pmc_actuator_tool.cc File Reference

#include <pmc_actuator/pmc_actuator.h>
#include <unistd.h>
#include <cerrno>
#include <cstring>
#include <algorithm>
#include <chrono>
#include <fstream>
#include <iostream>
#include <iterator>
#include <map>
#include <mutex>
#include <sstream>
#include <string>
#include <thread>
#include <vector>

Include dependency graph for pmc_actuator_tool.cc:

Classes
struct	PmcActuatorData

Macros
#define	DEFAULT_CSV_FILE   "nozzle_identification.csv"
#define	DEFAULT_I2C_DEV   "/dev/i2c-2"
#define	DEFAULT_I2C_ADDRESSES   { 0x21, 0x20 }
#define	DEFAULT_I2C_RETRIES   3
#define	DEFAULT_CONTROL_RATE_HZ   62.5
#define	MIN_BLOWER_SPEED   0
#define	MAX_BLOWER_SPEED   232
#define	MIN_NOZZLE_POSITION   0
#define	MAX_NOZZLE_POSITION   255
#define	STUB_CMDS_FILENAME   "/tmp/hw/pmc/commands"
#define	STUB_TELEM_FILENAME   "/tmp/hw/pmc/telemetry"

Typedefs
typedef std::map< double, pmc_actuator::Command >	PmcCommandList
typedef std::shared_ptr< pmc_actuator::PmcActuatorBase >	PmcActuatorPtr
typedef std::pair< PmcActuatorPtr, PmcActuatorData >	PmcActuatorPair
typedef std::vector< PmcActuatorPair >	PmcActuatorVec

Functions
uint32_t	InputUnsignedInteger (uint32_t min, uint32_t max)
std::string	InputFile ()
void	PmcMenu (PmcActuatorPair &pmc_pair)
bool	RunFile (PmcActuatorVec &pmcs, std::string &csv)
bool	MainMenu (PmcActuatorVec &pmcs, std::string &csv)
void	ControlThread (PmcActuatorVec &pmcs, double rate, bool &finished)
int	main (int argc, char *argv[])

Variables
bool	kLogging = false
bool	kDebug = false
bool	kLooping = false
std::mutex	data_mutex_
pmc_actuator::Command	null_command_
std::chrono::time_point< std::chrono::steady_clock >	plan_start_time_

Macro Definition Documentation

DEFAULT_CONTROL_RATE_HZ

#define DEFAULT_CONTROL_RATE_HZ   62.5

DEFAULT_CSV_FILE

#define DEFAULT_CSV_FILE   "nozzle_identification.csv"

DEFAULT_I2C_ADDRESSES

#define DEFAULT_I2C_ADDRESSES   { 0x21, 0x20 }

DEFAULT_I2C_DEV

#define DEFAULT_I2C_DEV   "/dev/i2c-2"

DEFAULT_I2C_RETRIES

#define DEFAULT_I2C_RETRIES   3

MAX_BLOWER_SPEED

#define MAX_BLOWER_SPEED   232

MAX_NOZZLE_POSITION

#define MAX_NOZZLE_POSITION   255

MIN_BLOWER_SPEED

#define MIN_BLOWER_SPEED   0

MIN_NOZZLE_POSITION

#define MIN_NOZZLE_POSITION   0

STUB_CMDS_FILENAME

#define STUB_CMDS_FILENAME   "/tmp/hw/pmc/commands"

STUB_TELEM_FILENAME

#define STUB_TELEM_FILENAME   "/tmp/hw/pmc/telemetry"

Typedef Documentation

PmcActuatorPair

typedef std::pair<PmcActuatorPtr, PmcActuatorData> PmcActuatorPair

PmcActuatorPtr

typedef std::shared_ptr<pmc_actuator::PmcActuatorBase> PmcActuatorPtr

PmcActuatorVec

typedef std::vector<PmcActuatorPair> PmcActuatorVec

PmcCommandList

typedef std::map<double, pmc_actuator::Command> PmcCommandList

Function Documentation

ControlThread()

void ControlThread	(	PmcActuatorVec &	pmcs,
		double	rate,
		bool &	finished
	)

InputFile()

std::string InputFile

(

)

InputUnsignedInteger()

uint32_t InputUnsignedInteger	(	uint32_t	min,
		uint32_t	max
	)

main()

int main	(	int	argc,
		char *	argv[]
	)

MainMenu()

bool MainMenu	(	PmcActuatorVec &	pmcs,
		std::string &	csv
	)

PmcMenu()

void PmcMenu

(

PmcActuatorPair &

pmc_pair

)

RunFile()

bool RunFile	(	PmcActuatorVec &	pmcs,
		std::string &	csv
	)

Variable Documentation

data_mutex_

std::mutex data_mutex_

kDebug

bool kDebug = false

kLogging

bool kLogging = false

kLooping

bool kLooping = false

null_command_

pmc_actuator::Command null_command_

plan_start_time_

std::chrono::time_point<std::chrono::steady_clock> plan_start_time_

Initial value:

=
    std::chrono::steady_clock::now()