UavcanHardpointController Class Reference

The UavcanHardpointController class. More...

#include <hardpoint.hpp>

Collaboration diagram for UavcanHardpointController:

Public Member Functions
	UavcanHardpointController (uavcan::INode &node)
	~UavcanHardpointController ()
int	init ()
void	set_command (uint8_t hardpoint_id, uint16_t command)

Private Types
typedef uavcan::MethodBinder< UavcanHardpointController *, void(UavcanHardpointController::*)(const uavcan::TimerEvent &)>	TimerCbBinder

Private Member Functions
void	periodic_update (const uavcan::TimerEvent &)

Private Attributes
uavcan::equipment::hardpoint::Command	_cmd
pthread_mutex_t	_node_mutex
uavcan::INode &	_node
uavcan::Publisher< uavcan::equipment::hardpoint::Command >	_uavcan_pub_raw_cmd
uavcan::TimerEventForwarder< TimerCbBinder >	_timer

Static Private Attributes
static constexpr unsigned	MAX_RATE_HZ = 1
	XXX make this configurable. More...

Detailed Description

The UavcanHardpointController class.

Definition at line 51 of file hardpoint.hpp.

Member Typedef Documentation

TimerCbBinder

typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)> UavcanHardpointController::TimerCbBinder

private

Definition at line 79 of file hardpoint.hpp.

Constructor & Destructor Documentation

UavcanHardpointController()

UavcanHardpointController::UavcanHardpointController

(

uavcan::INode &

node

)

Definition at line 43 of file hardpoint.cpp.

References _uavcan_pub_raw_cmd.

~UavcanHardpointController()

UavcanHardpointController::~UavcanHardpointController

(

)

Definition at line 51 of file hardpoint.cpp.

Member Function Documentation

init()

int UavcanHardpointController::init

(

)

Definition at line 57 of file hardpoint.cpp.

References _timer, and periodic_update().

Referenced by UavcanNode::init().

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periodic_update()

void UavcanHardpointController::periodic_update ( const uavcan::TimerEvent &  )

private

Definition at line 87 of file hardpoint.cpp.

References _cmd, and _uavcan_pub_raw_cmd.

Referenced by init().

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set_command()

void UavcanHardpointController::set_command	(	uint8_t	hardpoint_id,
		uint16_t	command
	)

Definition at line 67 of file hardpoint.cpp.

References _cmd, _timer, _uavcan_pub_raw_cmd, command, and MAX_RATE_HZ.

Referenced by UavcanNode::hardpoint_controller_set(), and UavcanNode::ioctl().

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Member Data Documentation

_cmd

uavcan::equipment::hardpoint::Command UavcanHardpointController::_cmd

private

Definition at line 74 of file hardpoint.hpp.

Referenced by periodic_update(), and set_command().

_node

uavcan::INode& UavcanHardpointController::_node

private

Definition at line 85 of file hardpoint.hpp.

_node_mutex

pthread_mutex_t UavcanHardpointController::_node_mutex

private

Definition at line 81 of file hardpoint.hpp.

_timer

uavcan::TimerEventForwarder<TimerCbBinder> UavcanHardpointController::_timer

private

Definition at line 87 of file hardpoint.hpp.

Referenced by init(), and set_command().

_uavcan_pub_raw_cmd

uavcan::Publisher<uavcan::equipment::hardpoint::Command> UavcanHardpointController::_uavcan_pub_raw_cmd

private

Definition at line 86 of file hardpoint.hpp.

Referenced by periodic_update(), set_command(), and UavcanHardpointController().

MAX_RATE_HZ

constexpr unsigned UavcanHardpointController::MAX_RATE_HZ = 1

staticprivate

XXX make this configurable.

Definition at line 72 of file hardpoint.hpp.

Referenced by set_command().

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

• src/drivers/uavcan/actuators/hardpoint.hpp
• src/drivers/uavcan/actuators/hardpoint.cpp