Sensors::OS4000::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
bool	onConnect () override
void	onDisconnect () override
bool	onSynchronize () override
void	onInitializeDevice () override
int	readString (void)
bool	setParameter (const char *command, const char *label, int value)
void	changeCalibrationState (CalibrationStates state)
void	consume (const IMC::DevCalibrationControl *msg)
void	calibrating (void)
void	terminateCalibration (void)
bool	onReadData () override

Public Attributes
SerialPort *	m_uart
IMC::EulerAngles	m_euler
IMC::MagneticField	m_mag
IMC::Acceleration	m_accel
IMC::Temperature	m_temp
IMC::DevCalibrationState	m_states [STA_MAX]
CalibrationStates	m_state
int	m_accumulator
char	m_bfr [c_bfr_size]
double	m_tstamp
Arguments	m_args
Counter< double >	m_wdog

Static Public Attributes
static const unsigned	c_bfr_size

Constructor & Destructor Documentation

Task()

Sensors::OS4000::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::OS4000::Arguments::data_rate, Sensors::OS4000::Arguments::data_tout, Sensors::OS4000::Arguments::io_dev, Sensors::OS4000::STA_BOOT, Sensors::OS4000::STA_CALIBRATED, Sensors::OS4000::STA_ERROR, Sensors::OS4000::STA_NUM_STEPS, Sensors::OS4000::STA_ROTATE, and Sensors::OS4000::STA_WAIT_LEVEL.

Member Function Documentation

calibrating()

void Sensors::OS4000::Task::calibrating ( void  )

inline

References Sensors::OS4000::STA_CALIBRATED.

changeCalibrationState()

void Sensors::OS4000::Task::changeCalibrationState ( CalibrationStates  state )

inline

Change calibration state.

Parameters

[in]

state

calibration state.

consume()

void Sensors::OS4000::Task::consume ( const IMC::DevCalibrationControl *  msg )

inline

References Sensors::OS4000::STA_BOOT, Sensors::OS4000::STA_CALIBRATED, Sensors::OS4000::STA_ERROR, Sensors::OS4000::STA_ROTATE, and Sensors::OS4000::STA_WAIT_LEVEL.

onConnect()

bool Sensors::OS4000::Task::onConnect ( void  )

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::OS4000::Arguments::io_dev.

onDisconnect()

void Sensors::OS4000::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

onInitializeDevice()

void Sensors::OS4000::Task::onInitializeDevice ( void  )

inlineoverride

Device may be initialized.

onReadData()

bool Sensors::OS4000::Task::onReadData ( void  )

inlineoverride

Get data from device.

Returns

true if data was received, false otherwise.

References Sensors::OS4000::STA_ROTATE, and Sensors::OS4000::STA_WAIT_LEVEL.

onSynchronize()

bool Sensors::OS4000::Task::onSynchronize ( void  )

inlineoverride

Synchronize with device.

References Sensors::OS4000::Arguments::data_rate, and Sensors::OS4000::STA_BOOT.

onUpdateParameters()

void Sensors::OS4000::Task::onUpdateParameters ( void  )

inline

Update Task parameters.

References Sensors::OS4000::Arguments::data_tout.

readString()

int Sensors::OS4000::Task::readString ( void  )

inline

Read a string from the serial port,.

Returns

amount of bytes actually read.

setParameter()

bool Sensors::OS4000::Task::setParameter ( const char *  command, const char *  label, int  value  )

inline

Define a given parameter in the device.

Parameters

[in]	command	input command.
[in]	label	label of the parameter.
[in]	value	value of the parameter.

Returns

true if successful, false otherwise.

terminateCalibration()

void Sensors::OS4000::Task::terminateCalibration ( void  )

inline

Member Data Documentation

c_bfr_size

const unsigned Sensors::OS4000::Task::c_bfr_size

static

Internal read buffer.

m_accel

IMC::Acceleration Sensors::OS4000::Task::m_accel

Acceleration message.

m_accumulator

int Sensors::OS4000::Task::m_accumulator

Calibration characters accumulator.

m_args

Arguments Sensors::OS4000::Task::m_args

Task arguments.

m_bfr

char Sensors::OS4000::Task::m_bfr[c_bfr_size]

Internal read buffer.

m_euler

IMC::EulerAngles Sensors::OS4000::Task::m_euler

Euler angles message.

m_mag

IMC::MagneticField Sensors::OS4000::Task::m_mag

Magnetic field message.

m_state

CalibrationStates Sensors::OS4000::Task::m_state

Calibration states.

m_states

IMC::DevCalibrationState Sensors::OS4000::Task::m_states[STA_MAX]

Device Calibration State message.

m_temp

IMC::Temperature Sensors::OS4000::Task::m_temp

Temperature.

m_tstamp

double Sensors::OS4000::Task::m_tstamp

Read timestamp.

m_uart

SerialPort* Sensors::OS4000::Task::m_uart

Serial port.

m_wdog

Counter<double> Sensors::OS4000::Task::m_wdog

Watchdog.

Collaboration diagram for Sensors::OS4000::Task: