control::ControlPorts Class Reference

Everything ControlLogic reads from or commands on the device, called from the loop task. More...

#include <control_logic.h>

Inheritance diagram for control::ControlPorts:

Public Member Functions
virtual StickDeflection	read_stick () noexcept=0
	Current joystick deflection. Read only on a jog pass when the jog is not forced to stop.
virtual remote::Jog	read_hud_jog () noexcept=0
	The HUD's jog with the clock read at this call, under the inbox lock (dead man; see Controller).
virtual HudRequests	take_hud_requests () noexcept=0
	Takes (and clears) the HUD's pending mode, calibration and aim requests.
virtual TrackSnapshot	read_track () noexcept=0
	Latest tracker output from the detection module.
virtual aiming::Angles	turret_pose () noexcept=0
	Current turret pose (BaseTurret::position_deg).
virtual float	turret_pan_speed () noexcept=0
	Current pan stepper speed, 0 at rest (BaseTurret::pan_speed).
virtual void	turret_jog (float pan, float tilt) noexcept=0
	Manual velocity per axis, -1..1 (BaseTurret::jog).
virtual void	turret_set_target (const aiming::Angles &target) noexcept=0
	Absolute move (BaseTurret::set_target_deg).
virtual void	turret_home () noexcept=0
	Return home (BaseTurret::home).
virtual void	reset_detection () noexcept=0
	Asks the detection task to drop its track and start fresh (BaseDetectionModule::reset).
virtual bool	save_calibration (const aiming::AimMap &map) noexcept=0
	Persists a fresh calibration; false if the write failed.
virtual void	log (const LogRecord &record) noexcept=0
	Emits one log line.

Detailed Description

Everything ControlLogic reads from or commands on the device, called from the loop task.

The Controller implements it over the real hardware; tests use a recording fake. None of them throws (mailbox writes, lock-guarded copies, an NVS write), hence noexcept.

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

• lib/control/include/control_logic.h