name "miror_controler" version "0.1" import_types_from "base" task_context "Task" do ### Task monitoring ### runtime_states 'MIROR_MOVING', 'MIROR_STABLE' # MIROR_MOVING: the miror is currently moving # MIROR_STABLE: the miror is maintained in a fixed position error_states 'LIMITED_CONTROL' # LIMITED_CONTROL: the miror movements are limited (actuator breakage) exception_states 'MIROR_STUCK' # MIROR_STUCK: the miror is stuck in its current position fatal_states 'MIROR_UNCONTROLABLE' # MIROR_UNCONTROLABLE: the miror position is neither controlable nor observable ### Sub-system state estimation ### output_port('miror_position', '/base/Angle'). doc('Estimation of the miror orientation') output_port('motor_state', '/base/actuators/MotorState'). doc('Estimation of the motor state') input_port('miror_raw_position', '/base/Angle'). doc('Raw measure of the miror orientation') output_port('motor_raw_state', '/base/actuators/MotorState'). doc('Raw measure of the motor state') add_boolean_attribute "toto" end