Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData > Class Template Reference

HILTransceiver is a Singleton and provides an easy interface for the control algorithms to send and receive data during a simulation. More...

#include <HILTransceiver.h>

Inheritance diagram for Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >:

Collaboration diagram for Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >:

Public Member Functions
	HILTransceiver (USART &hilSerial, HILPhasesManager< FlightPhases, SimulatorData, ActuatorData > *hilPhasesManager)
	Construct a serial connection attached to a control algorithm.
void	setActuatorData (ActuatorData actuatorData)
	sets the actuator data and then wakes up the MatlabTransceiver thread in order to send the data back to the simulator (called by the control algorithm)
const SimulatorData *	getSensorData () const
	returns the reference of the SimulatorData
bool	isDmaEnabled ()
Public Member Functions inherited from Boardcore::HILTransceiverBase
	HILTransceiverBase (USART &hilSerial)
	Construct a serial connection attached to a control algorithm.
int	getLostUpdates () const
	Returns the number of lost updates.
int64_t	getTimestampSimulatorData () const
	Returns the value in ns of the timestamp of the last received simulatorData.
Public Member Functions inherited from Boardcore::ActiveObject
	ActiveObject (unsigned int stacksize=miosix::STACK_DEFAULT_FOR_PTHREAD, miosix::Priority priority=miosix::MAIN_PRIORITY)
virtual	~ActiveObject ()
virtual bool	start ()
	Start the thread associated with this active object.
virtual void	stop ()
	Signals the runner thread to terminate and joins the thread.
bool	isRunning ()

Additional Inherited Members
Protected Member Functions inherited from Boardcore::HILTransceiverBase
void	waitActuatorData ()
	Waits for the control algorithm(s) to update actuatorData.
Protected Member Functions inherited from Boardcore::ActiveObject
bool	shouldStop ()
	Tells whether or not the ActiveObject should stop its execution.
Protected Attributes inherited from Boardcore::HILTransceiverBase
USART &	hilSerial
bool	receivedFirstPacket = false
bool	updated = false
int	nLostUpdates = 0
int64_t	timestampSimulatorData = 0
miosix::FastMutex	mutex
miosix::ConditionVariable	condVar
PrintLogger	logger = Logging::getLogger("HILTransceiver")
Protected Attributes inherited from Boardcore::ActiveObject
miosix::Thread *	thread = nullptr
	Gives access to the thread object.
std::atomic< bool >	stopFlag {false}
std::atomic< bool >	running {false}

Detailed Description

template<class FlightPhases, class SimulatorData, class ActuatorData>
class Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >

HILTransceiver is a Singleton and provides an easy interface for the control algorithms to send and receive data during a simulation.

Definition at line 89 of file HILTransceiver.h.

Constructor & Destructor Documentation

HILTransceiver()

template<class FlightPhases , class SimulatorData , class ActuatorData >

Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >::HILTransceiver ( USART &  hilSerial, HILPhasesManager< FlightPhases, SimulatorData, ActuatorData > *  hilPhasesManager  )

inlineexplicit

Construct a serial connection attached to a control algorithm.

Parameters

hilSerial

Serial port for the HIL communication.

Definition at line 97 of file HILTransceiver.h.

Member Function Documentation

getSensorData()

template<class FlightPhases , class SimulatorData , class ActuatorData >

const SimulatorData * Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >::getSensorData ( ) const

inline

returns the reference of the SimulatorData

Returns

reference to the data simulated by matlab

Definition at line 136 of file HILTransceiver.h.

isDmaEnabled()

template<class FlightPhases , class SimulatorData , class ActuatorData >

bool Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >::isDmaEnabled ( )

inline

Definition at line 138 of file HILTransceiver.h.

setActuatorData()

template<class FlightPhases , class SimulatorData , class ActuatorData >

void Boardcore::HILTransceiver< FlightPhases, SimulatorData, ActuatorData >::setActuatorData ( ActuatorData  actuatorData )

inline

sets the actuator data and then wakes up the MatlabTransceiver thread in order to send the data back to the simulator (called by the control algorithm)

Parameters

actuatorData

sets the data that will be sent to the simulator

Definition at line 118 of file HILTransceiver.h.

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

• src/shared/hil/HILTransceiver.h