Base class for any depth-sensing device. More...

#include <DepthSensor.hpp>

Inheritance diagram for eduart::sensorring::device::DepthSensor:

Collaboration diagram for eduart::sensorring::device::DepthSensor:

Public Types
using	MeasurementType = measurement::DepthMeasurement
	Measurement type produced by this sensor category.

Public Member Functions
	DepthSensor (DeviceID id, com::ComInterface *interface, com::ComEndpoint target, DepthSensorConfig config)
	Construct a DepthSensor with Device params, field-of-view and pixel resolution.
virtual const DepthSensorParams &	getParams () const =0
	Get the current DepthSensor parameters.
const measurement::DepthMeasurement &	getLatestMeasurement () const
	Get the most recent measurement.
subscription::Subscription	subscribe (std::function< void(const measurement::DepthMeasurement &)> callback)
	Subscribe to depth measurements from this sensor.
virtual void	publishMeasurement ()
	Build a DepthMeasurement from internal state and publish to all subscribers.
Public Member Functions inherited from eduart::sensorring::device::Sensor
	Sensor (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct the sensor with identity and communication link.
std::future< bool >	measure (std::uint8_t sequence_number)
std::future< bool >	fetch ()
std::future< bool >	beginMeasurementWait ()
	Begin an asynchronous wait for the next measurement trigger.
void	setMeasurementReady (bool success)
	Satisfy the pending measurement-wait future.
std::future< bool >	beginDataAvailableWait ()
	Begin an asynchronous wait for new data to become available.
void	setDataAvailableReady (bool success)
	Satisfy the pending data-available-wait future.
void	resetSensorState ()
	Reset the device to its initialised state, clearing all error flags.
void	clearDataFlag ()
	Clear the data-available flag so the device can accept the next measurement cycle.
Public Member Functions inherited from eduart::sensorring::device::Device
	Device (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct the device with identity and communication link.
DeviceID	getDeviceID () const
	Return the full device identifier (type + index).
unsigned int	getHwIdx () const
	Return the zero-based hardware board index on its bus (used for CAN addressing and protocol bitmasks).
void	setDeviceIndex (unsigned int index)
	Reassign the logical device index (DeviceID.index) without changing the hardware index.
virtual bool	configure ()
	Apply post-reset runtime configuration for this device.
void	setBoardContext (const board::SensorBoardParams *board_params)
	Initialize board-level context pointer (non-owning).
const board::SensorBoardParams *	getBoardContext () const
	Return the board-level context pointer (non-owning).
void	setPoseOffset (const math::Pose &offset)
	Store a pose offset relative to the board centre.
math::Pose	getPoseOffset () const
	Return the stored pose offset relative to the board centre.
math::Pose	getGlobalPose () const
	Compute and return the global pose in the ring coordinate frame.
Public Member Functions inherited from eduart::sensorring::ActionDispatcher
void	setQueue (ActionQueue *queue)
void	clearQueue ()
bool	isManaged () const
void	execute (Action action)
void	execute (std::string_view key, Action action)

Protected Member Functions
void	updateResolution (double fov_x_deg, double fov_y_deg, unsigned int res_x, unsigned int res_y)
	Update the sensor's FOV and resolution, and recalculate the lookup tables.
virtual void	createLookupTable (DepthSensorConfig config, std::vector< double > &lut_x, std::vector< double > &lut_y, std::vector< double > &lut_z)
	Create lookup tables for x and y angles based on FOV and resolution.
void	processRawMeasurement (measurement::PointCloud &pcl)
	Calculate the x,y,z coordinates from the raw distance measurements.
Protected Member Functions inherited from eduart::sensorring::device::Sensor
virtual bool	sendMeasurementRequest (std::uint8_t sequence_number)=0
virtual bool	sendMeasurementTransmissionRequest ()=0
virtual void	onResetSensorState ()
virtual void	onClearDataFlag ()
Protected Member Functions inherited from eduart::sensorring::device::Device
virtual void	comCallback (const com::ComEndpoint source, std::uint8_t command, const std::vector< std::uint8_t > &data)=0

Protected Attributes
DepthSensorConfig	_config
std::vector< double >	_lut_x
std::vector< double >	_lut_y
std::vector< double >	_lut_z
measurement::DepthMeasurement	_latest_measurement
subscription::Publisher< const measurement::DepthMeasurement & >	_depth_publisher
Protected Attributes inherited from eduart::sensorring::device::Sensor
DeviceState	_state
std::mutex	_state_mutex
std::mutex	_promise_mutex
std::optional< std::promise< bool > >	_data_available_promise
std::optional< std::promise< bool > >	_measurement_promise
Protected Attributes inherited from eduart::sensorring::device::Device
DeviceID	_id
unsigned int	_hw_idx
com::ComInterface *	_interface
const board::SensorBoardParams *	_board_params = nullptr
math::Pose	_offset
subscription::Subscription	_com_subscription

Additional Inherited Members
Static Public Member Functions inherited from eduart::sensorring::ActionDispatcher
static void	globalExecute (Action action)

Detailed Description

Base class for any depth-sensing device.

Inherits from Sensor (which provides Device identity + measurement sync). Users subscribe to depth measurements via subscribe(). The concrete sensor implementation publishes measurements by calling publishMeasurement() from the state machine thread.

Constructor & Destructor Documentation

◆ DepthSensor()

eduart::sensorring::device::DepthSensor::DepthSensor	(	DeviceID	id,
		com::ComInterface *	interface,
		com::ComEndpoint	target,
		DepthSensorConfig	config )

Construct a DepthSensor with Device params, field-of-view and pixel resolution.

Parameters

[in]	id	Device identifier.
[in]	interface	Communication interface.
[in]	target	Communication endpoint this device listens to.
[in]	config	Configuration options for the depth sensor.

Member Function Documentation

◆ createLookupTable()

virtual void eduart::sensorring::device::DepthSensor::createLookupTable	(	DepthSensorConfig	config,
		std::vector< double > &	lut_x,
		std::vector< double > &	lut_y,
		std::vector< double > &	lut_z )

protectedvirtual

Create lookup tables for x and y angles based on FOV and resolution.

Parameters

[in]	config	Depth sensor configuration containing FOV and resolution.
[out]	lut_x	Output vector for horizontal angle lookup table. Output length is res_x.
[out]	lut_y	Output vector for vertical angle lookup table. Output length is res_y.
[out]	lut_z	Output vector for depth lookup table. Output length is res_x * res_y.

◆ getLatestMeasurement()

const measurement::DepthMeasurement & eduart::sensorring::device::DepthSensor::getLatestMeasurement ( ) const

Get the most recent measurement.

Returns: Reference to the latest depth measurement (check header.state for validity).

◆ getParams()

virtual const DepthSensorParams & eduart::sensorring::device::DepthSensor::getParams ( ) const

pure virtual

Get the current DepthSensor parameters.

Returns: current DepthSensor parameters.

Implemented in eduart::sensorring::device::TMF8829_Device, and eduart::sensorring::device::VL53L8CX_Device.

◆ processRawMeasurement()

void eduart::sensorring::device::DepthSensor::processRawMeasurement ( measurement::PointCloud & pcl )

protected

Calculate the x,y,z coordinates from the raw distance measurements.

Uses the internally managed lookup tables (_lut_x/_lut_y), which are updated on construction and via updateResolution().

Parameters

[in,out] pcl Point cloud to operate on. Distance must be populated, x,y,z will be calculated and filled in.

◆ publishMeasurement()

virtual void eduart::sensorring::device::DepthSensor::publishMeasurement ( )

virtual

Build a DepthMeasurement from internal state and publish to all subscribers.

Called by the state machine after a successful measurement fetch.

◆ subscribe()

subscription::Subscription eduart::sensorring::device::DepthSensor::subscribe ( std::function< void(const measurement::DepthMeasurement &)> callback )

inline

Subscribe to depth measurements from this sensor.

Parameters

[in] callback Invoked with each new measurement.

Returns: RAII Subscription that auto-cancels on destruction.

◆ updateResolution()

void eduart::sensorring::device::DepthSensor::updateResolution	(	double	fov_x_deg,
		double	fov_y_deg,
		unsigned int	res_x,
		unsigned int	res_y )

protected

Update the sensor's FOV and resolution, and recalculate the lookup tables.

Parameters

[in]	fov_x_deg	New horizontal field of view in degrees.
[in]	fov_y_deg	New vertical field of view in degrees.
[in]	res_x	New horizontal resolution in pixels (columns).
[in]	res_y	New vertical resolution in pixels (rows).

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

DepthSensor.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DepthSensor()

Member Function Documentation

◆ createLookupTable()

◆ getLatestMeasurement()

◆ getParams()

◆ processRawMeasurement()

◆ publishMeasurement()

◆ subscribe()

◆ updateResolution()