Device wrapper for a VL53L8CX Time-of-Flight sensor on the sensorring bus. More...

#include <VL53L8CX_Device.hpp>

Inheritance diagram for eduart::device::VL53L8CX_Device:

Collaboration diagram for eduart::device::VL53L8CX_Device:

Public Member Functions
	VL53L8CX_Device (VL53L8CX_Params params, com::ComInterfaceID interface, unsigned int idx)
	Construct a new VL53L8CX device instance.
	~VL53L8CX_Device ()
	Destructor.
const VL53L8CX_Params &	getParams () const
	Get the sensor parameters used to configure this device.
std::pair< const measurement::TofMeasurement &, DeviceState >	getLatestMeasurement () const
	Get the most recent measurement and current sensor state.
std::pair< const measurement::TofMeasurement &, DeviceState >	getLatestTransformedMeasurement () const
	Get the most recent transformed measurement and current sensor state.
Public Member Functions inherited from eduart::device::BaseDevice
	BaseDevice (DeviceID id, com::ComInterface *interface, com::ComEndpoint target, bool enable)
	Constructs the device with the given ID, communication interface, endpoint, and enable flag.
DeviceID	getDeviceID () const
	Returns the device identifier.
void	setPoseOffset (const DevicePoseOffset &offset)
	Set the pose offset of this device relative to the board center.
DevicePoseOffset	getPoseOffset () const
	Get the pose offset of this device relative to the board center.
Public Member Functions inherited from eduart::device::BaseSensor
	BaseSensor (com::ComInterface *interface, com::ComEndpoint target, unsigned int idx, bool enable)
	Construct a base sensor and register it with the communication interface.
virtual	~BaseSensor ()
	Destructor.
unsigned int	getIdx () const
	Get the index of this sensor instance.
bool	getEnable () const
	Query if the sensor is currently enabled.
void	setEnable (bool enable)
	Enable or disable the sensor.
void	setPose (math::Vector3 translation, math::Vector3 rotation)
	Set the pose of the sensor in the common coordinate frame.
void	resetSensorState ()
	Reset error state and internal flags to nominal values.
void	clearDataFlag ()
	Clear state for the next measurement cycle. Calls the sensor-specific hook onClearDataFlag().
std::future< bool >	beginMeasurementWait ()
	Start a measurement-wait cycle and return a future that will be set when the measurement is ready.
std::future< bool >	beginDataAvailableWait ()
	Start a data-available-wait cycle and return a future that will be set when new data is available.

Static Public Member Functions
static std::future< bool >	requestTofMeasurementAsync (const std::vector< VL53L8CX_Device * > &devices, std::chrono::milliseconds timeout)
	Request Time-of-Flight measurements asynchronously on a set of devices.
static std::future< bool >	fetchTofMeasurementAsync (const std::vector< VL53L8CX_Device * > &devices, std::chrono::milliseconds timeout)
	Fetch Time-of-Flight measurements asynchronously from a set of devices.

Friends
class	VL53L8CX_DeviceImpl

Additional Inherited Members
Protected Member Functions inherited from eduart::device::BaseSensor
void	setMeasurementReady (bool success)
	Set the result of the current measurement-wait cycle. Called from derived callbacks when ready.
void	setDataAvailableReady (bool success)
	Set the result of the current data-available-wait cycle. Called from derived callbacks when "data available" is received.
virtual void	comCallback (const com::ComEndpoint source, const std::vector< std::uint8_t > &data)=0
	Handle an incoming communication message for this sensor.
Protected Attributes inherited from eduart::device::BaseDevice
DeviceState	_state
	Current lifecycle/runtime state.
DeviceID	_id
	Device identifier.
bool	_enable
	Whether the device is enabled.
DevicePoseOffset	_pose_offset
	Pose offset of the device relative to the sensor board center.
Protected Attributes inherited from eduart::device::BaseSensor
unsigned int	_idx
	Index of this sensor instance within its group.
DeviceState	_error
	Current health state of the sensor.
com::ComInterface *	_interface
	Communication interface used to talk to the sensor.
math::Vector3	_translation
	Translation of the sensor origin in the common coordinate frame.
math::Vector3	_rotation
	Rotation of the sensor expressed as Euler angles in degrees.
math::Matrix3	_rot_m
	Rotation matrix derived from the Euler angles.
bool	_enable_flag
	Flag indicating whether the sensor is enabled.
std::mutex	_state_mutex
std::optional< std::promise< bool > >	_measurement_promise
	Promise for the current measurement-wait cycle; set by callback, consumed by wait + get().
std::optional< std::promise< bool > >	_data_available_promise
	Promise for the current data-available-wait cycle; set by callback when "data available" is received.
std::mutex	_promise_mutex
subscription::Subscription	_com_subscription
	RAII subscription to the communication interface.

Detailed Description

Device wrapper for a VL53L8CX Time-of-Flight sensor on the sensorring bus.

Constructor & Destructor Documentation

◆ VL53L8CX_Device()

eduart::device::VL53L8CX_Device::VL53L8CX_Device	(	VL53L8CX_Params	params,
		com::ComInterfaceID	interface,
		unsigned int	idx )

Construct a new VL53L8CX device instance.

Parameters

[in]	params	Sensor configuration parameters.
[in]	interface	Communication interface used to talk to the device.
[in]	idx	Index of the sensor on the bus.

Member Function Documentation

◆ fetchTofMeasurementAsync()

std::future< bool > eduart::device::VL53L8CX_Device::fetchTofMeasurementAsync	(	const std::vector< VL53L8CX_Device * > &	devices,
		std::chrono::milliseconds	timeout )

static

Fetch Time-of-Flight measurements asynchronously from a set of devices.

Parameters

[in]	devices	Vector of devices to read from.
[in]	timeout	Maximum time to wait for completion.

Returns: Future resolving to true when all fetches succeed.

◆ getLatestMeasurement()

std::pair< const measurement::TofMeasurement &, DeviceState > eduart::device::VL53L8CX_Device::getLatestMeasurement ( ) const

Get the most recent measurement and current sensor state.

Returns: Pair of latest Time-of-Flight measurement and associated sensor state.

◆ getLatestTransformedMeasurement()

std::pair< const measurement::TofMeasurement &, DeviceState > eduart::device::VL53L8CX_Device::getLatestTransformedMeasurement ( ) const

Get the most recent transformed measurement and current sensor state.

Returns: Pair of latest transformed Time-of-Flight measurement and associated sensor state.

◆ getParams()

const VL53L8CX_Params & eduart::device::VL53L8CX_Device::getParams ( ) const

Get the sensor parameters used to configure this device.

Returns: Reference to the internal VL53L8CX parameter struct.

◆ requestTofMeasurementAsync()

std::future< bool > eduart::device::VL53L8CX_Device::requestTofMeasurementAsync	(	const std::vector< VL53L8CX_Device * > &	devices,
		std::chrono::milliseconds	timeout )

static

Request Time-of-Flight measurements asynchronously on a set of devices.

Parameters

[in]	devices	Vector of devices to trigger.
[in]	timeout	Maximum time to wait for completion.

Returns: Future resolving to true when all requests succeed.

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

VL53L8CX_Device.hpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VL53L8CX_Device()

Member Function Documentation

◆ fetchTofMeasurementAsync()

◆ getLatestMeasurement()

◆ getLatestTransformedMeasurement()

◆ getParams()

◆ requestTofMeasurementAsync()