sensor::vl6180::LaeVL6180MuxArray Class Reference

VL6180 Time of Flight Array Class. More...

#include <laeVL6180.h>

Inheritance diagram for sensor::vl6180::LaeVL6180MuxArray:

Public Types
typedef std::vector< sensor::vl6180::LaeVL6180Mux * >	VecToFSensors
	time-of-flight sensor vector type

Public Member Functions
	LaeVL6180MuxArray (laelaps::LaeI2C &i2cBus)
	Initialization constructor. More...
virtual	~LaeVL6180MuxArray ()
	Destructor.
virtual int	getInterfaceVersion (uint_t &uVerMajor, uint_t &uVerMinor, uint_t &uFwVer)
	Get interface version. More...
virtual void	clearSensedData ()
	Clear sensed data.
virtual int	configure (const laelaps::LaeDesc &desc)
	Configure sensor array from product description. More...
virtual int	configure (const laelaps::LaeTunes &tunes)
	Configure sensor array from tuning parameters. More...
virtual int	reload (const laelaps::LaeTunes &tunes)
	Reload configuration tuning parameters. More...
virtual void	exec ()
	Execute task in one cycle to take measurements. 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 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...
Public Member Functions inherited from sensor::vl6180::LaeRangeInterface
	LaeRangeInterface (laelaps::LaeI2C &i2cBus)
	Initialization constructor. More...
virtual	~LaeRangeInterface ()
	Destructor.

Static Public Attributes
static const int	AlsFreq = 4
	take an ambient measurement cycle rate

Protected Member Functions
int	keyIndex (const std::string &strKey)

Protected Attributes
laelaps::LaeI2CMux	m_mux
	I2C multiplexor.
VecToFSensors	m_vecToF
	time of flight sensors
int	m_nAlsIndex
	ambient light sensor index
int	m_nAlsCounter
	when zero, make measurement
Protected Attributes inherited from sensor::vl6180::LaeRangeInterface
laelaps::LaeI2C &	m_i2cBus
	bound I2C bus instance

Detailed Description

VL6180 Time of Flight Array Class.

This class holds an set of LaeVL6180 objects to manage a VL6180 sensor array.

Used in 2.0 hardware.

Definition at line 1005 of file laeVL6180.h.

Constructor & Destructor Documentation

LaeVL6180MuxArray::LaeVL6180MuxArray

(

laelaps::LaeI2C &

i2cBus

)

Initialization constructor.

Note

The constructor should be kept light weight.

Parameters

i2cbus

Bound open I2C bus instance.

Definition at line 1274 of file laeVL6180.cxx.

References AlsFreq, m_nAlsCounter, and m_nAlsIndex.

                                                          :
    LaeRangeInterface(i2cBus), m_mux(i2cBus)
{
  m_nAlsIndex   = 0;
  m_nAlsCounter = AlsFreq;
}

Member Function Documentation

int LaeVL6180MuxArray::configure ( const laelaps::LaeDesc &  desc )

virtual

Configure sensor array from product description.

Parameters

desc	Product description.

Returns

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

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1311 of file laeVL6180.cxx.

References laelaps::LaeDesc::m_mapDescRangeSensor, m_mux, and m_vecToF.

Referenced by reload().

{
  LaeDesc::MapDescRangeSensor::const_iterator iter;
  VL6180xIdentification   ident;
  int                     rc;

  //
  // Time of Flight proximity sensors.
  //
  for(iter = desc.m_mapDescRangeSensor.begin();
      iter != desc.m_mapDescRangeSensor.end();
      ++iter)
  {
    m_vecToF.push_back(new LaeVL6180Mux(m_mux,
                              iter->second->m_nChan,
                              iter->second->m_fDir,
                              iter->second->m_fDeadzone,
                              iter->first,
                              iter->second->m_strDesc));
  }

  //
  // Try to initialize the sensors. But any failures will map only to warnings,
  // since we want the robot to still operate.
  //
  for(size_t i = 0; i < m_vecToF.size(); ++i)
  {
    if( (rc = m_vecToF[i]->readId(ident)) < 0 )
    {
      LOGWARN("VL6180 %s sensor: Failed to read identity.",
        m_vecToF[i]->getNameId().c_str());
    }

    if( (rc = m_vecToF[i]->initSensor(true)) < 0 )
    {
      LOGWARN("VL6180 %s sensor: Failed to initialize sensor.",
        m_vecToF[i]->getNameId().c_str());
    }

    if( rc == LAE_OK )
    {
      LOGDIAG3("VL6180 %s sensor connected:\n"
          "  Location: %s\n"
          "  Model:    %u v%u.%u\n"
          "  Module:   v%u.%u\n"
          "  Date:     %u %u",
        m_vecToF[i]->getNameId().c_str(),
        m_vecToF[i]->getDesc().c_str(),
        ident.idModel, ident.idModelRevMajor, ident.idModelRevMinor,
        ident.idModuleRevMajor, ident.idModuleRevMinor,
        ident.idDate, ident.idTime);

    }
  }

  return LAE_OK;
}

int LaeVL6180MuxArray::configure ( const laelaps::LaeTunes &  tunes )

virtual

Configure sensor array from tuning parameters.

Parameters

tunes

Tuning parameters.

Returns

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

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1369 of file laeVL6180.cxx.

References laelaps::LaeTunes::getVL6180Params(), and m_vecToF.

{
  string  strKey;
  int     nRangeOffset;
  int     nRangeCrossTalk;
  double  fAlsGain;
  int     nAlsIntPeriod;
  int     rc;

  for(size_t i = 0; i < m_vecToF.size(); ++i)
  {
    strKey = m_vecToF[i]->getNameId();

    tunes.getVL6180Params(strKey, nRangeOffset, nRangeCrossTalk,
                                  fAlsGain, nAlsIntPeriod);

    rc = m_vecToF[i]->tune((uint_t)nRangeOffset, (uint_t)nRangeCrossTalk,
                            fAlsGain, (uint_t)nAlsIntPeriod);

    if( rc == LAE_OK )
    {
      LOGDIAG3("VL6180 range sensor %s tuned.", strKey.c_str());
    }
    else
    {
      LOGERROR("VL6180 range sensor %s: Failed to tune sensor.",
          strKey.c_str());
      return rc;
    }
  }

  LOGDIAG2("Tuned VL6180 range sensor group.");

  return LAE_OK;
}

void LaeVL6180MuxArray::exec ( )

virtual

Execute task in one cycle to take measurements.

Context:

LaeThreadRange thread instance.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1412 of file laeVL6180.cxx.

References AlsFreq, m_nAlsCounter, m_nAlsIndex, and m_vecToF.

{
  int     nNumSensors;
  double  fRange;
  double  fAmbient;

  // no sensors
  if( (nNumSensors = (int)m_vecToF.size()) == 0 )
  {
    return;
  }

  // take all range measurements
  if( --m_nAlsCounter > 0 )
  {
    for(int sensorIndex = 0; sensorIndex < nNumSensors; ++sensorIndex)
    {
      fRange = m_vecToF[sensorIndex]->measureRange(fAmbient);
      RtDb.m_range[sensorIndex].m_fRange = fRange;
    }
  }

  // take single ambient light measurement
  else
  {
    fAmbient = m_vecToF[m_nAlsIndex]->measureAmbientLight();
    RtDb.m_range[m_nAlsIndex].m_fAmbientLight = fAmbient;

    m_nAlsIndex   = (m_nAlsIndex + 1) % nNumSensors;
    m_nAlsCounter = AlsFreq;
  }
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1482 of file laeVL6180.cxx.

References m_vecToF.

{
  double  fRange; // not used
  int     i;

  if( (i = keyIndex(strKey)) >= 0 )
  {
    m_vecToF[i]->getMeasurements(fRange, fLux);
    return LAE_OK;
  }
  else
  {
    LOGERROR("VL6180 range sensor %s does not exist.", strKey.c_str());
    return -LAE_ECODE_BAD_VAL;
  }
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1499 of file laeVL6180.cxx.

References m_vecToF.

{
  double  fRange;
  double  fAmbient;

  vecNames.clear();
  vecLux.clear();

  for(size_t i = 0; i < m_vecToF.size(); ++i)
  {
    m_vecToF[i]->getMeasurements(fRange, fAmbient);

    vecNames.push_back(m_vecToF[i]->getNameId());
    vecLux.push_back(fAmbient);
  }

  return LAE_OK;
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1291 of file laeVL6180.cxx.

References laelaps::LAE_OK, LAE_VER_MAJOR, and LAE_VER_MINOR.

{
  uVerMajor = LAE_VER_MAJOR(RtDb.m_product.m_uProdHwVer);
  uVerMinor = LAE_VER_MINOR(RtDb.m_product.m_uProdHwVer);
  uFwVer    = 0;

  return laelaps::LAE_OK;
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1445 of file laeVL6180.cxx.

References m_vecToF.

{
  double  fAmbient; // not used
  int     i;

  if( (i = keyIndex(strKey)) >= 0 )
  {
    m_vecToF[i]->getMeasurements(fRange, fAmbient);
    return LAE_OK;
  }
  else
  {
    LOGERROR("VL6180 range sensor %s does not exist.", strKey.c_str());
    return -LAE_ECODE_BAD_VAL;
  }
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1462 of file laeVL6180.cxx.

References m_vecToF.

{
  double  fRange;
  double  fAmbient;

  vecNames.clear();
  vecRanges.clear();

  for(size_t i = 0; i < m_vecToF.size(); ++i)
  {
    m_vecToF[i]->getMeasurements(fRange, fAmbient);

    vecNames.push_back(m_vecToF[i]->getNameId());
    vecRanges.push_back(fRange);
  }

  return LAE_OK;
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1519 of file laeVL6180.cxx.

References m_vecToF.

{
  int   i;

  if( (i = keyIndex(strKey)) >= 0 )
  {
    strRadiationType  = m_vecToF[i]->getRadiationType();
    fFoV              = m_vecToF[i]->getFoV();
    fBeamDir          = m_vecToF[i]->getBeamDir();
    m_vecToF[i]->getMinMax(fMin, fMax);
    return LAE_OK;
  }
  else
  {
    LOGERROR("VL6180 range sensor %s does not exist.", strKey.c_str());
    return -LAE_ECODE_BAD_VAL;
  }
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1543 of file laeVL6180.cxx.

References m_vecToF.

{
  int   i;

  if( (i = keyIndex(strKey)) >= 0 )
  {
    return m_vecToF[i]->readId(ident);
  }
  else
  {
    LOGERROR("VL6180 range sensor %s does not exist.", strKey.c_str());
    return -LAE_ECODE_BAD_VAL;
  }
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1559 of file laeVL6180.cxx.

References sensor::vl6180::LaeVL6180Mux::gainEnumToAnalog(), and m_vecToF.

{
  byte_t  regRangeOffset;
  u16_t   regRangeCrossTalk;
  byte_t  regAlsGain;
  u16_t   regAlsIntPeriod;
  int     i;

  if( (i = keyIndex(strKey)) >= 0 )
  {
    m_vecToF[i]->readShadowRegs(regRangeOffset, regRangeCrossTalk,
                                regAlsGain,     regAlsIntPeriod);

    uRangeOffset    = (uint_t)regRangeOffset;
    uRangeCrossTalk = (uint_t)regRangeCrossTalk;

    fAlsGain     = LaeVL6180Mux::gainEnumToAnalog((vl6180x_als_gain)regAlsGain);
    uAlsIntPeriod = (uint)regAlsIntPeriod + 1;
    return LAE_OK;
  }
  else
  {
    LOGERROR("VL6180 range sensor %s does not exist.", strKey.c_str());
    return -LAE_ECODE_BAD_VAL;
  }
}

int LaeVL6180MuxArray::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.

Reimplemented from sensor::vl6180::LaeRangeInterface.

Definition at line 1405 of file laeVL6180.cxx.

References configure().

{
  LOGDIAG2("Reloading VL6180 range sensor group tuning parameters...");
  
  return configure(tunes);
}

---

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

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