One sensor board on a bus: holds configured devices and receives COM callbacks for enumeration and data. More...

#include <SensorBoard.hpp>

Public Member Functions
	SensorBoard (SensorBoardParams params, com::ComInterfaceID interface, unsigned int idx, std::vector< std::unique_ptr< device::Device > > devices)
	Construct the board with parameters, communication interface, index, and owned devices.
	~SensorBoard ()
	Destructor.
bool	isEnumerated () const
	Report whether this board has completed enumeration.
const board::EnumerationInformation &	getEnumInfo () const
	Return the enumeration info received from the hardware.
SensorBoardType	getBoardType () const
	Board type from configuration (undefined if not set). Used for topology enforcement.
std::vector< device::Device * >	getDevices () const
	Return non-owning pointers to all devices on this board.
bool	configure ()
	Re-apply runtime configuration after a board reset.

Static Public Member Functions
static bool	resetBoards ()
	Reset all boards on all interfaces (broadcast reset command).
static void	cmdEnumerateBoards (com::ComInterfaceID interface)
	Send enumeration command on the given interface so boards respond with CMD_ACTIVE_DEVICE_RESPONSE.

Friends
struct	SensorBoardTestAccess

Detailed Description

One sensor board on a bus: holds configured devices and receives COM callbacks for enumeration and data.

Constructor & Destructor Documentation

◆ SensorBoard()

eduart::sensorring::board::SensorBoard::SensorBoard	(	SensorBoardParams	params,
		com::ComInterfaceID	interface,
		unsigned int	idx,
		std::vector< std::unique_ptr< device::Device > >	devices )

Construct the board with parameters, communication interface, index, and owned devices.

Parameters

[in]	params	Board configuration (pose, device params).
[in]	interface	Communication interface ID for this board.
[in]	idx	Board index on the bus.
[in]	devices	Owned devices (sensors/actuators) on this board.

Member Function Documentation

◆ cmdEnumerateBoards()

void eduart::sensorring::board::SensorBoard::cmdEnumerateBoards ( com::ComInterfaceID interface )

static

Send enumeration command on the given interface so boards respond with CMD_ACTIVE_DEVICE_RESPONSE.

Parameters

[in] interface Communication interface ID to enumerate.

◆ configure()

bool eduart::sensorring::board::SensorBoard::configure ( )

Re-apply runtime configuration after a board reset.

Returns: true on success.

◆ getBoardType()

SensorBoardType eduart::sensorring::board::SensorBoard::getBoardType ( ) const

Board type from configuration (undefined if not set). Used for topology enforcement.

Returns: Board type.

◆ getDevices()

std::vector< device::Device * > eduart::sensorring::board::SensorBoard::getDevices ( ) const

Return non-owning pointers to all devices on this board.

Returns: Vector of Device pointers.

◆ getEnumInfo()

const board::EnumerationInformation & eduart::sensorring::board::SensorBoard::getEnumInfo ( ) const

Return the enumeration info received from the hardware.

Returns: Const reference to enumeration information.

◆ isEnumerated()

bool eduart::sensorring::board::SensorBoard::isEnumerated ( ) const

Report whether this board has completed enumeration.

Returns: true if enumeration response has been received.

◆ resetBoards()

bool eduart::sensorring::board::SensorBoard::resetBoards ( )