LidarLite.h

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/**
 * @file LidarLite.h
 * @author Johan Jansen <jnsn.johan@gmail.com>
 *
 * Generic interface driver for the PulsedLight Lidar-Lite range finders.
 */
#pragma once

#include <drivers/device/device.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <perf/perf_counter.h>

using namespace time_literals;

// Device limits
static constexpr float LL40LS_MIN_DISTANCE{0.05f};
static constexpr float LL40LS_MAX_DISTANCE{25.00f};
static constexpr float LL40LS_MAX_DISTANCE_V2{35.00f};

// Normal conversion wait time.
static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};

// Maximum time to wait for a conversion to complete.
static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};

class LidarLite
{
public:
    LidarLite(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
    virtual ~LidarLite();

    virtual int init() = 0;
    virtual void start() = 0;
    virtual void stop() = 0;

    /**
     * @brief Diagnostics - print some basic information about the driver.
     */
    void print_info();

    /**
     * @brief print registers to console.
     */
    virtual void print_registers() {};

protected:

    uint32_t get_measure_interval() const { return _measure_interval; };

    virtual int collect() = 0;

    virtual int measure() = 0;

    virtual int reset_sensor() { return PX4_ERROR; };

    PX4Rangefinder  _px4_rangefinder;

    perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "ll40ls: comms errors")};
    perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "ll40ls: read")};
    perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, "ll40ls: resets")};
    perf_counter_t _sensor_zero_resets{perf_alloc(PC_COUNT, "ll40ls: zero resets")};

private:

    uint32_t  _measure_interval{LL40LS_CONVERSION_INTERVAL};
};