eduart::sensorring::device::Sensor Class Reference

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

#include <Sensor.hpp>

Inheritance diagram for eduart::sensorring::device::Sensor:

Collaboration diagram for eduart::sensorring::device::Sensor:

Public Member Functions
	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
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
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 all sensor devices in the SensorRing.

Extends Device with promise-based measurement synchronisation and sensor state management used by the state machine scheduler.

Constructor & Destructor Documentation

Sensor()

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

Construct the sensor 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

beginDataAvailableWait()

std::future< bool > eduart::sensorring::device::Sensor::beginDataAvailableWait

(

)

Begin an asynchronous wait for new data to become available.

Returns

Future that resolves to true when data is available, or false on shutdown.

beginMeasurementWait()

std::future< bool > eduart::sensorring::device::Sensor::beginMeasurementWait

(

)

Begin an asynchronous wait for the next measurement trigger.

Returns

Future that resolves to true when the measurement trigger fires, or false on shutdown.

setDataAvailableReady()

void eduart::sensorring::device::Sensor::setDataAvailableReady

(

bool

success

)

Satisfy the pending data-available-wait future.

Parameters

[in]

success

true if data is ready, false on error.

setMeasurementReady()

void eduart::sensorring::device::Sensor::setMeasurementReady

(

bool

success

)

Satisfy the pending measurement-wait future.

Parameters

[in]

success

true if the measurement succeeded, false on error.

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

• Sensor.hpp