1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733
/* *********************************************************** * This file was automatically generated on 2019-11-25. * * * * Rust Bindings Version 2.0.13 * * * * If you have a bugfix for this file and want to commit it, * * please fix the bug in the generator. You can find a link * * to the generators git repository on tinkerforge.com * *************************************************************/ //! Measures distance up to 40m with laser light. //! //! See also the documentation [here](https://www.tinkerforge.com/en/doc/Software/Bricklets/LaserRangeFinder_Bricklet_Rust.html). use crate::{ byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*, ip_connection::GetRequestSender, }; pub enum LaserRangeFinderBrickletFunction { GetDistance, GetVelocity, SetDistanceCallbackPeriod, GetDistanceCallbackPeriod, SetVelocityCallbackPeriod, GetVelocityCallbackPeriod, SetDistanceCallbackThreshold, GetDistanceCallbackThreshold, SetVelocityCallbackThreshold, GetVelocityCallbackThreshold, SetDebouncePeriod, GetDebouncePeriod, SetMovingAverage, GetMovingAverage, SetMode, GetMode, EnableLaser, DisableLaser, IsLaserEnabled, GetSensorHardwareVersion, SetConfiguration, GetConfiguration, GetIdentity, CallbackDistance, CallbackVelocity, CallbackDistanceReached, CallbackVelocityReached, } impl From<LaserRangeFinderBrickletFunction> for u8 { fn from(fun: LaserRangeFinderBrickletFunction) -> Self { match fun { LaserRangeFinderBrickletFunction::GetDistance => 1, LaserRangeFinderBrickletFunction::GetVelocity => 2, LaserRangeFinderBrickletFunction::SetDistanceCallbackPeriod => 3, LaserRangeFinderBrickletFunction::GetDistanceCallbackPeriod => 4, LaserRangeFinderBrickletFunction::SetVelocityCallbackPeriod => 5, LaserRangeFinderBrickletFunction::GetVelocityCallbackPeriod => 6, LaserRangeFinderBrickletFunction::SetDistanceCallbackThreshold => 7, LaserRangeFinderBrickletFunction::GetDistanceCallbackThreshold => 8, LaserRangeFinderBrickletFunction::SetVelocityCallbackThreshold => 9, LaserRangeFinderBrickletFunction::GetVelocityCallbackThreshold => 10, LaserRangeFinderBrickletFunction::SetDebouncePeriod => 11, LaserRangeFinderBrickletFunction::GetDebouncePeriod => 12, LaserRangeFinderBrickletFunction::SetMovingAverage => 13, LaserRangeFinderBrickletFunction::GetMovingAverage => 14, LaserRangeFinderBrickletFunction::SetMode => 15, LaserRangeFinderBrickletFunction::GetMode => 16, LaserRangeFinderBrickletFunction::EnableLaser => 17, LaserRangeFinderBrickletFunction::DisableLaser => 18, LaserRangeFinderBrickletFunction::IsLaserEnabled => 19, LaserRangeFinderBrickletFunction::GetSensorHardwareVersion => 24, LaserRangeFinderBrickletFunction::SetConfiguration => 25, LaserRangeFinderBrickletFunction::GetConfiguration => 26, LaserRangeFinderBrickletFunction::GetIdentity => 255, LaserRangeFinderBrickletFunction::CallbackDistance => 20, LaserRangeFinderBrickletFunction::CallbackVelocity => 21, LaserRangeFinderBrickletFunction::CallbackDistanceReached => 22, LaserRangeFinderBrickletFunction::CallbackVelocityReached => 23, } } } pub const LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OFF: char = 'x'; pub const LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_OUTSIDE: char = 'o'; pub const LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_INSIDE: char = 'i'; pub const LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_SMALLER: char = '<'; pub const LASER_RANGE_FINDER_BRICKLET_THRESHOLD_OPTION_GREATER: char = '>'; pub const LASER_RANGE_FINDER_BRICKLET_MODE_DISTANCE: u8 = 0; pub const LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_13MS: u8 = 1; pub const LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_32MS: u8 = 2; pub const LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_64MS: u8 = 3; pub const LASER_RANGE_FINDER_BRICKLET_MODE_VELOCITY_MAX_127MS: u8 = 4; pub const LASER_RANGE_FINDER_BRICKLET_VERSION_1: u8 = 1; pub const LASER_RANGE_FINDER_BRICKLET_VERSION_3: u8 = 3; #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct DistanceCallbackThreshold { pub option: char, pub min: u16, pub max: u16, } impl FromByteSlice for DistanceCallbackThreshold { fn bytes_expected() -> usize { 5 } fn from_le_byte_slice(bytes: &[u8]) -> DistanceCallbackThreshold { DistanceCallbackThreshold { option: <char>::from_le_byte_slice(&bytes[0..1]), min: <u16>::from_le_byte_slice(&bytes[1..3]), max: <u16>::from_le_byte_slice(&bytes[3..5]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct VelocityCallbackThreshold { pub option: char, pub min: i16, pub max: i16, } impl FromByteSlice for VelocityCallbackThreshold { fn bytes_expected() -> usize { 5 } fn from_le_byte_slice(bytes: &[u8]) -> VelocityCallbackThreshold { VelocityCallbackThreshold { option: <char>::from_le_byte_slice(&bytes[0..1]), min: <i16>::from_le_byte_slice(&bytes[1..3]), max: <i16>::from_le_byte_slice(&bytes[3..5]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct MovingAverage { pub distance_average_length: u8, pub velocity_average_length: u8, } impl FromByteSlice for MovingAverage { fn bytes_expected() -> usize { 2 } fn from_le_byte_slice(bytes: &[u8]) -> MovingAverage { MovingAverage { distance_average_length: <u8>::from_le_byte_slice(&bytes[0..1]), velocity_average_length: <u8>::from_le_byte_slice(&bytes[1..2]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct Configuration { pub acquisition_count: u8, pub enable_quick_termination: bool, pub threshold_value: u8, pub measurement_frequency: u16, } impl FromByteSlice for Configuration { fn bytes_expected() -> usize { 5 } fn from_le_byte_slice(bytes: &[u8]) -> Configuration { Configuration { acquisition_count: <u8>::from_le_byte_slice(&bytes[0..1]), enable_quick_termination: <bool>::from_le_byte_slice(&bytes[1..2]), threshold_value: <u8>::from_le_byte_slice(&bytes[2..3]), measurement_frequency: <u16>::from_le_byte_slice(&bytes[3..5]), } } } #[derive(Clone, Debug, Default, PartialEq, Eq, Hash)] pub struct Identity { pub uid: String, pub connected_uid: String, pub position: char, pub hardware_version: [u8; 3], pub firmware_version: [u8; 3], pub device_identifier: u16, } impl FromByteSlice for Identity { fn bytes_expected() -> usize { 25 } fn from_le_byte_slice(bytes: &[u8]) -> Identity { Identity { uid: <String>::from_le_byte_slice(&bytes[0..8]), connected_uid: <String>::from_le_byte_slice(&bytes[8..16]), position: <char>::from_le_byte_slice(&bytes[16..17]), hardware_version: <[u8; 3]>::from_le_byte_slice(&bytes[17..20]), firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[20..23]), device_identifier: <u16>::from_le_byte_slice(&bytes[23..25]), } } } /// Measures distance up to 40m with laser light #[derive(Clone)] pub struct LaserRangeFinderBricklet { device: Device, } impl LaserRangeFinderBricklet { pub const DEVICE_IDENTIFIER: u16 = 255; pub const DEVICE_DISPLAY_NAME: &'static str = "Laser Range Finder Bricklet"; /// 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 new<T: GetRequestSender>(uid: &str, req_sender: T) -> LaserRangeFinderBricklet { let mut result = LaserRangeFinderBricklet { device: Device::new([2, 0, 1], uid, req_sender, 0) }; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetDistance) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetVelocity) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetDistanceCallbackPeriod) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetDistanceCallbackPeriod) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetVelocityCallbackPeriod) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetVelocityCallbackPeriod) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetDistanceCallbackThreshold) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetDistanceCallbackThreshold) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetVelocityCallbackThreshold) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetVelocityCallbackThreshold) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetDebouncePeriod) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetDebouncePeriod) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetMovingAverage) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetMovingAverage) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetMode) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetMode) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::EnableLaser) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::DisableLaser) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::IsLaserEnabled) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetSensorHardwareVersion) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::SetConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(LaserRangeFinderBrickletFunction::GetIdentity) as usize] = ResponseExpectedFlag::AlwaysTrue; result } /// 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`](crate::laser_range_finder_bricklet::LaserRangeFinderBricklet::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 send /// and errors are silently ignored, because they cannot be detected. /// /// See [`set_response_expected`](crate::laser_range_finder_bricklet::LaserRangeFinderBricklet::set_response_expected) for the list of function ID constants available for this function. pub fn get_response_expected(&mut self, fun: LaserRangeFinderBrickletFunction) -> Result<bool, GetResponseExpectedError> { self.device.get_response_expected(u8::from(fun)) } /// 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 send /// and errors are silently ignored, because they cannot be detected. pub fn set_response_expected( &mut self, fun: LaserRangeFinderBrickletFunction, response_expected: bool, ) -> Result<(), SetResponseExpectedError> { self.device.set_response_expected(u8::from(fun), response_expected) } /// Changes the response expected flag for all setter and callback configuration functions of this device at once. pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) } /// 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 fn get_api_version(&self) -> [u8; 3] { self.device.api_version } /// 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. /// /// [`set_distance_callback_period`]: #method.set_distance_callback_period /// [`get_distance_callback_receiver`]: #method.get_distance_callback_receiver pub fn get_distance_callback_receiver(&self) -> ConvertingCallbackReceiver<u16> { self.device.get_callback_receiver(u8::from(LaserRangeFinderBrickletFunction::CallbackDistance)) } /// 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. /// /// [`set_velocity_callback_period`]: #method.set_velocity_callback_period /// [`get_velocity_callback_receiver`]: #method.get_velocity_callback_receiver pub fn get_velocity_callback_receiver(&self) -> ConvertingCallbackReceiver<i16> { self.device.get_callback_receiver(u8::from(LaserRangeFinderBrickletFunction::CallbackVelocity)) } /// 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`]. /// /// [`set_distance_callback_threshold`]: #method.set_distance_callback_threshold /// [`set_debounce_period`]: #method.set_debounce_period pub fn get_distance_reached_callback_receiver(&self) -> ConvertingCallbackReceiver<u16> { self.device.get_callback_receiver(u8::from(LaserRangeFinderBrickletFunction::CallbackDistanceReached)) } /// 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`]. /// /// [`set_velocity_callback_threshold`]: #method.set_velocity_callback_threshold /// [`set_debounce_period`]: #method.set_debounce_period pub fn get_velocity_reached_callback_receiver(&self) -> ConvertingCallbackReceiver<i16> { self.device.get_callback_receiver(u8::from(LaserRangeFinderBrickletFunction::CallbackVelocityReached)) } /// 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`]. /// /// [`set_distance_callback_period`]: #method.set_distance_callback_period /// [`set_mode`]: #method.set_mode /// [`enable_laser`]: #method.enable_laser /// [`get_sensor_hardware_version`]: #method.get_sensor_hardware_version /// [`get_distance_callback_receiver`]: #method.get_distance_callback_receiver pub fn get_distance(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetDistance), payload) } /// 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`]. /// /// [`set_velocity_callback_period`]: #method.set_velocity_callback_period /// [`set_mode`]: #method.set_mode /// [`enable_laser`]: #method.enable_laser /// [`get_sensor_hardware_version`]: #method.get_sensor_hardware_version /// [`set_configuration`]: #method.set_configuration /// [`get_velocity_callback_receiver`]: #method.get_velocity_callback_receiver pub fn get_velocity(&self) -> ConvertingReceiver<i16> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetVelocity), payload) } /// 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. /// /// [`get_distance_callback_receiver`]: #method.get_distance_callback_receiver pub fn set_distance_callback_period(&self, period: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetDistanceCallbackPeriod), payload) } /// Returns the period as set by [`set_distance_callback_period`]. /// /// [`set_distance_callback_period`]: #method.set_distance_callback_period pub fn get_distance_callback_period(&self) -> ConvertingReceiver<u32> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetDistanceCallbackPeriod), payload) } /// 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. /// /// [`get_velocity_callback_receiver`]: #method.get_velocity_callback_receiver pub fn set_velocity_callback_period(&self, period: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetVelocityCallbackPeriod), payload) } /// Returns the period as set by [`set_velocity_callback_period`]. /// /// [`set_velocity_callback_period`]: #method.set_velocity_callback_period pub fn get_velocity_callback_period(&self) -> ConvertingReceiver<u32> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetVelocityCallbackPeriod), payload) } /// 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) /// /// [`get_distance_reached_callback_receiver`]: #method.get_distance_reached_callback_receiver /// /// 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 fn set_distance_callback_threshold(&self, option: char, min: u16, max: u16) -> ConvertingReceiver<()> { let mut payload = vec![0; 5]; payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(option)); payload[1..3].copy_from_slice(&<u16>::to_le_byte_vec(min)); payload[3..5].copy_from_slice(&<u16>::to_le_byte_vec(max)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetDistanceCallbackThreshold), payload) } /// Returns the threshold as set by [`set_distance_callback_threshold`]. /// /// [`set_distance_callback_threshold`]: #method.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 fn get_distance_callback_threshold(&self) -> ConvertingReceiver<DistanceCallbackThreshold> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetDistanceCallbackThreshold), payload) } /// 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) /// /// [`get_velocity_reached_callback_receiver`]: #method.get_velocity_reached_callback_receiver /// /// 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 fn set_velocity_callback_threshold(&self, option: char, min: i16, max: i16) -> ConvertingReceiver<()> { let mut payload = vec![0; 5]; payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(option)); payload[1..3].copy_from_slice(&<i16>::to_le_byte_vec(min)); payload[3..5].copy_from_slice(&<i16>::to_le_byte_vec(max)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetVelocityCallbackThreshold), payload) } /// Returns the threshold as set by [`set_velocity_callback_threshold`]. /// /// [`set_velocity_callback_threshold`]: #method.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 fn get_velocity_callback_threshold(&self) -> ConvertingReceiver<VelocityCallbackThreshold> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetVelocityCallbackThreshold), payload) } /// 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. /// /// [`set_distance_callback_threshold`]: #method.set_distance_callback_threshold /// [`set_velocity_callback_threshold`]: #method.set_velocity_callback_threshold /// [`get_distance_reached_callback_receiver`]: #method.get_distance_reached_callback_receiver /// [`get_velocity_reached_callback_receiver`]: #method.get_velocity_reached_callback_receiver pub fn set_debounce_period(&self, debounce: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(debounce)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetDebouncePeriod), payload) } /// Returns the debounce period as set by [`set_debounce_period`]. /// /// [`set_debounce_period`]: #method.set_debounce_period pub fn get_debounce_period(&self) -> ConvertingReceiver<u32> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetDebouncePeriod), payload) } /// Sets the length of a [moving averaging](https://en.wikipedia.org/wiki/Moving_average)__ /// 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 fn set_moving_average(&self, distance_average_length: u8, velocity_average_length: u8) -> ConvertingReceiver<()> { let mut payload = vec![0; 2]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(distance_average_length)); payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(velocity_average_length)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetMovingAverage), payload) } /// Returns the length moving average as set by [`set_moving_average`]. /// /// [`set_moving_average`]: #method.set_moving_average pub fn get_moving_average(&self) -> ConvertingReceiver<MovingAverage> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetMovingAverage), payload) } /// # 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 /// /// [`get_sensor_hardware_version`]: #method.get_sensor_hardware_version /// [`set_configuration`]: #method.set_configuration /// /// 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 fn set_mode(&self, mode: u8) -> ConvertingReceiver<()> { let mut payload = vec![0; 1]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(mode)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetMode), payload) } /// Returns the mode as set by [`set_mode`]. /// /// [`set_mode`]: #method.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 fn get_mode(&self) -> ConvertingReceiver<u8> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetMode), payload) } /// 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. /// /// [`get_distance`]: #method.get_distance pub fn enable_laser(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(LaserRangeFinderBrickletFunction::EnableLaser), payload) } /// Deactivates the laser of the LIDAR. pub fn disable_laser(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(LaserRangeFinderBrickletFunction::DisableLaser), payload) } /// Returns *true* if the laser is enabled, *false* otherwise. pub fn is_laser_enabled(&self) -> ConvertingReceiver<bool> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::IsLaserEnabled), payload) } /// 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 fn get_sensor_hardware_version(&self) -> ConvertingReceiver<u8> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetSensorHardwareVersion), payload) } /// # 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** in Hz 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). /// /// [`set_mode`]: #method.set_mode /// [`get_sensor_hardware_version`]: #method.get_sensor_hardware_version /// .. versionadded:: 2.0.3$nbsp;(Plugin) pub fn set_configuration( &self, acquisition_count: u8, enable_quick_termination: bool, threshold_value: u8, measurement_frequency: u16, ) -> ConvertingReceiver<()> { let mut payload = vec![0; 5]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(acquisition_count)); payload[1..2].copy_from_slice(&<bool>::to_le_byte_vec(enable_quick_termination)); payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(threshold_value)); payload[3..5].copy_from_slice(&<u16>::to_le_byte_vec(measurement_frequency)); self.device.set(u8::from(LaserRangeFinderBrickletFunction::SetConfiguration), payload) } /// Returns the configuration as set by [`set_configuration`]. /// /// [`set_configuration`]: #method.set_configuration /// .. versionadded:: 2.0.3$nbsp;(Plugin) pub fn get_configuration(&self) -> ConvertingReceiver<Configuration> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetConfiguration), payload) } /// 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' or 'd'. /// /// The device identifier numbers can be found [here](device_identifier). /// |device_identifier_constant| pub fn get_identity(&self) -> ConvertingReceiver<Identity> { let payload = vec![0; 0]; self.device.get(u8::from(LaserRangeFinderBrickletFunction::GetIdentity), payload) } }