsg

double	valuePos

uint8_t	idServo

bool	m_wrong_mode

bool	m_pwm_state

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

Entities::BasicEntity *	getLocalEntity (const std::string &label)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (void) const

void	waitForMessages (double timeout)

void	consumeMessages (void)

template<typename T >
Parameter &	param (const std::string &name, T &var)

template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)

template<typename T >
bool	paramChanged (T &var)

void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)

void	setParamSectionEditor (const std::string &name)

template<typename M , typename T >
void	bind (T task_obj, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)

template<typename T , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)

void	bind (unsigned int message_id, AbstractConsumer *consumer)

void	requestActivation (void)

void	requestDeactivation (void)

void	activate (void)

void	activationFailed (const std::string &reason)

void	deactivate (void)

void	deactivationFailed (const std::string &reason)

virtual bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onResourceAcquisition (void)

virtual void	onUpdateParameters (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

unsigned	getPriorityImpl (void)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

◆ Task()

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

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References DUNE::Tasks::Parameter::defaultValue(), Actuators::PWM::Task::Arguments::operation_mode, DUNE::Tasks::Task::param(), and Actuators::PWM::Task::Arguments::port_io.

Member Function Documentation

◆ consume()

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

inline

References Actuators::PWM::ServoPwm::CheckGPIOSate(), DUNE::Tasks::Task::setEntityState(), and Actuators::PWM::ServoPwm::SetPwmValue().

◆ onMain()

void Actuators::PWM::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), idServo, Actuators::PWM::Task::Arguments::operation_mode, DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), valuePos, and DUNE::Tasks::Task::waitForMessages().

◆ onResourceInitialization()

void Actuators::PWM::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Actuators::PWM::Task::Arguments::operation_mode, Actuators::PWM::Task::Arguments::port_io, and DUNE::Tasks::Task::setEntityState().

◆ onResourceRelease()

void Actuators::PWM::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_servo_0, m_servo_1, and m_servo_2.

Member Data Documentation

◆ idServo

uint8_t Actuators::PWM::Task::idServo

ID servo.

Referenced by onMain().

◆ m_args

Arguments Actuators::PWM::Task::m_args

◆ m_pwm_state

bool Actuators::PWM::Task::m_pwm_state

State of pwm.

◆ m_servo_0

ServoPwm* Actuators::PWM::Task::m_servo_0

Servo 0.

Referenced by onResourceRelease().

◆ m_servo_1

ServoPwm* Actuators::PWM::Task::m_servo_1

Servo 1.

Referenced by onResourceRelease().

◆ m_servo_2

ServoPwm* Actuators::PWM::Task::m_servo_2

Servo 2.

Referenced by onResourceRelease().

◆ m_wrong_mode

bool Actuators::PWM::Task::m_wrong_mode

Wrong operation mode.

◆ updateMsg

bool Actuators::PWM::Task::updateMsg

State of update msg servo position.

◆ valuePos

double Actuators::PWM::Task::valuePos

Value of servo position in deg.

Referenced by onMain().

Collaboration diagram for Actuators::PWM::Task:

Classes

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ consume()

◆ onMain()

◆ onResourceInitialization()

◆ onResourceRelease()

Member Data Documentation

◆ idServo

◆ m_args

◆ m_pwm_state

◆ m_servo_0

◆ m_servo_1

◆ m_servo_2

◆ m_wrong_mode

◆ updateMsg

◆ valuePos