mars::SensorManager Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensor_manager.h>

Collaboration diagram for mars::SensorManager:

Public Member Functions
	SensorManager ()=default
bool	register_sensor (std::shared_ptr< SensorAbsClass > sensor)
	register_sensor Register a sensor with the sensor manager
bool	remove_sensor (Buffer &buffer, std::shared_ptr< SensorAbsClass > sensor)
	remove_sensor Remove a sensor from the sensor manager
void	list_sensors ()
	list_sensors Print the information of all registered sensors
bool	does_sensor_exist (std::shared_ptr< SensorAbsClass > sensor)
	does_sensor_exist Check if a sensor is registered
bool	deactivate_sensor (Buffer &buffer, std::shared_ptr< SensorAbsClass > sensor)
	deactivate_sensor Deactivate a sensor
bool	activate_sensor (std::shared_ptr< SensorAbsClass > sensor)
	activate_sensor Activate a sensor

Public Attributes
std::vector< std::shared_ptr< SensorAbsClass > >	sensor_list_
	Vector containing all registered sensors.

Constructor & Destructor Documentation

SensorManager()

mars::SensorManager::SensorManager ( )

default

Member Function Documentation

register_sensor()

bool mars::SensorManager::register_sensor ( std::shared_ptr< SensorAbsClass >  sensor )

inline

register_sensor Register a sensor with the sensor manager

Parameters

sensor

Sensor to be registered

Returns

True if the sensor was registered, false if the sensor is already registered

  {
    // Check if sensor already exists
    if (std::find(sensor_list_.begin(), sensor_list_.end(), sensor) != sensor_list_.end())
    {
      // Sensor is already registered
      return false;
    }
 
    sensor_list_.push_back(sensor);
    std::cout << "Registered sensor [" << sensor->name_ << "] with Sensor Manager" << std::endl;
    return true;
  }

remove_sensor()

bool mars::SensorManager::remove_sensor ( Buffer &  buffer, std::shared_ptr< SensorAbsClass >  sensor  )

inline

remove_sensor Remove a sensor from the sensor manager

Parameters

buffer	Buffer to remove the sensor from
sensor	Sensor to be removed

Returns

True if the sensor was removed, false if the sensor is not registered

  {
    if (!does_sensor_exist(sensor))
    {
      // Sensor is not registered
      return false;
    }
    // Deactive the sensor
    this->deactivate_sensor(buffer, sensor);
    // Remove the sensor from the list
    sensor_list_.erase(std::remove(sensor_list_.begin(), sensor_list_.end(), sensor), sensor_list_.end());
    std::cout << "Removed sensor [" << sensor->name_ << "] from Sensor Manager" << std::endl;
    return true;
  }

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list_sensors()

void mars::SensorManager::list_sensors ( )

inline

list_sensors Print the information of all registered sensors

  {
    std::cout << "Sensor Manager contains " << sensor_list_.size() << " sensors" << std::endl;
    for (auto& sensor : sensor_list_)
    {
      std::cout << *sensor << std::endl;
    }
  }

does_sensor_exist()

bool mars::SensorManager::does_sensor_exist ( std::shared_ptr< SensorAbsClass >  sensor )

inline

does_sensor_exist Check if a sensor is registered

Parameters

sensor

Sensor to be checked

Returns

True if the sensor is registered, otherwise false

  {
    if (std::find(sensor_list_.begin(), sensor_list_.end(), sensor) != sensor_list_.end())
    {
      return true;
    }
    return false;
  }

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deactivate_sensor()

bool mars::SensorManager::deactivate_sensor ( Buffer &  buffer, std::shared_ptr< SensorAbsClass >  sensor  )

inline

deactivate_sensor Deactivate a sensor

Parameters

buffer	Buffer to remove the sensor from
sensor	Sensor to be deactivated

Returns

False if the sensor is not registered, otherwise true

  {
    if (!does_sensor_exist(sensor))
    {
      // Sensor is not registered
      return false;
    }
 
    // Reset the sensor
    sensor->do_update_ = false;
    sensor->is_initialized_ = false;
    sensor->ref_to_nav_given_ = false;
 
    // Call buffer to clear all entries of the sensor
    if (buffer.RemoveSensorFromBuffer(sensor))
    {
      std::cout << "Removed sensor [" << sensor->name_ << "] from buffer" << std::endl;
    }
    else
    {
      std::cout << "Could not remove sensor [" << sensor->name_ << "] from buffer as buffer is empty" << std::endl;
      return false;
    }
    return true;
  }

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activate_sensor()

bool mars::SensorManager::activate_sensor ( std::shared_ptr< SensorAbsClass >  sensor )

inline

activate_sensor Activate a sensor

Parameters

sensor

Sensor to be activated

Returns

False if the sensor is not registered, otherwise true

  {
    if (!does_sensor_exist(sensor))
    {
      // Sensor is not registered
      return false;
    }
 
    sensor->do_update_ = true;
    std::cout << "Activated sensor [" << sensor->name_ << "]" << std::endl;
    return true;
  }

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Member Data Documentation

sensor_list_

std::vector<std::shared_ptr<SensorAbsClass> > mars::SensorManager::sensor_list_

Vector containing all registered sensors.

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

• sensor_manager.h