Device wrapper for WS2812b LED strips controlled via the sensorring bus. More...

#include <WS2812b_Device.hpp>

Inheritance diagram for eduart::sensorring::device::WS2812b_Device:

Collaboration diagram for eduart::sensorring::device::WS2812b_Device:

Public Member Functions
	WS2812b_Device (WS2812b_Params params, com::ComInterfaceID interface, unsigned int idx)
	Construct a new WS2812b device instance.
bool	configure () override
	Re-apply runtime configuration after board reset.
bool	setDistanceMapRange (double lower_m, double upper_m)
	Set the distance map range in meters and verify it by reading it back.
bool	getDistanceMapRange (double &lower_m, double &upper_m)
	Read the current distance map range from the board in meters.
bool	setDistanceMapMaxBrightness (std::int64_t brightness)
	Set distance map peak channel brightness and verify it by reading it back.
bool	getDistanceMapMaxBrightness (std::int64_t &brightness)
	Read the current distance map peak channel brightness from the board.
const WS2812b_Params &	getParams () const override
	Get the parameters used to configure this device.
void	setLight (LightMode mode, std::uint8_t r, std::uint8_t g, std::uint8_t b) override
	Set the light mode and color. Enqueues a per-device CAN command into the action queue.
Public Member Functions inherited from eduart::sensorring::device::Light
	Light (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct a Light with Device params.
	~Light () override=default
	Virtual destructor.
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)

Static Public Member Functions
static void	syncLight ()
	Synchronize pending light updates on all WS2812b devices.
Static Public Member Functions inherited from eduart::sensorring::device::Light
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)

Protected Member Functions
	WS2812b_Device (WS2812b_Params params, com::ComInterface *interface, unsigned int idx)
	Construct with a non-owning communication interface supplied by a subclass.
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

Additional Inherited Members
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 WS2812b LED strips controlled via the sensorring bus.

Constructor & Destructor Documentation

◆ WS2812b_Device()

eduart::sensorring::device::WS2812b_Device::WS2812b_Device	(	WS2812b_Params	params,
		com::ComInterfaceID	interface,
		unsigned int	idx )

Construct a new WS2812b device instance.

Parameters

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

Member Function Documentation

◆ configure()

bool eduart::sensorring::device::WS2812b_Device::configure ( )

overridevirtual

Re-apply runtime configuration after board reset.

Returns: true on success.

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

◆ getDistanceMapMaxBrightness()

bool eduart::sensorring::device::WS2812b_Device::getDistanceMapMaxBrightness ( std::int64_t & brightness )

Read the current distance map peak channel brightness from the board.

Parameters

[out] brightness Current brightness, unchanged on failure.

Returns: true if a valid response was received.

◆ getDistanceMapRange()

bool eduart::sensorring::device::WS2812b_Device::getDistanceMapRange	(	double &	lower_m,
		double &	upper_m )

Read the current distance map range from the board in meters.

Parameters

[out]	lower_m	Lower distance threshold, unchanged on failure.
[out]	upper_m	Upper distance threshold, unchanged on failure.

Returns: true if a valid response was received.

◆ getParams()

const WS2812b_Params & eduart::sensorring::device::WS2812b_Device::getParams ( ) const

inlineoverridevirtual

Get the parameters used to configure this device.

Returns: Reference to the internal WS2812b parameter struct.

Implements eduart::sensorring::device::Light.

◆ setDistanceMapMaxBrightness()

bool eduart::sensorring::device::WS2812b_Device::setDistanceMapMaxBrightness ( std::int64_t brightness )

Set distance map peak channel brightness and verify it by reading it back.

Parameters

[in] brightness Integer brightness in [0, 255].

Returns: true if the returned brightness matches exactly.

◆ setDistanceMapRange()

bool eduart::sensorring::device::WS2812b_Device::setDistanceMapRange	(	double	lower_m,
		double	upper_m )

Set the distance map range in meters and verify it by reading it back.

Returns: true if both values match within float32 rounding tolerance.

◆ setLight()

void eduart::sensorring::device::WS2812b_Device::setLight	(	LightMode	mode,
		std::uint8_t	r,
		std::uint8_t	g,
		std::uint8_t	b )

overridevirtual

Set the light mode and color. Enqueues a per-device CAN command into the action queue.

Parameters

[in]	mode	Light mode to apply.
[in]	r	Red channel (0-255).
[in]	g	Green channel (0-255).
[in]	b	Blue channel (0-255).

Implements eduart::sensorring::device::Light.

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

WS2812b_Device.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WS2812b_Device()

Member Function Documentation

◆ configure()

◆ getDistanceMapMaxBrightness()

◆ getDistanceMapRange()

◆ getParams()

◆ setDistanceMapMaxBrightness()

◆ setDistanceMapRange()

◆ setLight()