Base class for concrete devices: implements IDevice and BaseSensor, holds device ID and state. More...

#include <BaseDevice.hpp>

Inheritance diagram for eduart::device::BaseDevice:

Collaboration diagram for eduart::device::BaseDevice:

Public Member Functions
	BaseDevice (DeviceID id, com::ComInterface *interface, com::ComEndpoint target, bool enable)
	Constructs the device with the given ID, communication interface, endpoint, and enable flag.
DeviceID	getDeviceID () const
	Returns the device identifier.
void	setPoseOffset (const DevicePoseOffset &offset)
	Set the pose offset of this device relative to the board center.
DevicePoseOffset	getPoseOffset () const
	Get the pose offset of this device relative to the board center.
Public Member Functions inherited from eduart::device::BaseSensor
	BaseSensor (com::ComInterface *interface, com::ComEndpoint target, unsigned int idx, bool enable)
	Construct a base sensor and register it with the communication interface.
virtual	~BaseSensor ()
	Destructor.
unsigned int	getIdx () const
	Get the index of this sensor instance.
bool	getEnable () const
	Query if the sensor is currently enabled.
void	setEnable (bool enable)
	Enable or disable the sensor.
void	setPose (math::Vector3 translation, math::Vector3 rotation)
	Set the pose of the sensor in the common coordinate frame.
void	resetSensorState ()
	Reset error state and internal flags to nominal values.
void	clearDataFlag ()
	Clear state for the next measurement cycle. Calls the sensor-specific hook onClearDataFlag().
std::future< bool >	beginMeasurementWait ()
	Start a measurement-wait cycle and return a future that will be set when the measurement is ready.
std::future< bool >	beginDataAvailableWait ()
	Start a data-available-wait cycle and return a future that will be set when new data is available.

Protected Attributes
DeviceState	_state
	Current lifecycle/runtime state.
DeviceID	_id
	Device identifier.
bool	_enable
	Whether the device is enabled.
DevicePoseOffset	_pose_offset
	Pose offset of the device relative to the sensor board center.
Protected Attributes inherited from eduart::device::BaseSensor
unsigned int	_idx
	Index of this sensor instance within its group.
DeviceState	_error
	Current health state of the sensor.
com::ComInterface *	_interface
	Communication interface used to talk to the sensor.
math::Vector3	_translation
	Translation of the sensor origin in the common coordinate frame.
math::Vector3	_rotation
	Rotation of the sensor expressed as Euler angles in degrees.
math::Matrix3	_rot_m
	Rotation matrix derived from the Euler angles.
bool	_enable_flag
	Flag indicating whether the sensor is enabled.
std::mutex	_state_mutex
std::optional< std::promise< bool > >	_measurement_promise
	Promise for the current measurement-wait cycle; set by callback, consumed by wait + get().
std::optional< std::promise< bool > >	_data_available_promise
	Promise for the current data-available-wait cycle; set by callback when "data available" is received.
std::mutex	_promise_mutex
subscription::Subscription	_com_subscription
	RAII subscription to the communication interface.

Additional Inherited Members
Protected Member Functions inherited from eduart::device::BaseSensor
void	setMeasurementReady (bool success)
	Set the result of the current measurement-wait cycle. Called from derived callbacks when ready.
void	setDataAvailableReady (bool success)
	Set the result of the current data-available-wait cycle. Called from derived callbacks when "data available" is received.
virtual void	onResetSensorState ()=0
	Sensor-specific hook invoked from resetSensorState().
virtual void	onClearDataFlag ()=0
	Sensor-specific hook invoked from clearDataFlag().
virtual void	comCallback (const com::ComEndpoint source, const std::vector< std::uint8_t > &data)=0
	Handle an incoming communication message for this sensor.

Detailed Description

Base class for concrete devices: implements IDevice and BaseSensor, holds device ID and state.

Constructor & Destructor Documentation

◆ BaseDevice()

eduart::device::BaseDevice::BaseDevice	(	DeviceID	id,
		com::ComInterface *	interface,
		com::ComEndpoint	target,
		bool	enable )

Constructs the device with the given ID, communication interface, endpoint, and enable flag.

Parameters

[in]	id	Device identifier.
[in]	interface	Communication interface.
[in]	target	Communication endpoint.
[in]	enable	Whether the device is enabled.

Member Function Documentation

◆ getDeviceID()

DeviceID eduart::device::BaseDevice::getDeviceID ( ) const

Returns the device identifier.

Returns: DeviceID of this device.

◆ getPoseOffset()

DevicePoseOffset eduart::device::BaseDevice::getPoseOffset ( ) const

inline

Get the pose offset of this device relative to the board center.

Returns: The current pose offset.

◆ setPoseOffset()

void eduart::device::BaseDevice::setPoseOffset ( const DevicePoseOffset & offset )

inline

Set the pose offset of this device relative to the board center.

Parameters

[in] offset The pose offset to set.

Member Data Documentation

◆ _pose_offset

DevicePoseOffset eduart::device::BaseDevice::_pose_offset

protected

Initial value:

{
    { 0.0, 0.0, 0.0 },
    { 0.0, 0.0, 0.0 }
  }

Pose offset of the device relative to the sensor board center.

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

BaseDevice.hpp

Public Member Functions

Protected Attributes

Additional Inherited Members