mars::Sonar Class Reference

#include <Sonar.hpp>

Inheritance diagram for mars::Sonar:

Public Member Functions
	Sonar (std::string const &name="mars::Sonar")
	Sonar (std::string const &name, RTT::ExecutionEngine *engine)
double	getSonarBeamBearing (unsigned long sonar_mounting_id)
void	updateTopSonarPosition ()
bool	getSonarData (base::samples::SonarBeam &sonar_beam)
	The following lines are template definitions for the various state machine. More...
virtual bool	setLeft_limit (double value)
virtual bool	setMaximum_distance (double value)
virtual bool	setPing_pong_mode (bool value)
virtual bool	setResolution (double value)
virtual bool	setRight_limit (double value)
	~Sonar ()
bool	startHook ()
void	updateHook ()

Protected Member Functions
void	update (double time)

Protected Attributes
base::samples::SonarBeam	sonar_beam
unsigned long	node_id
mars::SonarConfig *	sonar_config
int	sonar_motor_direction
pthread_mutex_t *	sonar_update_mutex

Friends
class	SonarBase

Constructor & Destructor Documentation

Sonar() [1/2]

Sonar::Sonar

(

std::string const &

name = "mars::Sonar"

)

Sonar() [2/2]

Sonar::Sonar	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

~Sonar()

Sonar::~Sonar

(

)

Member Function Documentation

getSonarBeamBearing()

double mars::Sonar::getSonarBeamBearing

(

unsigned long

sonar_mounting_id

)

getSonarData()

bool Sonar::getSonarData

(

base::samples::SonarBeam &

sonar_beam

)

The following lines are template definitions for the various state machine.

setLeft_limit()

bool Sonar::setLeft_limit ( double  value )

virtual

setMaximum_distance()

bool Sonar::setMaximum_distance ( double  value )

virtual

setPing_pong_mode()

bool Sonar::setPing_pong_mode ( bool  value )

virtual

setResolution()

bool Sonar::setResolution ( double  value )

virtual

setRight_limit()

bool Sonar::setRight_limit ( double  value )

virtual

startHook()

bool Sonar::startHook

(

)

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 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.

update()

void Sonar::update ( double  time )

protected

updateHook()

void Sonar::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.

updateTopSonarPosition()

void mars::Sonar::updateTopSonarPosition

(

)

Friends And Related Function Documentation

SonarBase

friend class SonarBase

friend

Member Data Documentation

node_id

unsigned long mars::Sonar::node_id

protected

sonar_beam

base::samples::SonarBeam mars::Sonar::sonar_beam

protected

sonar_config

mars::SonarConfig* mars::Sonar::sonar_config

protected

sonar_motor_direction

int mars::Sonar::sonar_motor_direction

protected

sonar_update_mutex

pthread_mutex_t* mars::Sonar::sonar_update_mutex

protected

---

The documentation for this class was generated from the following files:

• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/Sonar.hpp
• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/Sonar.cpp