Struct LaserRangeFinderBricklet

pub struct LaserRangeFinderBricklet { /* private fields */ }

Measures distance up to 40m with laser light

Implementations

impl LaserRangeFinderBricklet

pub const DEVICE_IDENTIFIER: u16 = 255u16

pub const DEVICE_DISPLAY_NAME: &'static str = "Laser Range Finder Bricklet"

pub fn new(uid: Uid, connection: AsyncIpConnection) -> LaserRangeFinderBricklet

Creates an object with the unique device ID uid. This object can then be used after the IP Connection ip_connection is connected.

pub fn get_response_expected( &mut self, fun: LaserRangeFinderBrickletFunction, ) -> Result<bool, GetResponseExpectedError>

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by set_response_expected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See set_response_expected for the list of function ID constants available for this function.

pub fn set_response_expected( &mut self, fun: LaserRangeFinderBrickletFunction, response_expected: bool, ) -> Result<(), SetResponseExpectedError>

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

pub fn set_response_expected_all(&mut self, response_expected: bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

pub fn get_api_version(&self) -> [u8; 3]

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

pub async fn get_distance_callback_receiver( &mut self, ) -> impl Stream<Item = u16>

This receiver is triggered periodically with the period that is set by set_distance_callback_period. The parameter is the distance value of the sensor.

The get_distance_callback_receiver receiver is only triggered if the distance value has changed since the last triggering.

pub async fn get_velocity_callback_receiver( &mut self, ) -> impl Stream<Item = i16>

This receiver is triggered periodically with the period that is set by [set_velocity_callback_period]. The parameter is the velocity value of the sensor.

The [get_velocity_callback_receiver] receiver is only triggered if the velocity has changed since the last triggering.

pub async fn get_distance_reached_callback_receiver( &mut self, ) -> impl Stream<Item = u16>

This receiver is triggered when the threshold as set by [set_distance_callback_threshold] is reached. The parameter is the distance value of the sensor.

If the threshold keeps being reached, the receiver is triggered periodically with the period as set by [set_debounce_period].

pub async fn get_velocity_reached_callback_receiver( &mut self, ) -> impl Stream<Item = i16>

This receiver is triggered when the threshold as set by [set_velocity_callback_threshold] is reached. The parameter is the velocity value of the sensor.

If the threshold keeps being reached, the receiver is triggered periodically with the period as set by [set_debounce_period].

pub async fn get_distance(&mut self) -> Result<u16, TinkerforgeError>

Returns the measured distance.

Sensor hardware version 1 (see [get_sensor_hardware_version]) cannot measure distance and velocity at the same time. Therefore, the distance mode has to be enabled using [set_mode]. Sensor hardware version 3 can measure distance and velocity at the same time. Also the laser has to be enabled, see [enable_laser].

If you want to get the distance periodically, it is recommended to use the [get_distance_callback_receiver] receiver and set the period with [set_distance_callback_period].

pub async fn get_velocity(&mut self) -> Result<i16, TinkerforgeError>

Returns the measured velocity.

Sensor hardware version 1 (see [get_sensor_hardware_version]) cannot measure distance and velocity at the same time. Therefore, the velocity mode has to be enabled using [set_mode]. Sensor hardware version 3 can measure distance and velocity at the same time, but the velocity measurement only produces stables results if a fixed measurement rate (see [set_configuration]) is configured. Also the laser has to be enabled, see [enable_laser].

If you want to get the velocity periodically, it is recommended to use the [get_velocity_callback_receiver] receiver and set the period with [set_velocity_callback_period].

pub async fn set_distance_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_distance_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_distance_callback_receiver] receiver is only triggered if the distance value has changed since the last triggering.

pub async fn get_distance_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_distance_callback_period].

pub async fn set_velocity_callback_period( &mut self, period: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the [get_velocity_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

The [get_velocity_callback_receiver] receiver is only triggered if the velocity value has changed since the last triggering.

pub async fn get_velocity_callback_period( &mut self, ) -> Result<u32, TinkerforgeError>

Returns the period as set by [set_velocity_callback_period].

pub async fn set_distance_callback_threshold( &mut self, option: char, min: u16, max: u16, ) -> Result<(), TinkerforgeError>

Sets the thresholds for the [get_distance_reached_callback_receiver] receiver.

The following options are possible:

Option	Description
‘x’	Receiver is turned off
‘o’	Receiver is triggered when the distance value is outside the min and max values
‘i’	Receiver is triggered when the distance value is inside the min and max values
‘<’	Receiver is triggered when the distance value is smaller than the min value (max is ignored)
‘>’	Receiver is triggered when the distance value is greater than the min value (max is ignored)

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OFF
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OUTSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_INSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_SMALLER
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_GREATER

pub async fn get_distance_callback_threshold( &mut self, ) -> Result<DistanceCallbackThreshold, TinkerforgeError>

Returns the threshold as set by [set_distance_callback_threshold].

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OFF
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OUTSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_INSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_SMALLER
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_GREATER

pub async fn set_velocity_callback_threshold( &mut self, option: char, min: i16, max: i16, ) -> Result<(), TinkerforgeError>

Sets the thresholds for the [get_velocity_reached_callback_receiver] receiver.

The following options are possible:

Option	Description
‘x’	Receiver is turned off
‘o’	Receiver is triggered when the velocity is outside the min and max values
‘i’	Receiver is triggered when the velocity is inside the min and max values
‘<’	Receiver is triggered when the velocity is smaller than the min value (max is ignored)
‘>’	Receiver is triggered when the velocity is greater than the min value (max is ignored)

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OFF
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OUTSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_INSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_SMALLER
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_GREATER

pub async fn get_velocity_callback_threshold( &mut self, ) -> Result<VelocityCallbackThreshold, TinkerforgeError>

Returns the threshold as set by [set_velocity_callback_threshold].

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OFF
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OUTSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_INSIDE
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_SMALLER
• LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_GREATER

pub async fn set_debounce_period( &mut self, debounce: u32, ) -> Result<(), TinkerforgeError>

Sets the period with which the threshold receivers

• [get_distance_reached_callback_receiver],
• [get_velocity_reached_callback_receiver],

are triggered, if the thresholds

• [set_distance_callback_threshold],
• [set_velocity_callback_threshold],

keep being reached.

pub async fn get_debounce_period(&mut self) -> Result<u32, TinkerforgeError>

Returns the debounce period as set by [set_debounce_period].

pub async fn set_moving_average( &mut self, distance_average_length: u8, velocity_average_length: u8, ) -> Result<(), TinkerforgeError>

Sets the length of a moving averaging__ for the distance and velocity.

Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.

pub async fn get_moving_average( &mut self, ) -> Result<MovingAverage, TinkerforgeError>

Returns the length moving average as set by [set_moving_average].

pub async fn set_mode(&mut self, mode: u8) -> Result<(), TinkerforgeError>

Note

This function is only available if you have a LIDAR-Lite sensor with hardware version 1. Use [set_configuration] for hardware version 3. You can check the sensor hardware version using [get_sensor_hardware_version].

The LIDAR-Lite sensor (hardware version 1) has five different modes. One mode is for distance measurements and four modes are for velocity measurements with different ranges.

The following modes are available:

• 0: Distance is measured with resolution 1.0 cm and range 0-4000 cm
• 1: Velocity is measured with resolution 0.1 m/s and range is 0-12.7 m/s
• 2: Velocity is measured with resolution 0.25 m/s and range is 0-31.75 m/s
• 3: Velocity is measured with resolution 0.5 m/s and range is 0-63.5 m/s
• 4: Velocity is measured with resolution 1.0 m/s and range is 0-127 m/s

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_MODE_DISTANCE
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_13MS
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_32MS
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_64MS
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_127MS

pub async fn get_mode(&mut self) -> Result<u8, TinkerforgeError>

Returns the mode as set by [set_mode].

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_MODE_DISTANCE
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_13MS
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_32MS
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_64MS
• LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_127MS

pub async fn enable_laser(&mut self) -> Result<(), TinkerforgeError>

Activates the laser of the LIDAR.

We recommend that you wait 250ms after enabling the laser before the first call of [get_distance] to ensure stable measurements.

pub async fn disable_laser(&mut self) -> Result<(), TinkerforgeError>

Deactivates the laser of the LIDAR.

pub async fn is_laser_enabled(&mut self) -> Result<bool, TinkerforgeError>

Returns true if the laser is enabled, false otherwise.

pub async fn get_sensor_hardware_version( &mut self, ) -> Result<u8, TinkerforgeError>

Returns the LIDAR-Lite hardware version.

.. versionadded:: 2.0.3$nbsp;(Plugin)

Associated constants:

• LASER_RANGE_FINDER_BRICKLET_VERSION_1
• LASER_RANGE_FINDER_BRICKLET_VERSION_3

pub async fn set_configuration( &mut self, acquisition_count: u8, enable_quick_termination: bool, threshold_value: u8, measurement_frequency: u16, ) -> Result<(), TinkerforgeError>

Note

This function is only available if you have a LIDAR-Lite sensor with hardware version 3. Use [set_mode] for hardware version 1. You can check the sensor hardware version using [get_sensor_hardware_version].

The Acquisition Count defines the number of times the Laser Range Finder Bricklet will integrate acquisitions to find a correlation record peak. With a higher count, the Bricklet can measure longer distances. With a lower count, the rate increases. The allowed values are 1-255.

If you set Enable Quick Termination to true, the distance measurement will be terminated early if a high peak was already detected. This means that a higher measurement rate can be achieved and long distances can be measured at the same time. However, the chance of false-positive distance measurements increases.

Normally the distance is calculated with a detection algorithm that uses peak value, signal strength and noise. You can however also define a fixed Threshold Value. Set this to a low value if you want to measure the distance to something that has very little reflection (e.g. glass) and set it to a high value if you want to measure the distance to something with a very high reflection (e.g. mirror). Set this to 0 to use the default algorithm. The other allowed values are 1-255.

Set the Measurement Frequency to force a fixed measurement rate. If set to 0, the Laser Range Finder Bricklet will use the optimal frequency according to the other configurations and the actual measured distance. Since the rate is not fixed in this case, the velocity measurement is not stable. For a stable velocity measurement you should set a fixed measurement frequency. The lower the frequency, the higher is the resolution of the calculated velocity. The allowed values are 10Hz-500Hz (and 0 to turn the fixed frequency off).

.. versionadded:: 2.0.3$nbsp;(Plugin)

pub async fn get_configuration( &mut self, ) -> Result<Configuration, TinkerforgeError>

Returns the configuration as set by [set_configuration].

.. versionadded:: 2.0.3$nbsp;(Plugin)

pub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be ‘a’, ‘b’, ‘c’, ‘d’, ‘e’, ‘f’, ‘g’ or ‘h’ (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position ‘z’.

The device identifier numbers can be found here. |device_identifier_constant|

Trait Implementations

impl Clone for LaserRangeFinderBricklet

fn clone(&self) -> LaserRangeFinderBricklet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.