fastcat::Faulter Class Reference

Fastcat device class that can be used to trigger a fault based on a signal. More...

#include "faulter.h"

Inheritance diagram for fastcat::Faulter:

Collaboration diagram for fastcat::Faulter:

Public Member Functions
	Faulter ()
	Faulter constructor.
bool	ConfigFromYaml (const YAML::Node &node) override
	Parses input yaml file to set sensor parameters.
bool	Read () override
	Updates device state.
FaultType	Process () override
	Checks if fault-trigger signal is present.
bool	Write (DeviceCmd &cmd) override
	Commands device. Only FaulterEnableCmd is accepted currently.
void	Fault () override
	Disables device.
void	Reset () override
	Enables device if device starts enabled.
Public Member Functions inherited from fastcat::DeviceBase
virtual	~DeviceBase ()
virtual void	SetInitializationTime (double time_sec, double monotonic_time_sec)
void	RegisterCmdQueue (std::shared_ptr< ThreadSafeQueue< DeviceCmd > > cmd_queue)
std::string	GetName ()
std::shared_ptr< DeviceState >	GetState ()
void	SetTime (double time, double monotonic_time)
void	SetLoopPeriod (double loop_period)

Protected Attributes
bool	start_enabled_ {true}
	YAML configurable, recommended value is true.
Protected Attributes inherited from fastcat::DeviceBase
std::string	name_
	unique device name
double	last_monotonic_time_ = 0.0
double	loop_period_ = 0.0
	only some devices need
double	initialization_time_sec_ = -1
	only some devices need
double	monotonic_initialization_time_sec_ = -1
	only some devices need
bool	device_fault_active_ = false
	device-level fault, manager also has fault status flag
std::shared_ptr< DeviceState >	state_
	Fastcat state data.
std::shared_ptr< ThreadSafeQueue< DeviceCmd > >	cmd_queue_
	for intra-device commands

Additional Inherited Members
Public Attributes inherited from fastcat::DeviceBase
std::vector< Signal >	signals_

Detailed Description

Fastcat device class that can be used to trigger a fault based on a signal.

Constructor & Destructor Documentation

Faulter()

fastcat::Faulter::Faulter

(

)

Faulter constructor.

Member Function Documentation

ConfigFromYaml()

bool fastcat::Faulter::ConfigFromYaml ( const YAML::Node &  node )

overridevirtual

Parses input yaml file to set sensor parameters.

Parameters

node	The portion of the yaml file corresponding to this Faulter device.

Returns

True if configuration completes without error; false otherwise.

Implements fastcat::DeviceBase.

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Fault()

void fastcat::Faulter::Fault ( )

overridevirtual

Disables device.

Reimplemented from fastcat::DeviceBase.

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Process()

fastcat::FaultType fastcat::Faulter::Process ( )

overridevirtual

Checks if fault-trigger signal is present.

Returns

FaultType enum value corresponding to appropriate fault state.

Reimplemented from fastcat::DeviceBase.

Read()

bool fastcat::Faulter::Read ( )

overridevirtual

Updates device state.

Returns

True if device state is read without error; false otherwise.

Implements fastcat::DeviceBase.

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Reset()

void fastcat::Faulter::Reset ( )

overridevirtual

Enables device if device starts enabled.

Reimplemented from fastcat::DeviceBase.

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Write()

bool fastcat::Faulter::Write ( DeviceCmd &  cmd )

overridevirtual

Commands device. Only FaulterEnableCmd is accepted currently.

Parameters

cmd	Command provided to Faulter device, of a type that is a subclass of DeviceCmd.

Returns

True if command is accepted; false otherwise.

Reimplemented from fastcat::DeviceBase.

Member Data Documentation

start_enabled_

bool fastcat::Faulter::start_enabled_ {true}

protected

YAML configurable, recommended value is true.

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

• src/fastcat_devices/faulter.h
• src/fastcat_devices/faulter.cc