eduart::sensorring::device::HTPA32_Device Class Reference

Device wrapper for an HTPA32 thermal sensor on the sensorring bus. More...

#include <HTPA32_Device.hpp>

Inheritance diagram for eduart::sensorring::device::HTPA32_Device:

Collaboration diagram for eduart::sensorring::device::HTPA32_Device:

Public Member Functions
	HTPA32_Device (HTPA32_Params params, com::ComInterfaceID interface, unsigned int idx)
	Construct a new HTPA32 device instance.
	~HTPA32_Device ()
	Destructor.
const HTPA32_Params &	getParams () const override
	Get the sensor parameters used to configure this device.
bool	configure () override
	Configure the device. Reads the EEPROM once on first call.
std::future< bool >	getEepromAsync (std::chrono::milliseconds timeout)
	Request the EEPROM content asynchronously.
bool	stopCalibration () override
	Stop any ongoing thermal calibration sequence.
bool	startCalibration (unsigned int window) override
	Start a thermal calibration over a sliding window of frames.
Public Member Functions inherited from eduart::sensorring::device::ThermalSensor
	ThermalSensor (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct a ThermalSensor with Device params.
	~ThermalSensor () override=default
	Virtual destructor.
const measurement::ThermalMeasurement &	getLatestMeasurement () const
	Get the most recent measurement.
subscription::Subscription	subscribe (std::function< void(const measurement::ThermalMeasurement &)> callback)
	Subscribe to thermal measurements from this sensor.
virtual void	publishMeasurement ()
	Build a ThermalMeasurement 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.
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
bool	sendMeasurementRequest (std::uint8_t sequence_number) override
bool	sendMeasurementTransmissionRequest () override
Protected Member Functions inherited from eduart::sensorring::device::Sensor
virtual void	onResetSensorState ()
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

Friends
class	HTPA32_DeviceImpl
class	HTPA32_DeviceTestAccess

Additional Inherited Members
Public Types inherited from eduart::sensorring::device::ThermalSensor
using	MeasurementType = measurement::ThermalMeasurement
	Measurement type produced by this sensor category.
Static Public Member Functions inherited from eduart::sensorring::ActionDispatcher
static void	globalExecute (Action action)
Protected Attributes inherited from eduart::sensorring::device::ThermalSensor
measurement::ThermalMeasurement	_latest_measurement
subscription::Publisher< const measurement::ThermalMeasurement & >	_thermal_publisher
	Publisher that delivers thermal measurements to subscribers.
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

Detailed Description

Device wrapper for an HTPA32 thermal sensor on the sensorring bus.

Measurements contain a reconstructed row-major temperature image. A board orientation of Left rotates the image by 180 degrees; Right and None leave its mounting orientation unchanged. Calibration remains in sensor order.

Constructor & Destructor Documentation

HTPA32_Device()

eduart::sensorring::device::HTPA32_Device::HTPA32_Device	(	HTPA32_Params	params,
		com::ComInterfaceID	interface,
		unsigned int	idx )

Construct a new HTPA32 device instance.

Parameters

[in]	params	Sensor configuration parameters.
[in]	interface	Communication interface used to talk to the device.
[in]	idx	Index of the sensor on the bus.

Member Function Documentation

configure()

bool eduart::sensorring::device::HTPA32_Device::configure ( )

overridevirtual

Configure the device. Reads the EEPROM once on first call.

Returns

true on success.

Reimplemented from eduart::sensorring::device::Device.

getEepromAsync()

std::future< bool > eduart::sensorring::device::HTPA32_Device::getEepromAsync

(

std::chrono::milliseconds

timeout

)

Request the EEPROM content asynchronously.

Parameters

[in]

timeout

Maximum time to wait for completion.

Returns

Future resolving to true on success.

getParams()

const HTPA32_Params & eduart::sensorring::device::HTPA32_Device::getParams ( ) const

overridevirtual

Get the sensor parameters used to configure this device.

Returns

Reference to the internal HTPA32 parameter struct.

Implements eduart::sensorring::device::ThermalSensor.

sendMeasurementRequest()

bool eduart::sensorring::device::HTPA32_Device::sendMeasurementRequest ( std::uint8_t sequence_number )

overrideprotectedvirtual

Implements eduart::sensorring::device::Sensor.

sendMeasurementTransmissionRequest()

bool eduart::sensorring::device::HTPA32_Device::sendMeasurementTransmissionRequest ( )

overrideprotectedvirtual

Implements eduart::sensorring::device::Sensor.

startCalibration()

bool eduart::sensorring::device::HTPA32_Device::startCalibration ( unsigned int window )

overridevirtual

Start a thermal calibration over a sliding window of frames.

Parameters

[in]

window

Number of frames to average for calibration.

Returns

true on success.

Implements eduart::sensorring::device::ThermalSensor.

stopCalibration()

bool eduart::sensorring::device::HTPA32_Device::stopCalibration ( )

overridevirtual

Stop any ongoing thermal calibration sequence.

Returns

true on success.

Implements eduart::sensorring::device::ThermalSensor.

---

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

• HTPA32_Device.hpp