Device wrapper for a TMF8829 Time-of-Flight sensor on the sensorring bus. More...

#include <TMF8829_Device.hpp>

Inheritance diagram for eduart::sensorring::device::TMF8829_Device:

Collaboration diagram for eduart::sensorring::device::TMF8829_Device:

Public Member Functions
	TMF8829_Device (TMF8829_Params params, com::ComInterfaceID interface, unsigned int idx)
	Construct a new TMF8829 device instance.
	~TMF8829_Device ()
	Destructor.
const TMF8829_Params &	getParams () const override
	Get the sensor parameters used to configure this device.
bool	setResolutionMode (ResolutionMode mode)
	Set the resolution mode of the sensor.
bool	getResolutionMode (ResolutionMode &mode)
	Get the resolution mode of the sensor.
bool	setIterationsSetting (std::uint16_t k_iterations)
	Set the iterations setting of the sensor in kilo iteration per measurement.
bool	getIterationsSetting (std::uint16_t &k_iterations)
	Get the iterations setting of the sensor in kilo iteration per measurement.
bool	setResultFormat (TMF8829_ResultFormat format)
	Set the result format of the sensor.
bool	getResultFormat (TMF8829_ResultFormat &format)
	Get the result format of the sensor.
bool	setResultFullNoise (bool full_noise)
	Enable or disable full noise data in measurement results.
bool	getResultFullNoise (bool &full_noise)
	Get whether full noise data is included in measurement results.
bool	setResultXtalk (bool xtalk)
	Enable or disable crosstalk data in measurement results.
bool	getResultXtalk (bool &xtalk)
	Get whether crosstalk data is included in measurement results.
bool	setResultNoiseStrength (bool noise_strength)
	Enable or disable noise strength data in measurement results.
bool	getResultNoiseStrength (bool &noise_strength)
	Get whether noise strength data is included in measurement results.
bool	setResultSignalStrength (bool signal_strength)
	Enable or disable signal strength data in measurement results.
bool	getResultSignalStrength (bool &signal_strength)
	Get whether signal strength data is included in measurement results.
bool	setResultNrOfPeaks (std::uint8_t nr_of_peaks)
	Set the maximum number of peaks reported per pixel in measurement results.
bool	getResultNrOfPeaks (std::uint8_t &nr_of_peaks)
	Get the maximum number of peaks reported per pixel in measurement results.
bool	configure () override
	Re-apply runtime configuration after a board reset.
Public Member Functions inherited from eduart::sensorring::device::DepthSensor
	DepthSensor (DeviceID id, com::ComInterface *interface, com::ComEndpoint target, DepthSensorConfig config)
	Construct a DepthSensor with Device params, field-of-view and pixel resolution.
const measurement::DepthMeasurement &	getLatestMeasurement () const
	Get the most recent measurement.
subscription::Subscription	subscribe (std::function< void(const measurement::DepthMeasurement &)> callback)
	Subscribe to depth measurements from this sensor.
virtual void	publishMeasurement ()
	Build a DepthMeasurement from internal state and publish to all subscribers.
Public Member Functions inherited from eduart::sensorring::device::Sensor
	Sensor (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct the sensor with identity and communication link.
std::future< bool >	measure (std::uint8_t sequence_number)
std::future< bool >	fetch ()
std::future< bool >	beginMeasurementWait ()
	Begin an asynchronous wait for the next measurement trigger.
void	setMeasurementReady (bool success)
	Satisfy the pending measurement-wait future.
std::future< bool >	beginDataAvailableWait ()
	Begin an asynchronous wait for new data to become available.
void	setDataAvailableReady (bool success)
	Satisfy the pending data-available-wait future.
void	resetSensorState ()
	Reset the device to its initialised state, clearing all error flags.
void	clearDataFlag ()
	Clear the data-available flag so the device can accept the next measurement cycle.
Public Member Functions inherited from eduart::sensorring::device::Device
	Device (DeviceID id, com::ComInterface *interface, com::ComEndpoint target)
	Construct the device with identity and communication link.
DeviceID	getDeviceID () const
	Return the full device identifier (type + index).
unsigned int	getHwIdx () const
	Return the zero-based hardware board index on its bus (used for CAN addressing and protocol bitmasks).
void	setDeviceIndex (unsigned int index)
	Reassign the logical device index (DeviceID.index) without changing the hardware index.
void	setBoardContext (const board::SensorBoardParams *board_params)
	Initialize board-level context pointer (non-owning).
const board::SensorBoardParams *	getBoardContext () const
	Return the board-level context pointer (non-owning).
void	setPoseOffset (const math::Pose &offset)
	Store a pose offset relative to the board centre.
math::Pose	getPoseOffset () const
	Return the stored pose offset relative to the board centre.
math::Pose	getGlobalPose () const
	Compute and return the global pose in the ring coordinate frame.
Public Member Functions inherited from eduart::sensorring::ActionDispatcher
void	setQueue (ActionQueue *queue)
void	clearQueue ()
bool	isManaged () const
void	execute (Action action)
void	execute (std::string_view key, Action action)

Protected Member Functions
bool	sendMeasurementRequest (std::uint8_t sequence_number) override
bool	sendMeasurementTransmissionRequest () override
Protected Member Functions inherited from eduart::sensorring::device::DepthSensor
void	updateResolution (double fov_x_deg, double fov_y_deg, unsigned int res_x, unsigned int res_y)
	Update the sensor's FOV and resolution, and recalculate the lookup tables.
virtual void	createLookupTable (DepthSensorConfig config, std::vector< double > &lut_x, std::vector< double > &lut_y, std::vector< double > &lut_z)
	Create lookup tables for x and y angles based on FOV and resolution.
void	processRawMeasurement (measurement::PointCloud &pcl)
	Calculate the x,y,z coordinates from the raw distance measurements.
Protected Member Functions inherited from eduart::sensorring::device::Sensor
virtual void	onResetSensorState ()
virtual void	onClearDataFlag ()
Protected Member Functions inherited from eduart::sensorring::device::Device
virtual void	comCallback (const com::ComEndpoint source, std::uint8_t command, const std::vector< std::uint8_t > &data)=0

Friends
class	TMF8829_DeviceImpl

Additional Inherited Members
Public Types inherited from eduart::sensorring::device::DepthSensor
using	MeasurementType = measurement::DepthMeasurement
	Measurement type produced by this sensor category.
Static Public Member Functions inherited from eduart::sensorring::ActionDispatcher
static void	globalExecute (Action action)
Protected Attributes inherited from eduart::sensorring::device::DepthSensor
DepthSensorConfig	_config
std::vector< double >	_lut_x
std::vector< double >	_lut_y
std::vector< double >	_lut_z
measurement::DepthMeasurement	_latest_measurement
subscription::Publisher< const measurement::DepthMeasurement & >	_depth_publisher
Protected Attributes inherited from eduart::sensorring::device::Sensor
DeviceState	_state
std::mutex	_state_mutex
std::mutex	_promise_mutex
std::optional< std::promise< bool > >	_data_available_promise
std::optional< std::promise< bool > >	_measurement_promise
Protected Attributes inherited from eduart::sensorring::device::Device
DeviceID	_id
unsigned int	_hw_idx
com::ComInterface *	_interface
const board::SensorBoardParams *	_board_params = nullptr
math::Pose	_offset
subscription::Subscription	_com_subscription

Detailed Description

Device wrapper for a TMF8829 Time-of-Flight sensor on the sensorring bus.

Constructor & Destructor Documentation

◆ TMF8829_Device()

eduart::sensorring::device::TMF8829_Device::TMF8829_Device	(	TMF8829_Params	params,
		com::ComInterfaceID	interface,
		unsigned int	idx )

Construct a new TMF8829 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

◆ configure()

bool eduart::sensorring::device::TMF8829_Device::configure ( )

overridevirtual

Re-apply runtime configuration after a board reset.

Returns: true on success.

Reimplemented from eduart::sensorring::device::Device.

◆ getIterationsSetting()

bool eduart::sensorring::device::TMF8829_Device::getIterationsSetting ( std::uint16_t & k_iterations )

Get the iterations setting of the sensor in kilo iteration per measurement.

Parameters

[out] k_iterations Reference to store the current iterations setting. Refer to the TMF8829 datasheet for more details about this setting.

Returns: Return true if reading the current iterations setting was successful.

◆ getParams()

const TMF8829_Params & eduart::sensorring::device::TMF8829_Device::getParams ( ) const

overridevirtual

Get the sensor parameters used to configure this device.

Returns: Reference to the internal TMF8829 parameter struct.

Implements eduart::sensorring::device::DepthSensor.

◆ getResolutionMode()

bool eduart::sensorring::device::TMF8829_Device::getResolutionMode ( ResolutionMode & mode )

Get the resolution mode of the sensor.

Parameters

[out] mode Reference to store the current resolution mode.

Returns: Return true if reading the current resolution mode was successful.

◆ getResultFormat()

bool eduart::sensorring::device::TMF8829_Device::getResultFormat ( TMF8829_ResultFormat & format )

Get the result format of the sensor.

Parameters

[out] format Reference to store the current result format.

Returns: Return true if reading the current result format was successful.

◆ getResultFullNoise()

bool eduart::sensorring::device::TMF8829_Device::getResultFullNoise ( bool & full_noise )

Get whether full noise data is included in measurement results.

Parameters

[out] full_noise Reference to store the current full noise flag.

Returns: Return true if reading the current full noise flag was successful.

◆ getResultNoiseStrength()

bool eduart::sensorring::device::TMF8829_Device::getResultNoiseStrength ( bool & noise_strength )

Get whether noise strength data is included in measurement results.

Parameters

[out] noise_strength Reference to store the current noise strength flag.

Returns: Return true if reading the current noise strength flag was successful.

◆ getResultNrOfPeaks()

bool eduart::sensorring::device::TMF8829_Device::getResultNrOfPeaks ( std::uint8_t & nr_of_peaks )

Get the maximum number of peaks reported per pixel in measurement results.

Parameters

[out] nr_of_peaks Reference to store the current maximum number of peaks.

Returns: Return true if reading the current number of peaks was successful.

◆ getResultSignalStrength()

bool eduart::sensorring::device::TMF8829_Device::getResultSignalStrength ( bool & signal_strength )

Get whether signal strength data is included in measurement results.

Parameters

[out] signal_strength Reference to store the current signal strength flag.

Returns: Return true if reading the current signal strength flag was successful.

◆ getResultXtalk()

bool eduart::sensorring::device::TMF8829_Device::getResultXtalk ( bool & xtalk )

Get whether crosstalk data is included in measurement results.

Parameters

[out] xtalk Reference to store the current crosstalk flag.

Returns: Return true if reading the current crosstalk flag was successful.

◆ sendMeasurementRequest()

bool eduart::sensorring::device::TMF8829_Device::sendMeasurementRequest ( std::uint8_t sequence_number )

overrideprotectedvirtual

Implements eduart::sensorring::device::Sensor.

◆ sendMeasurementTransmissionRequest()

bool eduart::sensorring::device::TMF8829_Device::sendMeasurementTransmissionRequest ( )

overrideprotectedvirtual

Implements eduart::sensorring::device::Sensor.

◆ setIterationsSetting()

bool eduart::sensorring::device::TMF8829_Device::setIterationsSetting ( std::uint16_t k_iterations )

Set the iterations setting of the sensor in kilo iteration per measurement.

Parameters

[in] k_iterations Iterations setting to set. Refer to the TMF8829 datasheet for more details about this setting.

Returns: Return true if setting the iterations setting was successful.

◆ setResolutionMode()

bool eduart::sensorring::device::TMF8829_Device::setResolutionMode ( ResolutionMode mode )

Set the resolution mode of the sensor.

Parameters

[in] mode Resolution mode to set.

Returns: Return true if setting the resolution mode was successful.

◆ setResultFormat()

bool eduart::sensorring::device::TMF8829_Device::setResultFormat ( TMF8829_ResultFormat format )

Set the result format of the sensor.

Parameters

[in] format Result format to set.

Returns: Return true if setting the result format was successful.

◆ setResultFullNoise()

bool eduart::sensorring::device::TMF8829_Device::setResultFullNoise ( bool full_noise )

Enable or disable full noise data in measurement results.

Parameters

[in] full_noise Set to true to include full noise data in results.

Returns: Return true if setting the full noise flag was successful.

◆ setResultNoiseStrength()

bool eduart::sensorring::device::TMF8829_Device::setResultNoiseStrength ( bool noise_strength )

Enable or disable noise strength data in measurement results.

Parameters

[in] noise_strength Set to true to include noise strength in results.

Returns: Return true if setting the noise strength flag was successful.

◆ setResultNrOfPeaks()

bool eduart::sensorring::device::TMF8829_Device::setResultNrOfPeaks ( std::uint8_t nr_of_peaks )

Set the maximum number of peaks reported per pixel in measurement results.

Parameters

[in] nr_of_peaks Maximum number of peaks to report.

Returns: Return true if setting the number of peaks was successful.

◆ setResultSignalStrength()

bool eduart::sensorring::device::TMF8829_Device::setResultSignalStrength ( bool signal_strength )

Enable or disable signal strength data in measurement results.

Parameters

[in] signal_strength Set to true to include signal strength in results.

Returns: Return true if setting the signal strength flag was successful.

◆ setResultXtalk()

bool eduart::sensorring::device::TMF8829_Device::setResultXtalk ( bool xtalk )

Enable or disable crosstalk data in measurement results.

Parameters

[in] xtalk Set to true to include crosstalk data in results.

Returns: Return true if setting the crosstalk flag was successful.

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

TMF8829_Device.hpp

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TMF8829_Device()

Member Function Documentation

◆ configure()

◆ getIterationsSetting()

◆ getParams()

◆ getResolutionMode()

◆ getResultFormat()

◆ getResultFullNoise()

◆ getResultNoiseStrength()

◆ getResultNrOfPeaks()

◆ getResultSignalStrength()

◆ getResultXtalk()

◆ sendMeasurementRequest()

◆ sendMeasurementTransmissionRequest()

◆ setIterationsSetting()

◆ setResolutionMode()

◆ setResultFormat()

◆ setResultFullNoise()

◆ setResultNoiseStrength()

◆ setResultNrOfPeaks()

◆ setResultSignalStrength()

◆ setResultXtalk()