platform::wombat::core::TransportReader Class Reference

#include <TransportReader.hpp>

Classes
struct	OdometrySnapshot
	STM32-computed odometry state. More...
struct	CalibOdometrySnapshot

Public Member Functions
	TransportReader ()
	~TransportReader ()
raccoon::scalar_i8_t	readServoMode (int port)
raccoon::scalar_f_t	readServoValue (int port)
raccoon::vector3f_t	readGyro ()
	Return the latest cached IMU vectors from raccoon subscriptions.
raccoon::vector3f_t	readAccel ()
raccoon::vector3f_t	readLinearAccel ()
raccoon::vector3f_t	readAccelVelocity ()
void	resetAccelVelocity ()
	Snapshot the current integrated-velocity reading as the new zero point.
raccoon::vector3f_t	readMag ()
raccoon::scalar_f_t	readHeading ()
raccoon::quaternion_t	readQuaternion ()
raccoon::scalar_i32_t	readBemf (int idx)
int32_t	readMotorPosition (int port)
bool	readMotorDone (int port)
raccoon::scalar_i32_t	readAnalog (int port)
raccoon::scalar_i32_t	readDigital (int port)
raccoon::scalar_f_t	readTemp ()
OdometrySnapshot	readOdometry ()
void	resetOdometry ()
	Zero the local odometry cache (call alongside STM32 reset command).
CalibOdometrySnapshot	readCalibOdometry ()
bool	isCalibBoardConnected ()
bool	waitForOdometryReset (int timeout_ms=500)
bool	waitForImuReady (int timeout_ms=1000)
	Wait until heading data has been observed at least once.
bool	waitForBemfData (int timeout_ms=500)
void	setLinearAccelCallback (std::function< void(float, float, float)>)

Static Public Member Functions
static TransportReader &	instance ()

Detailed Description

Cached shared-transport reader for the wombat bundle.

SharedTransport owns the single raccoon transport daemon. This reader only subscribes and caches latest values for synchronous HAL APIs.

Definition at line 27 of file TransportReader.hpp.

Constructor & Destructor Documentation

TransportReader()

platform::wombat::core::TransportReader::TransportReader ( )

explicit

~TransportReader()

platform::wombat::core::TransportReader::~TransportReader

(

)

Member Function Documentation

instance()

TransportReader & platform::wombat::core::TransportReader::instance ( )

inlinestatic

Definition at line 32 of file TransportReader.hpp.

isCalibBoardConnected()

bool platform::wombat::core::TransportReader::isCalibBoardConnected

(

)

True when the calibration board is attached AND has delivered at least one odometry sample (so switching to it won't read stale zeros).

readAccel()

raccoon::vector3f_t platform::wombat::core::TransportReader::readAccel

(

)

readAccelVelocity()

raccoon::vector3f_t platform::wombat::core::TransportReader::readAccelVelocity

(

)

readAnalog()

raccoon::scalar_i32_t platform::wombat::core::TransportReader::readAnalog

(

int

port

)

readBemf()

raccoon::scalar_i32_t platform::wombat::core::TransportReader::readBemf

(

int

idx

)

readCalibOdometry()

CalibOdometrySnapshot platform::wombat::core::TransportReader::readCalibOdometry

(

)

readDigital()

raccoon::scalar_i32_t platform::wombat::core::TransportReader::readDigital

(

int

port

)

readGyro()

raccoon::vector3f_t platform::wombat::core::TransportReader::readGyro

(

)

Return the latest cached IMU vectors from raccoon subscriptions.

readHeading()

raccoon::scalar_f_t platform::wombat::core::TransportReader::readHeading

(

)

readLinearAccel()

raccoon::vector3f_t platform::wombat::core::TransportReader::readLinearAccel

(

)

readMag()

raccoon::vector3f_t platform::wombat::core::TransportReader::readMag

(

)

readMotorDone()

bool platform::wombat::core::TransportReader::readMotorDone

(

int

port

)

readMotorPosition()

int32_t platform::wombat::core::TransportReader::readMotorPosition

(

int

port

)

readOdometry()

OdometrySnapshot platform::wombat::core::TransportReader::readOdometry

(

)

readQuaternion()

raccoon::quaternion_t platform::wombat::core::TransportReader::readQuaternion

(

)

Latest DMP 6-axis fused orientation quaternion (gyro+accel). Cache is zero-initialised, so a never-received quaternion reads {w,x,y,z} = {0,0,0,0} — callers can detect "no data" via |q| < 0.5.

readServoMode()

raccoon::scalar_i8_t platform::wombat::core::TransportReader::readServoMode

(

int

port

)

readServoValue()

raccoon::scalar_f_t platform::wombat::core::TransportReader::readServoValue

(

int

port

)

readTemp()

raccoon::scalar_f_t platform::wombat::core::TransportReader::readTemp

(

)

resetAccelVelocity()

void platform::wombat::core::TransportReader::resetAccelVelocity

(

)

Snapshot the current integrated-velocity reading as the new zero point.

resetOdometry()

void platform::wombat::core::TransportReader::resetOdometry

(

)

Zero the local odometry cache (call alongside STM32 reset command).

setLinearAccelCallback()

void platform::wombat::core::TransportReader::setLinearAccelCallback ( std::function< void(float, float, float)> )

inline

Definition at line 110 of file TransportReader.hpp.

waitForBemfData()

bool platform::wombat::core::TransportReader::waitForBemfData

(

int

timeout_ms = 500

)

Wait until BEMF telemetry has been observed on any motor channel.

Used by Platform::probe() to confirm motor data is flowing from the STM32. The BEMF channel is published continuously by stm32-data-reader regardless of motor activity, so a non-arrival generally indicates the bridge is silent on the motor side.

waitForImuReady()

bool platform::wombat::core::TransportReader::waitForImuReady

(

int

timeout_ms = 1000

)

Wait until heading data has been observed at least once.

waitForOdometryReset()

bool platform::wombat::core::TransportReader::waitForOdometryReset

(

int

timeout_ms = 500

)

Block until the STM32 publishes near-zero odometry after a reset. Returns true if confirmed, false on timeout.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-platforms/wombat/core/include/core/TransportReader.hpp