Utilities

Utility classes for logging, memory, and helpers. More...

Collaboration diagram for Utilities:

Classes
class	SingleBuffer< T >
	A simple Buffer implementation which just uses a (dynamically sized) array. More...
class	RingBuffer< T >
	Implements a typed Ringbuffer. More...
class	VectorFromArray< T, N >
	A simple, fixed-capacity vector backed by std::array for embedded and performance-critical use. More...
class	AllocatorPSRAM< T >
	Custom allocator that uses ESP32's PSRAM for memory allocation. More...
class	BaseStream
	Base class for all Streams. It relies on write(const uint8_t *buffer, size_t size) and readBytes(uint8_t *buffer, size_t length). More...
class	BaseBuffer< T >
	Shared functionality of all buffers. More...
class	LoggerClass
	Simple, cross-platform logger for Arduino and C++ environments. More...
class	MemoryStream
	Read-only memory stream for wrapping a buffer as an Arduino Stream. More...

Enumerations
enum class	FrameType : uint8_t {   WORLD , ODOMETRY , BASE , CAMERA ,   LIDAR , WHEEL , CUSTOM , OBSTACLE ,   TEMP }
	Frame type for coordinate systems and reference frames. More...
enum class	CellState : int8_t { UNKNOWN = -1 , FREE = 0 , OCCUPIED = 100 }
	Cell state for occupancy grid mapping (e.g., UNKNOWN, FREE, OCCUPIED).
enum class	Unit {   Undefined , Percent , MetersPerSecond , RadiansPerSecond ,   Meters , Centimeters , Millimeters , AngleDegree ,   AngleRadian , TemperatureC , TemperatureF , Pixel }
	Units for message values. More...
enum class	ControlScenario { Car , Boat , Drone , Plane }
	Control scenario types for remote control vehicles. More...

Detailed Description

Utility classes for logging, memory, and helpers.

Enumeration Type Documentation

ControlScenario

enum class ControlScenario

strong

Control scenario types for remote control vehicles.

Used to select the control mapping for different vehicle types.

FrameType

enum class FrameType : uint8_t

strong

Frame type for coordinate systems and reference frames.

Enumerator
WORLD	World/global reference frame (fixed, absolute)
ODOMETRY	Odometry frame (incremental, mobile robot pose)
BASE	Robot or vehicle base frame (body frame)
CAMERA	Camera sensor frame.
LIDAR	LIDAR sensor frame.
WHEEL	Wheel or actuator frame.
CUSTOM	Custom user-defined frame.
OBSTACLE	Obstacle or object frame.
TEMP	Temporary or auxiliary frame.

Unit

enum class Unit

strong

Units for message values.

Enumerator
Percent	Percentage (0-100)
MetersPerSecond	Speed in meters per second.
RadiansPerSecond	Angular speed in radians per second.
Meters	Distance in meters.
Centimeters	Distance in centimeters.
Millimeters	Distance in millimeters.
AngleDegree	Angle in degrees.
AngleRadian	Angle in radians.
TemperatureC	Temperature in Celsius.
TemperatureF	Temperature in Fahrenheit.
Pixel	Pixel units (e.g., for image processing)