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Merge pull request #4 from Terabee/feature/evo_15m_40m
Added Evo 15m and 40m
2 parents 9dddf8e + 26897ad commit 87ed2f0

16 files changed

+504
-6
lines changed

‎CMakeLists.txt‎

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@@ -31,6 +31,8 @@ add_library(${LIB_NAME}
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src/teraranger/TerarangerBasicCommon.cpp
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src/teraranger/TerarangerEvo3m.cpp
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src/teraranger/TerarangerEvo600Hz.cpp
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src/teraranger/TerarangerEvo15m.cpp
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src/teraranger/TerarangerEvo40m.cpp
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src/teraranger/TerarangerEvo60m.cpp
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src/teraranger/TerarangerEvo64px.cpp
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src/teraranger/TerarangerEvoMini.cpp

‎LICENSE‎

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MIT License
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3-
Copyright (c) 2020 Terabee
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Copyright (c) 2021 Terabee
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎examples/CMakeLists.txt‎

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@@ -10,6 +10,12 @@ target_link_libraries(ExampleReadEvo3m ${LIB_NAME})
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add_executable(ExampleReadEvo600Hz ExampleReadEvo600Hz.cpp)
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target_link_libraries(ExampleReadEvo600Hz ${LIB_NAME})
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add_executable(ExampleReadEvo15m ExampleReadEvo15m.cpp)
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target_link_libraries(ExampleReadEvo15m ${LIB_NAME})
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add_executable(ExampleReadEvo40m ExampleReadEvo40m.cpp)
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target_link_libraries(ExampleReadEvo40m ${LIB_NAME})
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add_executable(ExampleReadEvo60m ExampleReadEvo60m.cpp)
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target_link_libraries(ExampleReadEvo60m ${LIB_NAME})
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‎examples/ExampleReadEvo15m.cpp‎

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/**
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* @Author Marcin Pilch
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*
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* @Copyright Terabee 2021
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*
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*/
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#include <chrono>
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#include <csignal>
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#include <iostream>
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#include <thread>
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#include <terabee/ITerarangerFactory.hpp>
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#include <terabee/ITerarangerEvo15m.hpp>
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volatile std::sig_atomic_t g_signal_status;
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void signal_handler(int signal) {
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g_signal_status = signal;
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}
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int main(int argc, char** argv)
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{
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if (argc != 2)
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{
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std::cout << "usage: ./ExampleReadEvo15 DEVICE_NAME" << std::endl;
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return -1;
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}
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std::signal(SIGTSTP, signal_handler);
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auto factory = terabee::ITerarangerFactory::getFactory();
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auto evo15 = factory->createTerarangerEvo15m(argv[1]);
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if (!evo15)
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{
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std::cout << "Failed to create device" << std::endl;
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}
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if (!evo15->initialize())
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{
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std::cout << "Failed to initialize device" << std::endl;
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return -1;
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}
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std::cout << "Press C-z to quit" << std::endl;
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while (g_signal_status != SIGTSTP)
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{
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std::cout << "Distance = " << evo15->getDistance().distance.front() << std::endl;
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std::this_thread::sleep_for(std::chrono::seconds(1));
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}
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return evo15->shutDown() ? 0 : -1;
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}

‎examples/ExampleReadEvo40m.cpp‎

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/**
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* @Author Marcin Pilch
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*
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* @Copyright Terabee 2021
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*
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*/
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#include <chrono>
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#include <csignal>
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#include <iostream>
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#include <thread>
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#include <terabee/ITerarangerFactory.hpp>
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#include <terabee/ITerarangerEvo40m.hpp>
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volatile std::sig_atomic_t g_signal_status;
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void signal_handler(int signal) {
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g_signal_status = signal;
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}
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int main(int argc, char** argv)
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{
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if (argc != 2)
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{
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std::cout << "usage: ./ExampleReadEvo40 DEVICE_NAME" << std::endl;
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return -1;
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}
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std::signal(SIGTSTP, signal_handler);
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auto factory = terabee::ITerarangerFactory::getFactory();
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auto evo40 = factory->createTerarangerEvo40m(argv[1]);
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if (!evo40)
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{
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std::cout << "Failed to create device" << std::endl;
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}
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if (!evo40->initialize())
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{
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std::cout << "Failed to initialize device" << std::endl;
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return -1;
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}
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std::cout << "Press C-z to quit" << std::endl;
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while (g_signal_status != SIGTSTP)
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{
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std::cout << "Distance = " << evo40->getDistance().distance.front() << std::endl;
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std::this_thread::sleep_for(std::chrono::seconds(1));
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}
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return evo40->shutDown() ? 0 : -1;
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}

‎include/terabee/ITerarangerEvo15m.hpp‎

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#ifndef I_TERARANGER_EVO_15M_HPP
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#define I_TERARANGER_EVO_15M_HPP
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/**
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* @Author Marcin Pilch
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*
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* @Copyright Terabee 2021
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*
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*/
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/**
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* \example ExampleReadEvo15m.cpp
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*/
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#include "terabee/DistanceData.hpp"
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namespace terabee
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{
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/**
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* Interface to <a href="https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-15m/">TeraRanger Evo 15m</a> sensor.
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* \see
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* - \ref ITerarangerFactory::createTerarangerEvo15m
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* - \ref ExampleReadEvo15m.cpp
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*/
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class ITerarangerEvo15m
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{
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public:
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virtual ~ITerarangerEvo15m() = default;
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/**
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* Performs initialization of the device.
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* \return
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* - true on success
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* - false on failure, e.g. device disconnected, communication failure,
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* device already initialized
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*/
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virtual bool initialize() = 0;
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/**
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* Disconnects the device
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* \return
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* - true on success
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* - false on failure, e.g. device busy
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*/
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virtual bool shutDown() = 0;
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/**
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* Method for obtaining sensor measurement in a synchronous way.
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* \return
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* - returns measured distance in [m]
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* - If fails to communicate with sensor (e.g. device not initialized) returns `std::nan("")`
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* - If measurement cannot be done (e.g. sensor malfunction) returns -1
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* - If object is too close returns `-std::numeric_limits<float>::infinity()`
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* - If measured value is out of range returns `std::numeric_limits<float>::infinity()`
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*/
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virtual DistanceData getDistance() = 0;
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/**
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* Method for obtaining sensor measurement in an asynchronous way.
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* Registers a callback to be invoked every time new data from the sensor is received;
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* \param cb
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* - The callback function must return `void` and accept one argument: const reference to DistanceData
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* - Callback registration must be done before sensor initialization
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* - Callbacks are invoked after sensor initialization when new data is constantly received
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* - Callback can be set to `nullptr`; In this case no callback will be invoked when new data is received
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* - Callback function should be short, heavy computations should be avoided, because it blocks asynchronous data capture routine;
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*
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* \return
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* - true on success
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* - false on failure (e.g. sensor already initialized)
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*/
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virtual bool registerOnDistanceDataCaptureCallback(OnDistanceDataCaptureCallback cb) = 0;
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};
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} // namespace terabee
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#endif // I_TERARANGER_EVO_15M_HPP

‎include/terabee/ITerarangerEvo40m.hpp‎

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#ifndef I_TERARANGER_EVO_40M_HPP
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#define I_TERARANGER_EVO_40M_HPP
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/**
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* @Author Marcin Pilch
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*
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* @Copyright Terabee 2021
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*
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*/
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/**
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* \example ExampleReadEvo40m.cpp
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*/
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#include "terabee/DistanceData.hpp"
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namespace terabee
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{
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/**
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* Interface to <a href="https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-40m/">TeraRanger Evo 40m</a> sensor.
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* \see
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* - \ref ITerarangerFactory::createTerarangerEvo40m
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* - \ref ExampleReadEvo40m.cpp
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*/
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class ITerarangerEvo40m
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{
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public:
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virtual ~ITerarangerEvo40m() = default;
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/**
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* Performs initialization of the device.
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* \return
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* - true on success
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* - false on failure, e.g. device disconnected, communication failure,
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* device already initialized
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*/
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virtual bool initialize() = 0;
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/**
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* Disconnects the device
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* \return
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* - true on success
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* - false on failure, e.g. device busy
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*/
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virtual bool shutDown() = 0;
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/**
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* Method for obtaining sensor measurement in a synchronous way.
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* \return
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* - returns measured distance in [m]
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* - If fails to communicate with sensor (e.g. device not initialized) returns `std::nan("")`
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* - If measurement cannot be done (e.g. sensor malfunction) returns -1
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* - If object is too close returns `-std::numeric_limits<float>::infinity()`
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* - If measured value is out of range returns `std::numeric_limits<float>::infinity()`
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*/
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virtual DistanceData getDistance() = 0;
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/**
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* Method for obtaining sensor measurement in an asynchronous way.
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* Registers a callback to be invoked every time new data from the sensor is received;
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* \param cb
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* - The callback function must return `void` and accept one argument: const reference to DistanceData
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* - Callback registration must be done before sensor initialization
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* - Callbacks are invoked after sensor initialization when new data is constantly received
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* - Callback can be set to `nullptr`; In this case no callback will be invoked when new data is received
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* - Callback function should be short, heavy computations should be avoided, because it blocks asynchronous data capture routine;
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*
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* \return
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* - true on success
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* - false on failure (e.g. sensor already initialized)
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*/
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virtual bool registerOnDistanceDataCaptureCallback(OnDistanceDataCaptureCallback cb) = 0;
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};
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} // namespace terabee
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#endif // I_TERARANGER_EVO_40M_HPP

‎include/terabee/ITerarangerFactory.hpp‎

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* - One of the interfaces documentation to learn how to use a particular sensor:
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* - terabee::ITerarangerEvo3m
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* - terabee::ITerarangerEvo600Hz
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* - terabee::ITerarangerEvo15m
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* - terabee::ITerarangerEvo40m
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* - terabee::ITerarangerEvo60m
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* - terabee::ITerarangerEvo64px
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* - terabee::ITerarangerEvoMini
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#include "terabee/ITerarangerEvo3m.hpp"
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#include "terabee/ITerarangerEvo600Hz.hpp"
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#include "terabee/ITerarangerEvo15m.hpp"
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#include "terabee/ITerarangerEvo40m.hpp"
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#include "terabee/ITerarangerEvo60m.hpp"
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#include "terabee/ITerarangerEvo64px.hpp"
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#include "terabee/ITerarangerEvoMini.hpp"
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*/
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virtual std::unique_ptr<ITerarangerEvo600Hz> createTerarangerEvo600Hz(
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const std::string& serial_port) = 0;
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/**
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* \param serial_port name of the serial port device, e.g. `/dev/ttyACM0`
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* \return pointer to Evo15m device connected to the host USB;
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* If serial port cannot be opened, or if it is impossible to communicate
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* with device, returns nullptr.
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*/
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virtual std::unique_ptr<ITerarangerEvo15m> createTerarangerEvo15m(
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const std::string& serial_port) = 0;
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/**
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* \param serial_port name of the serial port device, e.g. `/dev/ttyACM0`
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* \return pointer to Evo40m device connected to the host USB;
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* If serial port cannot be opened, or if it is impossible to communicate
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* with device, returns nullptr.
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*/
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virtual std::unique_ptr<ITerarangerEvo40m> createTerarangerEvo40m(
93+
const std::string& serial_port) = 0;
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/**
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* \param serial_port name of the serial port device, e.g. `/dev/ttyACM0`
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* \return pointer to Evo60m device connected to the host USB;

‎include/terabee/internal/factories/TerarangerFactory.hpp‎

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/**
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* @Author Pawel Ptasznik
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*
7-
* @Copyright Terabee 2020
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* @Copyright Terabee 2021
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*
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*/
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#include "terabee/ITerarangerEvo3m.hpp"
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#include "terabee/ITerarangerEvo600Hz.hpp"
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#include "terabee/ITerarangerEvo15m.hpp"
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#include "terabee/ITerarangerEvo40m.hpp"
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#include "terabee/ITerarangerEvo60m.hpp"
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#include "terabee/ITerarangerEvo64px.hpp"
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#include "terabee/ITerarangerEvoMini.hpp"
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const std::string& serial_port) override;
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std::unique_ptr<ITerarangerEvo600Hz> createTerarangerEvo600Hz(
3840
const std::string& serial_port) override;
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std::unique_ptr<ITerarangerEvo15m> createTerarangerEvo15m(
42+
const std::string& serial_port) override;
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std::unique_ptr<ITerarangerEvo40m> createTerarangerEvo40m(
44+
const std::string& serial_port) override;
3945
std::unique_ptr<ITerarangerEvo60m> createTerarangerEvo60m(
4046
const std::string& serial_port) override;
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std::unique_ptr<ITerarangerEvo64px> createTerarangerEvo64px(

‎include/terabee/internal/teraranger/TerarangerBasicCommon.hpp‎

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/**
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* @Author Pawel Ptasznik
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*
7-
* @Copyright Terabee 2020
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* @Copyright Terabee 2021
88
*
9-
* Common implementaion for TerarangerEvo3m and TerarangerEvo60m
10-
* (and maybe some more in the future)
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* Common implementaion for
10+
* - TerarangerEvo3m
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* - TerarangerEvo15m
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* - TerarangerEvo40m
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* - TerarangerEvo60m
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* - TerarangerEvo600Hz
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*/
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#include <array>

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