Abstract base class for sensors. More...

#include <BaseSensor.hpp>

Inheritance diagram for eduart::device::BaseSensor:

Collaboration diagram for eduart::device::BaseSensor:

Public Member Functions
	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 Member Functions
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.

Protected Attributes
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.

Detailed Description

Abstract base class for sensors.

Provides state tracking, pose handling and notification hooks for derived sensors.

Constructor & Destructor Documentation

◆ BaseSensor()

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.

Parameters

[in]	interface	Communication interface used to exchange messages with the sensor.
[in]	target	Endpoint on the interface this sensor listens to.
[in]	idx	Index of the sensor instance.
[in]	enable	Initial enabled state of the sensor.

Member Function Documentation

◆ beginDataAvailableWait()

std::future< bool > eduart::device::BaseSensor::beginDataAvailableWait ( )

Start a data-available-wait cycle and return a future that will be set when new data is available.

Returns: Future that will hold true when new data has been signalled as available.

◆ beginMeasurementWait()

std::future< bool > eduart::device::BaseSensor::beginMeasurementWait ( )

Start a measurement-wait cycle and return a future that will be set when the measurement is ready.

Returns: Future that will hold true when the measurement has been fetched successfully.

◆ comCallback()

virtual void eduart::device::BaseSensor::comCallback	(	const com::ComEndpoint	source,
		const std::vector< std::uint8_t > &	data )

protectedpure virtual

Handle an incoming communication message for this sensor.

Parameters

[in]	source	Endpoint that sent the message.
[in]	data	Message payload.

◆ getEnable()

bool eduart::device::BaseSensor::getEnable ( ) const

Query if the sensor is currently enabled.

Returns: true if the sensor is enabled.

◆ getIdx()

unsigned int eduart::device::BaseSensor::getIdx ( ) const

Get the index of this sensor instance.

Returns: Sensor index.

◆ onClearDataFlag()

virtual void eduart::device::BaseSensor::onClearDataFlag ( )

protectedpure virtual

Sensor-specific hook invoked from clearDataFlag().

Implementations should clear any additional flags related to buffered data.

◆ onResetSensorState()

virtual void eduart::device::BaseSensor::onResetSensorState ( )

protectedpure virtual

Sensor-specific hook invoked from resetSensorState().

Implementations should reset any additional state related to errors or measurements.

◆ resetSensorState()

void eduart::device::BaseSensor::resetSensorState ( )

Reset error state and internal flags to nominal values.

Calls the sensor-specific hook onResetSensorState().

◆ setDataAvailableReady()

void eduart::device::BaseSensor::setDataAvailableReady ( bool success )

protected

Set the result of the current data-available-wait cycle. Called from derived callbacks when "data available" is received.

Parameters

[in] success true if data available was signalled successfully.

◆ setEnable()

void eduart::device::BaseSensor::setEnable ( bool enable )

Enable or disable the sensor.

Parameters

[in] enable New enabled state. Set to true to enable the sensor, false to disable it.

◆ setMeasurementReady()

void eduart::device::BaseSensor::setMeasurementReady ( bool success )

protected

Set the result of the current measurement-wait cycle. Called from derived callbacks when ready.

Parameters

[in] success true if measurement was fetched successfully.

◆ setPose()

void eduart::device::BaseSensor::setPose	(	math::Vector3	translation,
		math::Vector3	rotation )

Set the pose of the sensor in the common coordinate frame.

Parameters

[in]	translation	Translation of the sensor origin.
[in]	rotation	Rotation as Euler angles in degrees.

Member Data Documentation

◆ _promise_mutex

std::mutex eduart::device::BaseSensor::_promise_mutex

protected

Protects promise lifecycles (create in batch thread, set in callback thread).

Note: Locking order: acquire _state_mutex before _promise_mutex.

◆ _state_mutex

std::mutex eduart::device::BaseSensor::_state_mutex

mutableprotected

Mutex protecting sensor state mutations.

Note: Locking order: acquire _state_mutex before _promise_mutex.

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

BaseSensor.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseSensor()

Member Function Documentation

◆ beginDataAvailableWait()

◆ beginMeasurementWait()

◆ comCallback()

◆ getEnable()

◆ getIdx()

◆ onClearDataFlag()

◆ onResetSensorState()

◆ resetSensorState()

◆ setDataAvailableReady()

◆ setEnable()

◆ setMeasurementReady()

◆ setPose()

Member Data Documentation

◆ _promise_mutex

◆ _state_mutex