CBahrsFilterSwc Class Reference

Inheritance diagram for CBahrsFilterSwc:

Public Member Functions
void	Init () override
bool	IsInitialized () override
void	SetImuInput ()
	A wrapper around CBahrs::SetInput(). Has mutex protection.
void	SetPressureInput ()
	A wrapper around CBahrs::SetInput(). Has mutex protection.
void	Step (uint64_t uTimestampUs)
	A wrapper arounf CBahrs::Step().
Public Member Functions inherited from CSoftwareComponent< CBahrsFilterSwc, 3U >
	CSoftwareComponent (CSoftwareComponent &)=delete
	CSoftwareComponent (CSoftwareComponent &&)=delete
CSoftwareComponent &	operator= (const CSoftwareComponent &orOther)=delete
CSoftwareComponent &	operator= (CSoftwareComponent &&orOther)=delete
virtual void	Init ()=0
virtual bool	IsInitialized ()=0

Private Types
typedef StaticSemaphore_t	osStaticMutexDef_t

Private Member Functions
	CBahrsFilterSwc (CBahrsFilterSwc &)=delete
	CBahrsFilterSwc (CBahrsFilterSwc &&)=delete
CBahrsFilterSwc &	operator= (const CBahrsFilterSwc &orOther)=delete
CBahrsFilterSwc &	operator= (CBahrsFilterSwc &&orOther)=delete
	CBahrsFilterSwc (uint32_t uInstanceIndex)
	The constructor creates a mutex for shared BAHRS filter data.
	~CBahrsFilterSwc ()=default
bool	readImuDataPort (SImuMeasurement &orImuData, NFusionLibCommon::ESensorId &erSensorId) const
	Read IMU data from input port. Selects input port based on SWC instance index.
bool	readPressureDataPort (SBarometerMeasurement &orPressureData, NFusionLibCommon::ESensorId &erSensorId) const
	Read pressure data from input port. Selects input port based on SWC instance index.
void	writeOutputToPort (const CBahrsFilterOutput &korFilterOutput) const
	Write BAHRS filter output to RTE port. Selects output port based on SWC instance index.

Static Private Member Functions
static CBahrsFilterSwc &	getInstanceImpl (unsigned uInstanceIndex)

Private Attributes
const uint32_t	kuInstanceIndex_
	Index of the component instance.
osMutexId_t	pMutexHandle_
	Mutex handle.
osStaticMutexDef_t	sMutexControlBlock_
	Memory reserved for the mutex control block.
const osMutexAttr_t	sMutexAttributes_ { NULL, 0, &sMutexControlBlock_, sizeof(sMutexControlBlock_) }
	A structure with mutex attributes required for creation.

Friends
class	CSoftwareComponent< CBahrsFilterSwc, 3U >

Additional Inherited Members
Static Public Member Functions inherited from CSoftwareComponent< CBahrsFilterSwc, 3U >
static CBahrsFilterSwc &	GetInstance (unsigned uInstanceIndex=0U)
Static Public Attributes inherited from CSoftwareComponent< CBahrsFilterSwc, 3U >
static constexpr unsigned	skuInstanceCount_
Protected Member Functions inherited from CSoftwareComponent< CBahrsFilterSwc, 3U >
	CSoftwareComponent ()=default
	~CSoftwareComponent ()=default

Member Typedef Documentation

osStaticMutexDef_t

typedef StaticSemaphore_t CBahrsFilterSwc::osStaticMutexDef_t

private

The typedef copied from a CMSIS_OS header.

Constructor & Destructor Documentation

CBahrsFilterSwc() [1/3]

CBahrsFilterSwc::CBahrsFilterSwc ( CBahrsFilterSwc &  )

privatedelete

CBahrsFilterSwc() [2/3]

CBahrsFilterSwc::CBahrsFilterSwc ( CBahrsFilterSwc &&  )

privatedelete

CBahrsFilterSwc() [3/3]

CBahrsFilterSwc::CBahrsFilterSwc ( uint32_t  uInstanceIndex )

private

The constructor creates a mutex for shared BAHRS filter data.

Parameters

uInstanceIndex

Instance index of the software component.

~CBahrsFilterSwc()

CBahrsFilterSwc::~CBahrsFilterSwc ( )

privatedefault

Member Function Documentation

getInstanceImpl()

CBahrsFilterSwc & CBahrsFilterSwc::getInstanceImpl ( unsigned  uInstanceIndex )

staticprivate

Init()

void CBahrsFilterSwc::Init ( )

overridevirtual

Initialize the software component.

Implements CSoftwareComponent< CBahrsFilterSwc, 3U >.

IsInitialized()

bool CBahrsFilterSwc::IsInitialized ( )

overridevirtual

Get initialization status of the software component.

Returns

True – the component is initialized, false otherwise.

Implements CSoftwareComponent< CBahrsFilterSwc, 3U >.

operator=() [1/2]

CBahrsFilterSwc & CBahrsFilterSwc::operator= ( CBahrsFilterSwc &&  orOther )

privatedelete

operator=() [2/2]

CBahrsFilterSwc & CBahrsFilterSwc::operator= ( const CBahrsFilterSwc &  orOther )

privatedelete

readImuDataPort()

bool CBahrsFilterSwc::readImuDataPort ( SImuMeasurement &  orImuData, NFusionLibCommon::ESensorId &  erSensorId  ) const

private

Read IMU data from input port. Selects input port based on SWC instance index.

Parameters

orImuData	Reference to IMU data object to be populated.
erSensorId	ID of the sensor used as input source.

readPressureDataPort()

bool CBahrsFilterSwc::readPressureDataPort ( SBarometerMeasurement &  orPressureData, NFusionLibCommon::ESensorId &  erSensorId  ) const

private

Read pressure data from input port. Selects input port based on SWC instance index.

Parameters

orPressureData	Reference to pressure data object to be populated.
erSensorId	ID of the sensor used as input source.

SetImuInput()

void CBahrsFilterSwc::SetImuInput

(

)

A wrapper around CBahrs::SetInput(). Has mutex protection.

SetPressureInput()

void CBahrsFilterSwc::SetPressureInput

(

)

A wrapper around CBahrs::SetInput(). Has mutex protection.

Step()

void CBahrsFilterSwc::Step

(

uint64_t

uTimestampUs

)

A wrapper arounf CBahrs::Step().

Parameters

uTimestampUs

Time of the API call in microseconds.

writeOutputToPort()

void CBahrsFilterSwc::writeOutputToPort ( const CBahrsFilterOutput &  korFilterOutput ) const

private

Write BAHRS filter output to RTE port. Selects output port based on SWC instance index.

Parameters

korFilterOutput

Filter output data to write.

Friends And Related Function Documentation

CSoftwareComponent< CBahrsFilterSwc, 3U >

friend class CSoftwareComponent< CBahrsFilterSwc, 3U >

friend

Member Data Documentation

kuInstanceIndex_

const uint32_t CBahrsFilterSwc::kuInstanceIndex_

private

Index of the component instance.

pMutexHandle_

osMutexId_t CBahrsFilterSwc::pMutexHandle_

private

Mutex handle.

sMutexAttributes_

const osMutexAttr_t CBahrsFilterSwc::sMutexAttributes_ { NULL, 0, &sMutexControlBlock_, sizeof(sMutexControlBlock_) }

private

A structure with mutex attributes required for creation.

sMutexControlBlock_

osStaticMutexDef_t CBahrsFilterSwc::sMutexControlBlock_

private

Memory reserved for the mutex control block.

---

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

• CBahrsFilterSwc.h
• CBahrsFilterSwc.cpp