This class defines common time-of-flight (ToF) sensor interfaces. More...

#include <time_of_flight.hpp>

Inheritance diagram for embvm::tof::sensor:

Public Types
using	read_cb_t = stdext::inplace_function< void(uint16_t)>
	ToF Callback function which retuns distance in mm. More...

Public Member Functions
virtual tof::distance_t	getMaxRangeForModeDark (tof::mode m) const noexcept=0
	Check the maximum range in the dark. More...

virtual tof::distance_t	getMaxRangeForModeStrongLight (tof::mode m) const noexcept=0
	Check the maximum range in strong light conditions. More...

tof::mode	mode () const noexcept
	Get the ToF ranging mode. More...

virtual tof::mode	mode (tof::mode m) noexcept=0
	Set the ToF ranging mode. More...

virtual void	registerReadCallback (const read_cb_t &cb) noexcept=0
	Register a callback for the read() function. More...

virtual void	registerReadCallback (read_cb_t &&cb) noexcept=0
	Register a callback for the read() function. More...

virtual void	read () noexcept=0
	Trigger a sensor read. More...

virtual void	reset () noexcept=0
	Reset the ToF sensor. More...

void	start () noexcept
	Start the driver. More...

void	stop () noexcept
	Stop the driver. More...

void	restart () noexcept
	Restart the driver. More...

type_safe::boolean	started () const noexcept
	Check if the driver has been started. More...

constexpr embvm::DriverType_t	DriverType () const noexcept
	Returns the registered type ID of the driver. More...

constexpr const std::string_view &	name () const noexcept
	Provides a string_view reference of the driver name. More...

constexpr const char *	name_cstr () const noexcept
	Provides a c-string version of the driver name. More...

virtual DriverBase &	operator++ () noexcept
	Increment operator is a no-op, but is used for iterator compatibility. More...

Static Public Member Functions
static constexpr embvm::DriverType	type () noexcept
	ToF Driver Type ID. More...

Protected Member Functions
	sensor () noexcept
	Default constructor. More...

	sensor (const char *name) noexcept
	Construct an tof::sensor with a C-string name. More...

	sensor (const std::string &name) noexcept
	Construct an tof::sensor with a std::string name. More...

	sensor (const std::string_view &name) noexcept
	Construct an tof::sensor with a std::string_view name. More...

	~sensor () noexcept override
	Default destructor. More...

void	start_ () noexcept override=0
	Derived classes override the start_ method to control driver-specific startup behavior. More...

void	stop_ () noexcept override=0
	Derived classes override the start_ method to control driver-specific startup behavior. More...

Protected Attributes
tof::mode	mode_ = tof::mode::defaultRange
	The configured ranging mode for the ToF sensor. More...

type_safe::boolean	started_ = false
	Tracks the driver state. More...

const std::string_view	name_
	Name of the driver instance. More...

const embvm::DriverType_t	type_
	Type ID of the driver instance. More...

Detailed Description

This class defines common time-of-flight (ToF) sensor interfaces.

tof::sensor is the base class for time-of-flight (ToF) sensor devices.

Define a ToF Driver

To define a ToF driver, derive from the tof::sensor object:

class vl53l1x final : public tof::sensor

{ ... };

Derived classes must implement the following functions:

Additional sensor-specific functions may be defined. They are simply not available in the public/common interface.

Derived classes must also implement pure virtual embvm::DriverBase functions:

Using a ToF driver

The ToF driver should be configured with the desired ranging mode (tof::mode) using the mode() function.

Once the sensor is configured, a callback should be registered via registerReadCallback(). The callback is required in order to receive results from the read() command.

To get a range result from the sensor, call the read() function. The function operates asynchronously and will return immediately. When the read operation completes, registered callbacks will be called.

Member Typedef Documentation

◆ read_cb_t

using embvm::tof::sensor::read_cb_t = stdext::inplace_function<void(uint16_t)>

ToF Callback function which retuns distance in mm.

Constructor & Destructor Documentation

◆ sensor() [1/4]

embvm::tof::sensor::sensor ( )

inlineprotectednoexcept

Default constructor.

Initializes the tof::sensor instance with a generic name.

◆ sensor() [2/4]

embvm::tof::sensor::sensor ( const char * name )

inlineprotectednoexcept

Construct an tof::sensor with a C-string name.

Initializes the tof::sensor instance with a name.

Parameters

name	The name of the ToF instance.

◆ sensor() [3/4]

embvm::tof::sensor::sensor ( const std::string & name )

inlineprotectednoexcept

Construct an tof::sensor with a std::string name.

Initializes the tof::sensor instance with a name.

Parameters

name	The name of the ToF instance. tof::sensor() uses a std::string_view, so the std::string must remain valid

◆ sensor() [4/4]

embvm::tof::sensor::sensor ( const std::string_view & name )

inlineprotectednoexcept

Construct an tof::sensor with a std::string_view name.

Initializes the tof::sensor instance with a name.

Parameters

name	The name of the ToF instance.

◆ ~sensor()

embvm::tof::sensor::~sensor ( )

overrideprotecteddefaultnoexcept

Default destructor.

Member Function Documentation

◆ DriverType()

constexpr embvm::DriverType_t embvm::DriverBase::DriverType ( ) const

inlinenoexceptinherited

Returns the registered type ID of the driver.

When using DriverBase interfaces, clients can retrieve the registered driver type in order to up-cast to the correct interface.

The type is returned as a embvm::DriverType_t rather than a embvm::DriverType enum to work with custom user-defined types. Enforcing a embvm::DriverType return value would prevent clients from defining and using their own custom types.

Returns: the registered driver type as a embvm::DriverType_t value

References embvm::DriverBase::type_.

◆ getMaxRangeForModeDark()

virtual tof::distance_t embvm::tof::sensor::getMaxRangeForModeDark ( tof::mode m ) const

pure virtualnoexcept

Check the maximum range in the dark.

Returns: the sensor's maximum distance capability (in mm) in the dark.

Implemented in embdrv::vl53l1x.

◆ getMaxRangeForModeStrongLight()

virtual tof::distance_t embvm::tof::sensor::getMaxRangeForModeStrongLight ( tof::mode m ) const

pure virtualnoexcept

Check the maximum range in strong light conditions.

Returns: the sensor's maximum distance capability (in mm) in strong light.

Implemented in embdrv::vl53l1x.

◆ mode() [1/2]

tof::mode embvm::tof::sensor::mode ( ) const

inlinenoexcept

Get the ToF ranging mode.

Returns: the currently configured ToF ranging mode.

References mode_.

◆ mode() [2/2]

virtual tof::mode embvm::tof::sensor::mode ( tof::mode m )

pure virtualnoexcept

Set the ToF ranging mode.

Parameters

m	The desired ToF ranging mode.

Returns: the active ToF mode.

Implemented in embdrv::vl53l1x.

◆ name()

constexpr const std::string_view& embvm::DriverBase::name ( ) const

inlinenoexceptinherited

Provides a string_view reference of the driver name.

Returns: std::string_view ref containing the driver name.

References embvm::DriverBase::name_.

◆ name_cstr()

constexpr const char* embvm::DriverBase::name_cstr ( ) const

inlinenoexceptinherited

Provides a c-string version of the driver name.

Returns: c-string containing the driver name

References embvm::DriverBase::name_.

◆ operator++()

virtual DriverBase& embvm::DriverBase::operator++ ( )

inlinevirtualnoexceptinherited

Increment operator is a no-op, but is used for iterator compatibility.

◆ read()

virtual void embvm::tof::sensor::read ( )

pure virtualnoexcept

Trigger a sensor read.

Trigger an asynchronous read of the ToF sensor. The result will be provided to consumers through a callback function. When the read() operation completes, the callback will be invoked with the result.

Implemented in embdrv::vl53l1x.

◆ registerReadCallback() [1/2]

virtual void embvm::tof::sensor::registerReadCallback ( const read_cb_t & cb )

pure virtualnoexcept

Register a callback for the read() function.

The read() function works asynchronously, and the result will be provided to consumers through a callback function. When the read() operation completes, the callback will be invoked with the result.

This function must be implemented by the derived class.

Parameters

cb	The functor which will be called when read() completes.

Implemented in embdrv::vl53l1x.

Referenced by FrameworkDemoSimPlatform::init_().

◆ registerReadCallback() [2/2]

virtual void embvm::tof::sensor::registerReadCallback ( read_cb_t && cb )

pure virtualnoexcept

Register a callback for the read() function.

The read() function works asynchronously, and the result will be provided to consumers through a callback function. When the read() operation completes, the callback will be invoked with the result.

This function must be implemented by the derived class.

Parameters

cb	The functor which will be called when read() completes.

Implemented in embdrv::vl53l1x.

◆ reset()

virtual void embvm::tof::sensor::reset ( )

pure virtualnoexcept

Reset the ToF sensor.

Implemented in embdrv::vl53l1x.

◆ restart()

void embvm::DriverBase::restart ( )

inlinenoexceptinherited

Restart the driver.

Calls stop() and then start() on the driver. If the driver is not started, then it will be started after the start() function is invoked.

References embvm::DriverBase::start(), and embvm::DriverBase::stop().

◆ start()

void embvm::DriverBase::start ( )

inlinenoexceptinherited

Start the driver.

If the driver is not started, call the start_() function defined by the derived class. (Template Method Pattern)

References embvm::DriverBase::start_(), and embvm::DriverBase::started_.

Referenced by NRF52DongleHWPlatform::init_(), NRF52DKHWPlatform::init_(), BlinkySimulatorHWPlatform::init_(), FWDemoSimulatorHWPlatform::init_(), FrameworkDemoSimPlatform::initHWPlatform_(), embvm::DriverBase::restart(), embvm::timer::Timer::restart(), embvm::spi::activeMaster< TQueueSize, TLock, TCond >::start_(), embvm::i2c::activeMaster< 128 >::start_(), embdrv::aardvarkSPIMaster::start_(), embdrv::aardvarkI2CMaster::start_(), embdrv::aardvarkGPIOInput< 4 >::start_(), embdrv::vl53l1x::start_(), embdrv::aardvarkGPIOOutput< 5 >::start_(), BlinkySimulatorHWPlatform::startBlink(), and FWDemoSimulatorHWPlatform::startLEDTimer().

◆ start_()

void embvm::tof::sensor::start_ ( )

overrideprotectedpure virtualnoexcept

Derived classes override the start_ method to control driver-specific startup behavior.

(Template Method Pattern)

Implements embvm::DriverBase.

Implemented in embdrv::vl53l1x.

◆ started()

type_safe::boolean embvm::DriverBase::started ( ) const

inlinenoexceptinherited

Check if the driver has been started.

Returns: true if the driver is running (started), false if not running (stopped).

References embvm::DriverBase::started_.

Referenced by embdrv::aardvarkSPIMaster::configure_(), embdrv::aardvarkGPIOInput< 4 >::get(), embdrv::aardvarkGPIOOutput< 5 >::set(), embdrv::vl53l1x::start_(), embdrv::aardvarkAdapter::start_(), and embdrv::aardvarkAdapter::stop_().

◆ stop()

void embvm::DriverBase::stop ( )

inlinenoexceptinherited

Stop the driver.

If the driver has been started, call the stop_() function defined by the derived class. (Template Method Pattern)

References embvm::DriverBase::started_, and embvm::DriverBase::stop_().

Referenced by embvm::DriverBase::restart(), embvm::timer::Timer::restart(), embvm::spi::activeMaster< TQueueSize, TLock, TCond >::stop_(), embvm::i2c::activeMaster< 128 >::stop_(), embdrv::aardvarkSPIMaster::stop_(), embdrv::aardvarkI2CMaster::stop_(), embdrv::aardvarkGPIOInput< 4 >::stop_(), embdrv::aardvarkGPIOOutput< 5 >::stop_(), FWDemoSimulatorHWPlatform::~FWDemoSimulatorHWPlatform(), and embdrv::SimulatorTimer::~SimulatorTimer().

◆ stop_()

void embvm::tof::sensor::stop_ ( )

overrideprotectedpure virtualnoexcept

Derived classes override the start_ method to control driver-specific startup behavior.

(Template Method Pattern)

Implements embvm::DriverBase.

Implemented in embdrv::vl53l1x.

◆ type()

static constexpr embvm::DriverType embvm::tof::sensor::type ( )

inlinestaticnoexcept

ToF Driver Type ID.

Returns: ToF type ID.

References embvm::TIME_OF_FLIGHT.

Member Data Documentation

◆ mode_

tof::mode embvm::tof::sensor::mode_ = tof::mode::defaultRange

protected

The configured ranging mode for the ToF sensor.

Referenced by mode().

◆ name_

const std::string_view embvm::DriverBase::name_

protectedinherited

Name of the driver instance.

Referenced by embvm::DriverBase::name(), and embvm::DriverBase::name_cstr().

◆ started_

type_safe::boolean embvm::DriverBase::started_ = false

protectedinherited

Tracks the driver state.

True if the driver has been started, false if it has been stopped or not yet started.

Referenced by embvm::DriverBase::start(), embvm::DriverBase::started(), and embvm::DriverBase::stop().

◆ type_

const embvm::DriverType_t embvm::DriverBase::type_

protectedinherited

Type ID of the driver instance.

Referenced by embvm::DriverBase::DriverType().

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

src/core/driver/time_of_flight.hpp
src/core/driver/internal/time_of_flight.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Define a ToF Driver

Using a ToF driver

Member Typedef Documentation

◆ read_cb_t

Constructor & Destructor Documentation

◆ sensor() [1/4]

◆ sensor() [2/4]

◆ sensor() [3/4]

◆ sensor() [4/4]

◆ ~sensor()

Member Function Documentation

◆ DriverType()

◆ getMaxRangeForModeDark()

◆ getMaxRangeForModeStrongLight()

◆ mode() [1/2]

◆ mode() [2/2]

◆ name()

◆ name_cstr()

◆ operator++()

◆ read()

◆ registerReadCallback() [1/2]

◆ registerReadCallback() [2/2]

◆ reset()

◆ restart()

◆ start()

◆ start_()

◆ started()

◆ stop()

◆ stop_()

◆ type()

Member Data Documentation

◆ mode_

◆ name_

◆ started_

◆ type_