stream_task.StreamTask Class Reference

Public Member Functions
	__init__ (self, stream_data, uart, time_sh, left_pos_sh, right_pos_sh, left_vel_sh, right_vel_sh, motor_data_ready, abort)
	run (self)

Public Attributes
	ser = uart
	stream_data = stream_data
	motor_data_ready = motor_data_ready
	abort = abort
	time_sh = time_sh
	left_pos_sh = left_pos_sh
	right_pos_sh = right_pos_sh
	left_vel_sh = left_vel_sh
	right_vel_sh = right_vel_sh
int	sent_end = 0
	0: INIT STATE -----------------------------------------------—
int	lines_sent = 0
	0: INIT STATE -----------------------------------------------—
int	state = self.S0_INIT
	0: INIT STATE -----------------------------------------------—

Static Public Attributes
int	S0_INIT = 0
int	S1_WAIT_FOR_TRIGGER = 1
int	S2_STREAM_DATA = 2

Detailed Description

Streams data (in CSV format) over Bluetooth if enabled.

Attributes:
    ser: Serial interface (Bluetooth UART).
    stream_data: Flag to control whether streaming is active.
    time_sh: Share for the current time.
    left_pos_sh: Share for the left encoder position.
    right_pos_sh: Share for the right encoder position.
    left_vel_sh: Share for the left encoder velocity.
    right_vel_sh: Share for the right encoder velocity.
    motor_data_ready: Flag indicating new motor data is available.
    abort: Flag to abort streaming immediately.

Constructor & Destructor Documentation

__init__()

stream_task.StreamTask.__init__	(		self,
			stream_data,
			uart,
			time_sh,
			left_pos_sh,
			right_pos_sh,
			left_vel_sh,
			right_vel_sh,
			motor_data_ready,
			abort )

Initialize the object's attributes

Member Function Documentation

run()

stream_task.StreamTask.run

(

self

)

FINITE STATE MACHINE

Finite state machine for data streaming.

Member Data Documentation

abort

stream_task.StreamTask.abort = abort

left_pos_sh

stream_task.StreamTask.left_pos_sh = left_pos_sh

left_vel_sh

stream_task.StreamTask.left_vel_sh = left_vel_sh

lines_sent

int stream_task.StreamTask.lines_sent = 0

0: INIT STATE -----------------------------------------------—

1: WAIT FOR TRIGGER STATE -----------------------------------—

2: STREAM DATA STATE ----------------------------------------—

motor_data_ready

stream_task.StreamTask.motor_data_ready = motor_data_ready

right_pos_sh

stream_task.StreamTask.right_pos_sh = right_pos_sh

right_vel_sh

stream_task.StreamTask.right_vel_sh = right_vel_sh

S0_INIT

int stream_task.StreamTask.S0_INIT = 0

static

S1_WAIT_FOR_TRIGGER

int stream_task.StreamTask.S1_WAIT_FOR_TRIGGER = 1

static

S2_STREAM_DATA

int stream_task.StreamTask.S2_STREAM_DATA = 2

static

sent_end

int stream_task.StreamTask.sent_end = 0

0: INIT STATE -----------------------------------------------—

1: WAIT FOR TRIGGER STATE -----------------------------------—

2: STREAM DATA STATE ----------------------------------------—

ser

stream_task.StreamTask.ser = uart

state

int stream_task.StreamTask.state = self.S0_INIT

0: INIT STATE -----------------------------------------------—

1: WAIT FOR TRIGGER STATE -----------------------------------—

stream_data

stream_task.StreamTask.stream_data = stream_data

time_sh

stream_task.StreamTask.time_sh = time_sh

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

• src/stream_task.py