#include <Dsp3000Task.hpp>
Public Member Functions | |
| Dsp3000Task (std::string const &name="fog_kvh::Dsp3000Task") | |
| ~Dsp3000Task () | |
| bool | configureHook () |
| The following lines are template definitions for the various state machine. More... | |
| bool | startHook () |
| void | updateHook () |
| void | stopHook () |
| void | cleanupHook () |
Protected Attributes | |
| Dsp3000Driver * | driver |
| double | sum |
| int | id |
| aggregator::TimestampEstimator * | timestamp_estimator |
| dsp3000Mode | currentMode |
| base::samples::IMUSensors | driverData |
| RTT::extras::FileDescriptorActivity * | activity |
Friends | |
| class | Dsp3000TaskBase |
Constructor & Destructor Documentation
| Dsp3000Task::Dsp3000Task | ( | std::string const & | name = "fog_kvh::Dsp3000Task" | ) |
| Dsp3000Task::~Dsp3000Task | ( | ) |
Member Function Documentation
| void Dsp3000Task::cleanupHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.
| bool Dsp3000Task::configureHook | ( | ) |
The following lines are template definitions for the various state machine.
This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.
It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):
task_context "TaskName" do needs_configuration ... end
Angular velocity of the FOG gyros use the IMUSensors class
Set to zero the other axis
Set to zero de other sensors that FOG does not have
| bool Dsp3000Task::startHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.
| void Dsp3000Task::stopHook | ( | ) |
This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.
Call recovered() to go back in the Runtime state. This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.
| void Dsp3000Task::updateHook | ( | ) |
This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.
The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.
In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.
< double to get values from the FOG driver
Read the value from the FOG
Store the value in the IMUSensors datatype
write the object in the port
Write the integrated output also in the other port (RigidBodyState)
Friends And Related Function Documentation
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Member Data Documentation
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The documentation for this class was generated from the following files:
- /build/rock-master-18.09-drivers-orogen-fog-kvh-0.20160812/tasks/Dsp3000Task.hpp
- /build/rock-master-18.09-drivers-orogen-fog-kvh-0.20160812/tasks/Dsp3000Task.cpp
