/********************************************************************* * * $Id: yocto_rangefinder.h 59978 2024-03-18 15:04:46Z mvuilleu $ * * Declares yFindRangeFinder(), the high-level API for RangeFinder functions * * - - - - - - - - - License information: - - - - - - - - - * * Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland. * * Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual * non-exclusive license to use, modify, copy and integrate this * file into your software for the sole purpose of interfacing * with Yoctopuce products. * * You may reproduce and distribute copies of this file in * source or object form, as long as the sole purpose of this * code is to interface with Yoctopuce products. You must retain * this notice in the distributed source file. * * You should refer to Yoctopuce General Terms and Conditions * for additional information regarding your rights and * obligations. * * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING * WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO * EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL, * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, * COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR * SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT * LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR * CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE * BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF * WARRANTY, OR OTHERWISE. * *********************************************************************/ #ifndef YOCTO_RANGEFINDER_H #define YOCTO_RANGEFINDER_H #include #include #include "yocto_api.h" #ifdef YOCTOLIB_NAMESPACE namespace YOCTOLIB_NAMESPACE { #endif //--- (YRangeFinder return codes) //--- (end of YRangeFinder return codes) //--- (YRangeFinder yapiwrapper) //--- (end of YRangeFinder yapiwrapper) //--- (YRangeFinder definitions) class YRangeFinder; // forward declaration typedef void (*YRangeFinderValueCallback)(YRangeFinder *func, const string& functionValue); class YMeasure; // forward declaration typedef void (*YRangeFinderTimedReportCallback)(YRangeFinder *func, YMeasure measure); #ifndef _Y_RANGEFINDERMODE_ENUM #define _Y_RANGEFINDERMODE_ENUM typedef enum { Y_RANGEFINDERMODE_DEFAULT = 0, Y_RANGEFINDERMODE_LONG_RANGE = 1, Y_RANGEFINDERMODE_HIGH_ACCURACY = 2, Y_RANGEFINDERMODE_HIGH_SPEED = 3, Y_RANGEFINDERMODE_INVALID = -1, } Y_RANGEFINDERMODE_enum; #endif #define Y_TIMEFRAME_INVALID (YAPI_INVALID_LONG) #define Y_QUALITY_INVALID (YAPI_INVALID_UINT) #define Y_HARDWARECALIBRATION_INVALID (YAPI_INVALID_STRING) #define Y_CURRENTTEMPERATURE_INVALID (YAPI_INVALID_DOUBLE) #define Y_COMMAND_INVALID (YAPI_INVALID_STRING) //--- (end of YRangeFinder definitions) //--- (YRangeFinder declaration) /** * YRangeFinder Class: range finder control interface, available for instance in the Yocto-RangeFinder * * The YRangeFinder class allows you to read and configure Yoctopuce range finders. * It inherits from YSensor class the core functions to read measurements, * to register callback functions, and to access the autonomous datalogger. * This class adds the ability to easily perform a one-point linear calibration * to compensate the effect of a glass or filter placed in front of the sensor. */ class YOCTO_CLASS_EXPORT YRangeFinder: public YSensor { #ifdef __BORLANDC__ #pragma option push -w-8022 #endif //--- (end of YRangeFinder declaration) protected: //--- (YRangeFinder attributes) // Attributes (function value cache) Y_RANGEFINDERMODE_enum _rangeFinderMode; s64 _timeFrame; int _quality; string _hardwareCalibration; double _currentTemperature; string _command; YRangeFinderValueCallback _valueCallbackRangeFinder; YRangeFinderTimedReportCallback _timedReportCallbackRangeFinder; friend YRangeFinder *yFindRangeFinder(const string& func); friend YRangeFinder *yFirstRangeFinder(void); // Function-specific method for parsing of JSON output and caching result virtual int _parseAttr(YJSONObject *json_val); // Constructor is protected, use yFindRangeFinder factory function to instantiate YRangeFinder(const string& func); //--- (end of YRangeFinder attributes) public: virtual ~YRangeFinder(); //--- (YRangeFinder accessors declaration) static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_DEFAULT = Y_RANGEFINDERMODE_DEFAULT; static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_LONG_RANGE = Y_RANGEFINDERMODE_LONG_RANGE; static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_HIGH_ACCURACY = Y_RANGEFINDERMODE_HIGH_ACCURACY; static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_HIGH_SPEED = Y_RANGEFINDERMODE_HIGH_SPEED; static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_INVALID = Y_RANGEFINDERMODE_INVALID; static const s64 TIMEFRAME_INVALID = YAPI_INVALID_LONG; static const int QUALITY_INVALID = YAPI_INVALID_UINT; static const string HARDWARECALIBRATION_INVALID; static const double CURRENTTEMPERATURE_INVALID; static const string COMMAND_INVALID; /** * Changes the measuring unit for the measured range. That unit is a string. * String value can be " or mm. Any other value is ignored. * Remember to call the saveToFlash() method of the module if the modification must be kept. * WARNING: if a specific calibration is defined for the rangeFinder function, a * unit system change will probably break it. * * @param newval : a string corresponding to the measuring unit for the measured range * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_unit(const string& newval); inline int setUnit(const string& newval) { return this->set_unit(newval); } /** * Returns the range finder running mode. The rangefinder running mode * allows you to put priority on precision, speed or maximum range. * * @return a value among YRangeFinder::RANGEFINDERMODE_DEFAULT, * YRangeFinder::RANGEFINDERMODE_LONG_RANGE, YRangeFinder::RANGEFINDERMODE_HIGH_ACCURACY and * YRangeFinder::RANGEFINDERMODE_HIGH_SPEED corresponding to the range finder running mode * * On failure, throws an exception or returns YRangeFinder::RANGEFINDERMODE_INVALID. */ Y_RANGEFINDERMODE_enum get_rangeFinderMode(void); inline Y_RANGEFINDERMODE_enum rangeFinderMode(void) { return this->get_rangeFinderMode(); } /** * Changes the rangefinder running mode, allowing you to put priority on * precision, speed or maximum range. * Remember to call the saveToFlash() method of the module if the modification must be kept. * * @param newval : a value among YRangeFinder::RANGEFINDERMODE_DEFAULT, * YRangeFinder::RANGEFINDERMODE_LONG_RANGE, YRangeFinder::RANGEFINDERMODE_HIGH_ACCURACY and * YRangeFinder::RANGEFINDERMODE_HIGH_SPEED corresponding to the rangefinder running mode, allowing you * to put priority on * precision, speed or maximum range * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_rangeFinderMode(Y_RANGEFINDERMODE_enum newval); inline int setRangeFinderMode(Y_RANGEFINDERMODE_enum newval) { return this->set_rangeFinderMode(newval); } /** * Returns the time frame used to measure the distance and estimate the measure * reliability. The time frame is expressed in milliseconds. * * @return an integer corresponding to the time frame used to measure the distance and estimate the measure * reliability * * On failure, throws an exception or returns YRangeFinder::TIMEFRAME_INVALID. */ s64 get_timeFrame(void); inline s64 timeFrame(void) { return this->get_timeFrame(); } /** * Changes the time frame used to measure the distance and estimate the measure * reliability. The time frame is expressed in milliseconds. A larger timeframe * improves stability and reliability, at the cost of higher latency, but prevents * the detection of events shorter than the time frame. * Remember to call the saveToFlash() method of the module if the modification must be kept. * * @param newval : an integer corresponding to the time frame used to measure the distance and estimate the measure * reliability * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_timeFrame(s64 newval); inline int setTimeFrame(s64 newval) { return this->set_timeFrame(newval); } /** * Returns a measure quality estimate, based on measured dispersion. * * @return an integer corresponding to a measure quality estimate, based on measured dispersion * * On failure, throws an exception or returns YRangeFinder::QUALITY_INVALID. */ int get_quality(void); inline int quality(void) { return this->get_quality(); } string get_hardwareCalibration(void); inline string hardwareCalibration(void) { return this->get_hardwareCalibration(); } int set_hardwareCalibration(const string& newval); inline int setHardwareCalibration(const string& newval) { return this->set_hardwareCalibration(newval); } /** * Returns the current sensor temperature, as a floating point number. * * @return a floating point number corresponding to the current sensor temperature, as a floating point number * * On failure, throws an exception or returns YRangeFinder::CURRENTTEMPERATURE_INVALID. */ double get_currentTemperature(void); inline double currentTemperature(void) { return this->get_currentTemperature(); } string get_command(void); inline string command(void) { return this->get_command(); } int set_command(const string& newval); inline int setCommand(const string& newval) { return this->set_command(newval); } /** * Retrieves a range finder for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the range finder is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the range finder is * indeed online at a given time. In case of ambiguity when looking for * a range finder by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the range finder, for instance * YRNGFND1.rangeFinder1. * * @return a YRangeFinder object allowing you to drive the range finder. */ static YRangeFinder* FindRangeFinder(string func); /** * Registers the callback function that is invoked on every change of advertised value. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument. * * @param callback : the callback function to call, or a NULL pointer. The callback function should take two * arguments: the function object of which the value has changed, and the character string describing * the new advertised value. * @noreturn */ virtual int registerValueCallback(YRangeFinderValueCallback callback); using YSensor::registerValueCallback; virtual int _invokeValueCallback(string value); /** * Registers the callback function that is invoked on every periodic timed notification. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument. * * @param callback : the callback function to call, or a NULL pointer. The callback function should take two * arguments: the function object of which the value has changed, and an YMeasure object describing * the new advertised value. * @noreturn */ virtual int registerTimedReportCallback(YRangeFinderTimedReportCallback callback); using YSensor::registerTimedReportCallback; virtual int _invokeTimedReportCallback(YMeasure value); /** * Returns the temperature at the time when the latest calibration was performed. * This function can be used to determine if a new calibration for ambient temperature * is required. * * @return a temperature, as a floating point number. * On failure, throws an exception or return YAPI::INVALID_DOUBLE. */ virtual double get_hardwareCalibrationTemperature(void); /** * Triggers a sensor calibration according to the current ambient temperature. That * calibration process needs no physical interaction with the sensor. It is performed * automatically at device startup, but it is recommended to start it again when the * temperature delta since the latest calibration exceeds 8°C. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int triggerTemperatureCalibration(void); /** * Triggers the photon detector hardware calibration. * This function is part of the calibration procedure to compensate for the effect * of a cover glass. Make sure to read the chapter about hardware calibration for details * on the calibration procedure for proper results. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int triggerSpadCalibration(void); /** * Triggers the hardware offset calibration of the distance sensor. * This function is part of the calibration procedure to compensate for the the effect * of a cover glass. Make sure to read the chapter about hardware calibration for details * on the calibration procedure for proper results. * * @param targetDist : true distance of the calibration target, in mm or inches, depending * on the unit selected in the device * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int triggerOffsetCalibration(double targetDist); /** * Triggers the hardware cross-talk calibration of the distance sensor. * This function is part of the calibration procedure to compensate for the effect * of a cover glass. Make sure to read the chapter about hardware calibration for details * on the calibration procedure for proper results. * * @param targetDist : true distance of the calibration target, in mm or inches, depending * on the unit selected in the device * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int triggerXTalkCalibration(double targetDist); /** * Cancels the effect of previous hardware calibration procedures to compensate * for cover glass, and restores factory settings. * Remember to call the saveToFlash() method of the module if the modification must be kept. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int cancelCoverGlassCalibrations(void); inline static YRangeFinder *Find(string func) { return YRangeFinder::FindRangeFinder(func); } /** * Continues the enumeration of range finders started using yFirstRangeFinder(). * Caution: You can't make any assumption about the returned range finders order. * If you want to find a specific a range finder, use RangeFinder.findRangeFinder() * and a hardwareID or a logical name. * * @return a pointer to a YRangeFinder object, corresponding to * a range finder currently online, or a NULL pointer * if there are no more range finders to enumerate. */ YRangeFinder *nextRangeFinder(void); inline YRangeFinder *next(void) { return this->nextRangeFinder();} /** * Starts the enumeration of range finders currently accessible. * Use the method YRangeFinder::nextRangeFinder() to iterate on * next range finders. * * @return a pointer to a YRangeFinder object, corresponding to * the first range finder currently online, or a NULL pointer * if there are none. */ static YRangeFinder *FirstRangeFinder(void); inline static YRangeFinder *First(void) { return YRangeFinder::FirstRangeFinder();} #ifdef __BORLANDC__ #pragma option pop #endif //--- (end of YRangeFinder accessors declaration) }; //--- (YRangeFinder functions declaration) /** * Retrieves a range finder for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the range finder is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the range finder is * indeed online at a given time. In case of ambiguity when looking for * a range finder by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the range finder, for instance * YRNGFND1.rangeFinder1. * * @return a YRangeFinder object allowing you to drive the range finder. */ inline YRangeFinder *yFindRangeFinder(const string& func) { return YRangeFinder::FindRangeFinder(func);} /** * Starts the enumeration of range finders currently accessible. * Use the method YRangeFinder::nextRangeFinder() to iterate on * next range finders. * * @return a pointer to a YRangeFinder object, corresponding to * the first range finder currently online, or a NULL pointer * if there are none. */ inline YRangeFinder *yFirstRangeFinder(void) { return YRangeFinder::FirstRangeFinder();} //--- (end of YRangeFinder functions declaration) #ifdef YOCTOLIB_NAMESPACE // end of namespace definition } #endif #endif