sensor::vl6180::LaeRangeSensorGroup Class Reference

Range sensor group class. More...

#include <laeVL6180.h>

Public Member Functions
	LaeRangeSensorGroup (laelaps::LaeI2C &i2cBus)
	Default constructor. More...
	~LaeRangeSensorGroup ()
	Destructor.
virtual void	blacklist ()
	Black list range sensor group from robot sensors.
virtual void	whitelist ()
	White list range sensor group from robot sensors.
virtual bool	isBlackListed ()
	Test if range sensor group is black listed. More...
int	setInterface (uint_t uProdHwVer)
	Set the interface, given the Laelaps hardware version. More...
void	clearSensedData ()
	Clear sensed data.
virtual int	getInterfaceVersion (uint_t &uVerMajor, uint_t &uVerMinor, uint_t &uFwVer)
	Get interface version. More...
virtual int	configure (const laelaps::LaeDesc &desc)
	Configure sensor group from product description. More...
virtual int	configure (const laelaps::LaeTunes &tunes)
	Configure sensor group from tuning parameters. More...
virtual int	reload (const laelaps::LaeTunes &tunes)
	Reload configuration tuning parameters. More...
virtual int	getSensorProps (const std::string &strKey, std::string &strRadiationType, double &fFoV, double &fBeamDir, double &fMin, double &fMax)
	Get range sensor properties. More...
virtual int	readSensorIdentity (const std::string &strKey, VL6180xIdentification &ident)
	Read sensor's identification. More...
virtual int	readSensorTunes (const std::string &strKey, uint_t &uRangeOffset, uint_t &uRangeCrossTalk, double &fAlsGain, uint_t &uAlsIntPeriod)
	Read sensor's current tuning parameters. More...
virtual int	getRange (const std::string &strKey, double &fRange)
	Get the shadowed range measurement. More...
virtual int	getRange (std::vector< std::string > &vecNames, std::vector< double > &vecRanges)
	Get all shadowed sensor range measurements. More...
virtual int	getAmbientLight (const std::string &strKey, double &fAmbient)
	Get the shadowed ambient light illuminance measurement. More...
virtual int	getAmbientLight (std::vector< std::string > &vecNames, std::vector< double > &vecAmbient)
	Get all shadowed sensor ambient light illuminance measurements. More...
virtual void	exec ()
	Execute task in one cycle to take measurements. More...

Protected Attributes
laelaps::LaeI2C &	m_i2cBus
	bound I2C bus instance
LaeRangeInterface *	m_interface
	the interface
bool	m_bBlackListed
	sensor group [not] black listed.

Detailed Description

Range sensor group class.

Laelaps sensor hardware had major changes between v2.0 and v2.1.

Definition at line 1535 of file laeVL6180.h.

Constructor & Destructor Documentation

LaeRangeSensorGroup::LaeRangeSensorGroup

(

laelaps::LaeI2C &

i2cBus

)

Default constructor.

Parameters

i2cBus

I2C interface.

Definition at line 2340 of file laeVL6180.cxx.

References m_bBlackListed, and m_interface.

                                                              :
    m_i2cBus(i2cBus)
{
  m_interface            = new LaeRangeInterface(i2cBus); // no-op version
  m_bBlackListed         = false;
  RtDb.m_enable.m_bRange = true;
}

Member Function Documentation

int LaeRangeSensorGroup::configure ( const laelaps::LaeDesc &  desc )

virtual

Configure sensor group from product description.

Parameters

desc	Product description.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2401 of file laeVL6180.cxx.

References sensor::vl6180::LaeRangeInterface::configure(), isBlackListed(), and m_interface.

Referenced by laelaps::LaeRobot::configForOperation().

{
  if( !isBlackListed() )
  {
    return m_interface->configure(desc);
  }
  else
  {
    return LAE_OK;
  }
}

int LaeRangeSensorGroup::configure ( const laelaps::LaeTunes &  tunes )

virtual

Configure sensor group from tuning parameters.

Parameters

tunes

Tuning parameters.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2413 of file laeVL6180.cxx.

References sensor::vl6180::LaeRangeInterface::configure(), isBlackListed(), and m_interface.

{
  if( !isBlackListed() )
  {
    return m_interface->configure(tunes);
  }
  else
  {
    return LAE_OK;
  }
}

void LaeRangeSensorGroup::exec ( )

virtual

Execute task in one cycle to take measurements.

Context:

LaeThreadRange thread instance.

Definition at line 2513 of file laeVL6180.cxx.

References sensor::vl6180::LaeRangeInterface::exec(), isBlackListed(), and m_interface.

Referenced by laelaps::LaeThreadRange::exec().

{
  if( !isBlackListed() )
  {
    m_interface->exec();
  }
}

virtual int sensor::vl6180::LaeRangeSensorGroup::getAmbientLight ( const std::string &  strKey, double &  fAmbient  )

virtual

Get the shadowed ambient light illuminance measurement.

The exec() call pulls the measured sensed from the actual sensors.

Parameters

	strKey	Sensor's unique name (key).
[out]	fAmbient	Sensed ambient light (lux).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Referenced by laelaps::LaeRobot::getRangeSensorProps(), and readSensorTunes().

virtual int sensor::vl6180::LaeRangeSensorGroup::getAmbientLight ( std::vector< std::string > &  vecNames, std::vector< double > &  vecAmbient  )

virtual

Get all shadowed sensor ambient light illuminance measurements.

The exec() call pulls the measured sensed from the actual sensors.

Parameters

	strKey	Sensor's unique name (key).
[out]	vecAmbient	Vector of associated sensor measured ambients (lux).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

int LaeRangeSensorGroup::getInterfaceVersion ( uint_t &  uVerMajor, uint_t &  uVerMinor, uint_t &  uFwVer  )

virtual

Get interface version.

Parameters

[out]	uVerMajor	Interface version major number.
[out]	uVerMinor	Interface version minor number.
[out]	uFwVer	Firmware version.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2393 of file laeVL6180.cxx.

References sensor::vl6180::LaeRangeInterface::getInterfaceVersion(), and m_interface.

Referenced by laelaps::LaeRobot::connSensors().

{
  // ignore blacklist
  return m_interface->getInterfaceVersion(uVerMajor, uVerMinor, uFwVer);
}

virtual int sensor::vl6180::LaeRangeSensorGroup::getRange ( const std::string &  strKey, double &  fRange  )

virtual

Get the shadowed range measurement.

The exec() call pulls the measured sensed from the actual sensors.

Parameters

	strKey	Sensor's unique name (key).
[out]	fRange	Sensed object range (meters).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Referenced by laelaps::LaeRobot::getRangeSensorProps(), and readSensorTunes().

virtual int sensor::vl6180::LaeRangeSensorGroup::getRange ( std::vector< std::string > &  vecNames, std::vector< double > &  vecRanges  )

virtual

Get all shadowed sensor range measurements.

The exec() call pulls the measured sensed from the actual sensors.

Parameters

[out]	vecNames	Vector of sensor unique names.
[out]	vecRanges	Vector of associated sensor measured ranges (meters).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

int LaeRangeSensorGroup::getSensorProps ( const std::string &  strKey, std::string &  strRadiationType, double &  fFoV, double &  fBeamDir, double &  fMin, double &  fMax  )

virtual

Get range sensor properties.

Parameters

	strKey	Sensor's unique name id (key).
[out]	strRadiationType	Radiation type.
[out]	fFoV	Field of View (radians).
[out]	fBeamdir	Center of beam direction (radians).
[out]	fMin	Minimum range (meters).
[out]	fMax	Maximum range (meters).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2437 of file laeVL6180.cxx.

References sensor::vl6180::LaeRangeInterface::getSensorProps(), and m_interface.

Referenced by laelaps::LaeRobot::getRangeSensorProps().

{
  // read-only data - nothing to blacklist
  return m_interface->getSensorProps(strKey, 
                                     strRadiationType,
                                     fFoV, fBeamDir,
                                     fMin, fMax);
}

virtual bool sensor::vl6180::LaeRangeSensorGroup::isBlackListed ( )

inlinevirtual

Test if range sensor group is black listed.

Returns

Returns true or false.

Definition at line 1565 of file laeVL6180.h.

Referenced by configure(), exec(), readSensorIdentity(), readSensorTunes(), and reload().

      {
        return m_bBlackListed;
      }

int LaeRangeSensorGroup::readSensorIdentity ( const std::string &  strKey, VL6180xIdentification &  ident  )

virtual

Read sensor's identification.

Parameters

	strKey	Sensor's unique name id (key).
[out]	ident	Identification structure.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2451 of file laeVL6180.cxx.

References isBlackListed(), m_interface, and sensor::vl6180::LaeRangeInterface::readSensorIdentity().

{
  if( !isBlackListed() )
  {
    m_interface->readSensorIdentity(strKey, ident);
  }
  else
  {
    memset(&ident, 0, sizeof(VL6180xIdentification));
    return LAE_OK;
  }
}

int LaeRangeSensorGroup::readSensorTunes ( const std::string &  strKey, uint_t &  uRangeOffset, uint_t &  uRangeCrossTalk, double &  fAlsGain, uint_t &  uAlsIntPeriod  )

virtual

Read sensor's current tuning parameters.

Parameters

	strKey	Sensor's unique name id (key).
[out]	uRangeOffset	ToF sensor part-to-part offset.
[out]	uRangeCrossTalk	ToF sensor cross-talk compensation.
[out]	fAlsGain	Ambient light sensor analog gain.
[out]	uAlsIntPeriod	Ambient light sensor integration period (msec).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2466 of file laeVL6180.cxx.

References sensor::vl6180::LaeRangeInterface::getAmbientLight(), getAmbientLight(), sensor::vl6180::LaeRangeInterface::getRange(), getRange(), isBlackListed(), m_interface, and sensor::vl6180::LaeRangeInterface::readSensorTunes().

{
  if( !isBlackListed() )
  {
    m_interface->readSensorTunes(strKey, uRangeOffset, uRangeCrossTalk,
                                         fAlsGain,     uAlsIntPeriod);
  }
  else
  {
    uRangeOffset    = 0;
    uRangeCrossTalk = 0;
    fAlsGain        = 0.0;
    uAlsIntPeriod   = 0;
    return LAE_OK;
  }
}

int LaeRangeSensorGroup::reload ( const laelaps::LaeTunes &  tunes )

virtual

Reload configuration tuning parameters.

Parameters

tunes

Tuning parameters.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2425 of file laeVL6180.cxx.

References isBlackListed(), m_interface, and sensor::vl6180::LaeRangeInterface::reload().

Referenced by laelaps::LaeThreadRange::reload().

{
  if( !isBlackListed() )
  {
    return m_interface->reload(tunes);
  }
  else
  {
    return LAE_OK;
  }
}

int LaeRangeSensorGroup::setInterface

(

uint_t

uProdHwVer

)

Set the interface, given the Laelaps hardware version.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 2368 of file laeVL6180.cxx.

References LAE_VERSION, m_i2cBus, and m_interface.

Referenced by laelaps::LaeRobot::connSensors().

{
  if( m_interface != NULL )
  {
    delete m_interface;
    m_interface = NULL;
  }

  if( uProdHwVer >= LAE_VERSION(2, 1, 0) )
  {
    m_interface = new LaeRangeMuxSubproc(m_i2cBus);
  }
  else
  {
    m_interface = new LaeVL6180MuxArray(m_i2cBus);
  }

  return LAE_OK;
}

---

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

• include/Laelaps/laeVL6180.h
• sw/liblaelaps/laeVL6180.cxx