valor::BaseSensor< T > Class Template Reference

Abstract class that all Valor sensors should implement. More...

#include <BaseSensor.h>

Inheritance diagram for valor::BaseSensor< T >:

Public Member Functions
virtual void	reset ()
	Reset the sensor state.
void	setGetter (std::function< T()> _lambda)
	Set the lambda function to fetch sensor data.
void	applyPostProcessing (std::function< T(T)> func)
	Set a post-processing function for sensor data.
T	get ()
	Get the current sensor state.
Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Member Functions
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.
virtual void	calculate ()=0
	Perform sensor-specific calculations.
virtual void	refresh ()
	Refresh the sensor state.
Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable ()
	Default construct an uninitialized Loggable.
virtual	~Loggable ()=default
	Virtual destructor.
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.
template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.
template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Protected Attributes
std::function< T()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< T(T)>	postProcessor
	Lambda function to post-process sensor data.
T	prevState
	Previous and current sensor states.
T	currState
frc::Timer	profiler

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Detailed Description

template<class T>
class valor::BaseSensor< T >

Abstract class that all Valor sensors should implement.

Template Parameters

T	Sensor data type.

This class provides a framework for managing sensors on the robot. It abstracts repetitive code and organizes sensor logic. The calculate method, which runs every 10ms, is the core of this class and is automatically scheduled.

Sensors are not directly owned by this class. Instead, a lambda function is passed to fetch sensor data, allowing flexibility for different sensor types.

Constructor & Destructor Documentation

BaseSensor()

template<class T >

valor::BaseSensor< T >::BaseSensor ( frc::TimedRobot & robot )

inlineexplicitprotected

Construct a new BaseSensor object.

Parameters

robot

Reference to the robot, used to schedule the calculate method.

Member Function Documentation

applyPostProcessing()

template<class T >

void valor::BaseSensor< T >::applyPostProcessing ( std::function< T(T)> func )

inline

Set a post-processing function for sensor data.

This function is applied to the sensor data after it is fetched. It can be used to modify or process the data before it is stored.

Parameters

func	Lambda function for post-processing sensor data.

calculate()

template<class T >

virtual void valor::BaseSensor< T >::calculate ( )

protectedpure virtual

Perform sensor-specific calculations.

This method is called every 10ms and must be implemented in derived classes. It processes the sensor data fetched by the lambda function.

Implemented in valor::CurrentSensor, valor::DebounceSensor, valor::LaserProximitySensor, valor::LidarSensor, and valor::VisionSensor.

get()

template<class T >

T valor::BaseSensor< T >::get ( )

inline

Get the current sensor state.

Returns the most recent sensor data fetched by the lambda function. If no lambda function is set, it returns the default value of the sensor type.

Returns

T Current sensor state.

refresh()

template<class T >

virtual void valor::BaseSensor< T >::refresh ( )

inlineprotectedvirtual

Refresh the sensor state.

Updates prevState and currState by fetching new data using the lambda function. If a post-processing function is set, it is applied to the fetched data.

Reimplemented in valor::LaserProximitySensor.

reset()

template<class T >

virtual void valor::BaseSensor< T >::reset ( )

inlinevirtual

Reset the sensor state.

Clears member variables and sets default values for prevState and currState. This method can be implemented in derived classes and should also be called in their constructors.

Reimplemented in valor::CANdleSensor, valor::CurrentSensor, valor::LaserProximitySensor, and valor::VisionSensor.

setGetter()

template<class T >

void valor::BaseSensor< T >::setGetter ( std::function< T()> _lambda )

inline

Set the lambda function to fetch sensor data.

This function allows developers to specify how sensor data is obtained. The lambda function is called every 10ms to fetch the latest sensor data.

Parameters

_lambda

Lambda function to fetch sensor data.

Member Data Documentation

postProcessor

template<class T >

std::function<T(T)> valor::BaseSensor< T >::postProcessor

protected

Lambda function to post-process sensor data.

This function is applied to the sensor data after it is fetched.

prevState

template<class T >

T valor::BaseSensor< T >::prevState

protected

Previous and current sensor states.

prevState holds the last sensor state, while currState holds the current sensor state fetched by the lambda function.

sensorLambda

template<class T >

std::function<T()> valor::BaseSensor< T >::sensorLambda

protected

Lambda function to fetch sensor data.

This function is called every 10ms to fetch the latest sensor data.

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

• src/main/include/valkyrie/sensors/BaseSensor.h