LidarLite.h

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#pragma once

#include <drivers/device/device.h>
#include <drivers/drv_range_finder.h>

/* Device limits */
#define LL40LS_MIN_DISTANCE (0.05f)
#define LL40LS_MAX_DISTANCE_V3 (35.00f)
#define LL40LS_MAX_DISTANCE_V1 (25.00f)

// normal conversion wait time
#define LL40LS_CONVERSION_INTERVAL 50*1000UL /* 50ms */

// maximum time to wait for a conversion to complete.
#define LL40LS_CONVERSION_TIMEOUT 100*1000UL /* 100ms */

class LidarLite
{
public:
    LidarLite();

    virtual ~LidarLite() = default;

    virtual int init() = 0;

    virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);

    virtual void start() = 0;

    virtual void stop() = 0;

    virtual void print_info() = 0;

    virtual void print_registers() = 0;

    virtual const char *get_dev_name() = 0;

protected:
    void                set_minimum_distance(const float min);
    void                set_maximum_distance(const float max);
    float               get_minimum_distance() const;
    float               get_maximum_distance() const;

    uint32_t            getMeasureTicks() const;

    virtual int         measure() = 0;
    virtual int         collect() = 0;

    virtual int         reset_sensor() = 0;

private:
    float               _min_distance;
    float               _max_distance;
    uint32_t            _measure_ticks;
};