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

#include <ThermalSensor.hpp>

Inheritance diagram for eduart::sensorring::device::ThermalSensor:

Collaboration diagram for eduart::sensorring::device::ThermalSensor:

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

Public Member Functions
	ThermalSensor (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct a ThermalSensor with Device params.
	~ThermalSensor () override=default
	Virtual destructor.
virtual const ThermalSensorParams &	getParams () const =0
	Get the current ThermalSensor parameters.
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.
virtual bool	startCalibration (unsigned int window)=0
	Start a thermal calibration over a sliding window of frames.
virtual bool	stopCalibration ()=0
	Stop any ongoing thermal calibration sequence.
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 Attributes
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

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

Detailed Description

Base class for any thermal-sensing device.

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

Constructor & Destructor Documentation

◆ ThermalSensor()

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

Construct a ThermalSensor with Device params.

Parameters

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

Member Function Documentation

◆ getLatestMeasurement()

const measurement::ThermalMeasurement & eduart::sensorring::device::ThermalSensor::getLatestMeasurement ( ) const

Get the most recent measurement.

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

◆ getParams()

virtual const ThermalSensorParams & eduart::sensorring::device::ThermalSensor::getParams ( ) const

pure virtual

Get the current ThermalSensor parameters.

Returns: Current ThermalSensor parameters.

Implemented in eduart::sensorring::device::HTPA32_Device.

◆ publishMeasurement()

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

virtual

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

Called by the state machine after a successful measurement fetch.

◆ startCalibration()

virtual bool eduart::sensorring::device::ThermalSensor::startCalibration ( unsigned int window )

pure virtual

Start a thermal calibration over a sliding window of frames.

Parameters

[in] window Number of frames to average for calibration.

Returns: true on success.

Implemented in eduart::sensorring::device::HTPA32_Device.

◆ stopCalibration()

virtual bool eduart::sensorring::device::ThermalSensor::stopCalibration ( )

pure virtual

Stop any ongoing thermal calibration sequence.

Returns: true on success.

Implemented in eduart::sensorring::device::HTPA32_Device.

◆ subscribe()

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

inline

Subscribe to thermal measurements from this sensor.

Parameters

[in] callback Invoked with each new measurement.

Returns: RAII Subscription that auto-cancels on destruction.

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

ThermalSensor.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ThermalSensor()

Member Function Documentation

◆ getLatestMeasurement()

◆ getParams()

◆ publishMeasurement()

◆ startCalibration()

◆ stopCalibration()

◆ subscribe()