命名空间
namespace	Algo

namespace	GlobalCtx

namespace	Units

结构体
struct	BuzzerCommand

struct	BuzzerStatus

class	CommBridge

class	CommBridge< std::tuple< TxPackets... >, std::tuple< RxPackets... > >

class	ControllerHub

struct	ControllerHubConfig

class	ControllerHubData

struct	ControllerHubError

class	FixedString

class	HubBase

struct	HubEntry

class	HubManager

class	IHub

struct	IMUData
	Container for IMU sample data used by the hub. 更多...

class	ImuHub
	Hub that collects asynchronous IMU data and exposes it via HubBase. 更多...

struct	ImuHubConfig

struct	LEDCommand

struct	LEDStatus

class	Mahony

class	NBuf

class	Node

struct	node_desc

class	NotifyHub

struct	NotifyHubConfig

class	SeqlockBuf

class	Topic

struct	topic_desc

概念
concept	NodeConcept

concept	Printable

类型定义
template<typename... RxPackets>
using	RxOnlyCommBridge = CommBridge<std::tuple<EmptyPacket>, std::tuple<RxPackets...>>

template<typename... TxPackets>
using	TxOnlyCommBridge = CommBridge<std::tuple<TxPackets...>, std::tuple<EmptyPacket>>

using	HubRegistry

typedef void(*	print_func_t) (const struct topic_desc *desc)

typedef size_t(*	get_size_func_t) ()

枚举
enum class	LEDMode : uint8_t { Solid , Blink , Breathing }

enum class	CommandType : uint8_t { SET , REMOVE }

函数
template<typename T>
static void	registerHub (T *ptr)

template<typename T>
static T *	getHub ()

void	start_all_nodes ()

void	registerSound ()

void	playSound ()

template<float IN_MIN, float IN_MAX, float OUT_MIN, float OUT_MAX>
float	remap (const float x)

	LOG_MODULE_REGISTER (CommBridge, CONFIG_COMM_BRIDGE_LOG_LEVEL)

	LOG_MODULE_REGISTER (HubManager, CONFIG_HUB_MANAGER_LOG_LEVEL)

	RTIO_DEFINE_WITH_MEMPOOL (imu_rtio_ctx, 16, 16, 16, 512, sizeof(void *))

	LOG_MODULE_REGISTER (NodeSystem, CONFIG_NODE_LOG_LEVEL)

	LOG_MODULE_REGISTER (NotifyHub, CONFIG_NOTIFY_HUB_LOG_LEVEL)

OF_CCM_ATTR char	__aligned (4) g_buzzer_msgq_buffer[16 *sizeof(BuzzerCommand)]

	K_THREAD_STACK_DEFINE (g_buzzer_stack, 1024)

	K_THREAD_STACK_DEFINE (g_led_stack, 1024)

变量
constexpr size_t	MAX_KEY_LEN = 32

const device *	g_input_dev = nullptr

OF_CCM_ATTR ControllerHub	controller_hub

OF_CCM_ATTR SeqlockBuf< ControllerHubData >	g_controller_buf

constexpr uart_config	uart_cfg_dbus

OF_CCM_ATTR ImuHub	imu_hub

OF_CCM_ATTR Mahony	g_mahony {1.5f, 0.0f}

OF_CCM_ATTR IMUData	g_imu_data {}

OF_CCM_ATTR SeqlockBuf< IMUData >	g_imu_buf

OF_CCM_ATTR uint64_t	g_prev_timestamp {}

std::function< void(IMUData &)>	update_func

OF_CCM_ATTR NotifyHub	hub

OF_CCM_ATTR ankerl::unordered_dense::map< FixedString< MAX_KEY_LEN >, BuzzerStatus >	g_buzzer_noti

OF_CCM_ATTR ankerl::unordered_dense::map< FixedString< MAX_KEY_LEN >, LEDStatus >	g_led_noti

OF_CCM_ATTR k_msgq	g_buzzer_msgq

OF_CCM_ATTR k_msgq	g_led_msgq

类型定义说明

◆ get_size_func_t

typedef size_t(* get_size_func_t) ()

◆ HubRegistry

using HubRegistry

初始值:

 HubManager<
 
    >

◆ print_func_t

typedef void(* print_func_t) (const struct topic_desc *desc)

◆ RxOnlyCommBridge

template<typename... RxPackets>

using RxOnlyCommBridge = CommBridge<std::tuple<EmptyPacket>, std::tuple<RxPackets...>>

◆ TxOnlyCommBridge

template<typename... TxPackets>

using TxOnlyCommBridge = CommBridge<std::tuple<TxPackets...>, std::tuple<EmptyPacket>>

枚举类型说明

◆ CommandType

enum class CommandType : uint8_t

strong

枚举值
SET
REMOVE

◆ LEDMode

enum class LEDMode : uint8_t

strong

枚举值
Solid
Blink
Breathing

函数说明

◆ __aligned()

OF_CCM_ATTR char __aligned ( 4 )

◆ getHub()

template<typename T>

static T * getHub ( )

static

◆ K_THREAD_STACK_DEFINE() [1/2]

K_THREAD_STACK_DEFINE	(	g_buzzer_stack	,
		1024	)

◆ K_THREAD_STACK_DEFINE() [2/2]

K_THREAD_STACK_DEFINE	(	g_led_stack	,
		1024	)

◆ LOG_MODULE_REGISTER() [1/4]

LOG_MODULE_REGISTER	(	CommBridge	,
		CONFIG_COMM_BRIDGE_LOG_LEVEL	)

◆ LOG_MODULE_REGISTER() [2/4]

LOG_MODULE_REGISTER	(	HubManager	,
		CONFIG_HUB_MANAGER_LOG_LEVEL	)

◆ LOG_MODULE_REGISTER() [3/4]

LOG_MODULE_REGISTER	(	NodeSystem	,
		CONFIG_NODE_LOG_LEVEL	)

◆ LOG_MODULE_REGISTER() [4/4]

LOG_MODULE_REGISTER	(	NotifyHub	,
		CONFIG_NOTIFY_HUB_LOG_LEVEL	)

◆ playSound()

void playSound ( )

◆ registerHub()

template<typename T>

static void registerHub ( T * ptr )

static

◆ registerSound()

void registerSound ( )

◆ remap()

template<float IN_MIN, float IN_MAX, float OUT_MIN, float OUT_MAX>

float remap ( const float x )

nodiscard

◆ RTIO_DEFINE_WITH_MEMPOOL()

RTIO_DEFINE_WITH_MEMPOOL	(	imu_rtio_ctx	,
		16	,
		16	,
		16	,
		512	,
		sizeof(void *)	)

◆ start_all_nodes()

void start_all_nodes ( )

变量说明

◆ controller_hub

OF_CCM_ATTR ControllerHub controller_hub

◆ g_buzzer_msgq

OF_CCM_ATTR k_msgq g_buzzer_msgq

◆ g_buzzer_noti

OF_CCM_ATTR ankerl::unordered_dense::map<FixedString<MAX_KEY_LEN>, BuzzerStatus> g_buzzer_noti

◆ g_controller_buf

OF_CCM_ATTR SeqlockBuf<ControllerHubData> g_controller_buf

◆ g_imu_buf

OF_CCM_ATTR SeqlockBuf<IMUData> g_imu_buf

◆ g_imu_data

OF_CCM_ATTR IMUData g_imu_data {}

◆ g_input_dev

const device* g_input_dev = nullptr

◆ g_led_msgq

OF_CCM_ATTR k_msgq g_led_msgq

◆ g_led_noti

OF_CCM_ATTR ankerl::unordered_dense::map<FixedString<MAX_KEY_LEN>, LEDStatus> g_led_noti

◆ g_mahony

OF_CCM_ATTR Mahony g_mahony {1.5f, 0.0f}

◆ g_prev_timestamp

OF_CCM_ATTR uint64_t g_prev_timestamp {}

◆ hub

OF_CCM_ATTR NotifyHub hub

◆ imu_hub

OF_CCM_ATTR ImuHub imu_hub

◆ MAX_KEY_LEN

size_t MAX_KEY_LEN = 32

constexpr

◆ uart_cfg_dbus

uart_config uart_cfg_dbus