TorqueControllerCASEWrapper< message_queue > Class Template Reference

makes CASE system a part of Controller hierarchy for use in TC Mux More...

#include <CASEControllerWrapper.h>

Inheritance diagram for TorqueControllerCASEWrapper< message_queue >:

Collaboration diagram for TorqueControllerCASEWrapper< message_queue >:

Public Member Functions
	TorqueControllerCASEWrapper ()=delete
	TorqueControllerCASEWrapper (CASESystem< message_queue > *case_instance)
TorqueControllerOutput_s	evaluate (const SharedCarState_s &state) override
	packages CASE system command into Torque Controller Output More...
virtual TorqueControllerOutput_s	evaluate (const SharedCarState_s &state)=0
	This mehod must be implemented by every controller in the Tc Muxer. This is called in the Muxer whenever the drivetrain command is obtained. TorqueControllerMux.cpp to see that in every tick of the system, the active controller must be ticked through this method. More...

Private Attributes
CASESystem< message_queue > *	case_instance_

Detailed Description

template<typename message_queue>
class TorqueControllerCASEWrapper< message_queue >

makes CASE system a part of Controller hierarchy for use in TC Mux

Definition at line 9 of file CASEControllerWrapper.h.

Constructor & Destructor Documentation

TorqueControllerCASEWrapper() [1/2]

template<typename message_queue >

TorqueControllerCASEWrapper< message_queue >::TorqueControllerCASEWrapper ( )

delete

TorqueControllerCASEWrapper() [2/2]

template<typename message_queue >

TorqueControllerCASEWrapper< message_queue >::TorqueControllerCASEWrapper ( CASESystem< message_queue > *  case_instance )

inline

Parameters

case_instance

requires current state estimator instance to give access of the CASE instance to this specific controller so that it can update/control it.

Note

This also ensures there are not duplicates of this system for safety.

Definition at line 15 of file CASEControllerWrapper.h.

                                                                          : case_instance_(case_instance)
    {
    }

Member Function Documentation

evaluate()

template<typename message_queue >

TorqueControllerOutput_s TorqueControllerCASEWrapper< message_queue >::evaluate ( const SharedCarState_s &  state )

inlineoverridevirtual

packages CASE system command into Torque Controller Output

Parameters

state

this state is updated by the CASE system in main repeatedly

Implements Controller.

Definition at line 20 of file CASEControllerWrapper.h.

    {
        DrivetrainCommand_s curr_cmd = case_instance_->get_current_drive_command();
        TorqueControllerOutput_s out;
        out.ready = true;
        out.command = curr_cmd;
        return out;
    }

Member Data Documentation

case_instance_

template<typename message_queue >

CASESystem<message_queue>* TorqueControllerCASEWrapper< message_queue >::case_instance_

private

Definition at line 30 of file CASEControllerWrapper.h.

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

• lib/systems/include/Controllers/CASEControllerWrapper.h