eduart::sensorring::device::Light Class Reference

Base class for light/LED actuator devices. More...

#include <Light.hpp>

Inheritance diagram for eduart::sensorring::device::Light:

Collaboration diagram for eduart::sensorring::device::Light:

Public Member Functions
	Light (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct a Light with Device params.
	~Light () override=default
	Virtual destructor.
virtual const LightParams &	getParams () const =0
	Get the current light parameters.
virtual void	setLight (LightMode mode, std::uint8_t r=0, std::uint8_t g=0, std::uint8_t b=0)=0
	Set the light mode and color.
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)

Static Public Member Functions
static void	setAllLights (const std::vector< Light * > &devices, LightMode mode, std::uint8_t red, std::uint8_t green, std::uint8_t blue)
	Broadcast a mode+color command to ALL WS2812b devices on ALL interfaces.
Static Public Member Functions inherited from eduart::sensorring::ActionDispatcher
static void	globalExecute (Action action)

Additional Inherited Members
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 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

Base class for light/LED actuator devices.

Inherits from Device (identity, pose, action queue). Users call setLight() to update the desired state. The concrete implementation enqueues a self-contained CAN command into the action queue, which the state machine drains and executes during the device_actions cycle.

Constructor & Destructor Documentation

Light()

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

Construct a Light with Device params.

Parameters

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

Member Function Documentation

getParams()

virtual const LightParams & eduart::sensorring::device::Light::getParams ( ) const

pure virtual

Get the current light parameters.

Returns

Current Light parameters.

Implemented in eduart::sensorring::device::WS2812b_Device.

setAllLights()

void eduart::sensorring::device::Light::setAllLights ( const std::vector< Light * > & devices, LightMode mode, std::uint8_t red, std::uint8_t green, std::uint8_t blue )

static

Broadcast a mode+color command to ALL WS2812b devices on ALL interfaces.

Useful for turning off all lights (including unconfigured boards).

Parameters

[in]	devices	Vector of WS2812b devices to apply the command to.
[in]	mode	Light mode to apply.
[in]	red	Red channel value.
[in]	green	Green channel value.
[in]	blue	Blue channel value.

Returns

true on success.

setLight()

virtual void eduart::sensorring::device::Light::setLight ( LightMode mode, std::uint8_t r = 0, std::uint8_t g = 0, std::uint8_t b = 0 )

pure virtual

Set the light mode and color.

Parameters

[in]	mode	Light mode to apply. Not all modes require a color to be specified.
[in]	r	Red channel (0-255).
[in]	g	Green channel (0-255).
[in]	b	Blue channel (0-255).

Implemented in eduart::sensorring::device::WS2812b_Device.

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

• Light.hpp