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

#include <VL53L8CX_Device.hpp>

Inheritance diagram for eduart::sensorring::device::VL53L8CX_Device:

Collaboration diagram for eduart::sensorring::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 override
	Get the sensor parameters used to configure this device.
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.
virtual bool	configure ()
	Apply post-reset runtime configuration for this device.
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	VL53L8CX_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 VL53L8CX Time-of-Flight sensor on the sensorring bus.

Constructor & Destructor Documentation

◆ VL53L8CX_Device()

eduart::sensorring::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

◆ getParams()

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

overridevirtual

Get the sensor parameters used to configure this device.

Returns: Reference to the internal VL53L8CX parameter struct.

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

◆ sendMeasurementRequest()

bool eduart::sensorring::device::VL53L8CX_Device::sendMeasurementRequest ( std::uint8_t sequence_number )

overrideprotectedvirtual

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

◆ sendMeasurementTransmissionRequest()

bool eduart::sensorring::device::VL53L8CX_Device::sendMeasurementTransmissionRequest ( )

overrideprotectedvirtual

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

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

VL53L8CX_Device.hpp

Public Member Functions

Protected Member Functions

Friends