eduart::sensorring::device::Device Class Reference

Base class for all devices in the SensorRing. More...

#include <Device.hpp>

Inheritance diagram for eduart::sensorring::device::Device:

Collaboration diagram for eduart::sensorring::device::Device:

Public Member Functions
	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
virtual void	comCallback (const com::ComEndpoint source, std::uint8_t command, const std::vector< std::uint8_t > &data)=0

Protected Attributes
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 all devices in the SensorRing.

Provides identity, communication, state tracking, pose handling and the action queue used by the state machine.

Constructor & Destructor Documentation

Device()

eduart::sensorring::device::Device::Device	(	DeviceID	id,
		com::ComInterface *	interface,
		com::ComEndpoint	target )

Construct the device with identity and communication link.

Parameters

[in]	id	Device identifier.
[in]	interface	Communication interface.
[in]	target	Communication endpoint this device listens to.

Member Function Documentation

configure()

virtual bool eduart::sensorring::device::Device::configure ( )

virtual

Apply post-reset runtime configuration for this device.

Returns

true on success.

Reimplemented in eduart::sensorring::device::HTPA32_Device, eduart::sensorring::device::TMF8829_Device, and eduart::sensorring::device::WS2812b_Device.

getBoardContext()

const board::SensorBoardParams * eduart::sensorring::device::Device::getBoardContext

(

)

const

Return the board-level context pointer (non-owning).

Returns

Pointer to board params.

getGlobalPose()

math::Pose eduart::sensorring::device::Device::getGlobalPose

(

)

const

Compute and return the global pose in the ring coordinate frame.

Returns

Global pose (board pose combined with device offset).

getPoseOffset()

math::Pose eduart::sensorring::device::Device::getPoseOffset

(

)

const

Return the stored pose offset relative to the board centre.

Returns

Pose offset relative to the board centre.

setBoardContext()

void eduart::sensorring::device::Device::setBoardContext

(

const board::SensorBoardParams *

board_params

)

Initialize board-level context pointer (non-owning).

Parameters

[in]

board_params

Pointer to board params.

setDeviceIndex()

void eduart::sensorring::device::Device::setDeviceIndex

(

unsigned int

index

)

Reassign the logical device index (DeviceID.index) without changing the hardware index.

Parameters

[in]

index

New globally unique per-type index.

setPoseOffset()

void eduart::sensorring::device::Device::setPoseOffset

(

const math::Pose &

offset

)

Store a pose offset relative to the board centre.

Parameters

[in]

offset

Offset to apply on top of the board centre pose.

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

• Device.hpp