316 lines
16 KiB
JavaScript
316 lines
16 KiB
JavaScript
/* ***********************************************************
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* This file was automatically generated on 2016-02-10. *
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* *
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* JavaScript Bindings Version 2.0.8 *
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* *
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* If you have a bugfix for this file and want to commit it, *
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* please fix the bug in the generator. You can find a link *
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* to the generators git repository on tinkerforge.com *
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*************************************************************/
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var Device = require('./Device');
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BrickletLaserRangeFinder.DEVICE_IDENTIFIER = 255;
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BrickletLaserRangeFinder.DEVICE_DISPLAY_NAME = 'Laser Range Finder Bricklet';
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BrickletLaserRangeFinder.CALLBACK_DISTANCE = 20;
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BrickletLaserRangeFinder.CALLBACK_VELOCITY = 21;
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BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED = 22;
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BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED = 23;
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BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE = 1;
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BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY = 2;
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BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 3;
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BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD = 4;
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BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD = 5;
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BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_PERIOD = 6;
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BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 7;
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BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD = 8;
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BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD = 9;
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BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD = 10;
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BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD = 11;
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BrickletLaserRangeFinder.FUNCTION_GET_DEBOUNCE_PERIOD = 12;
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BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE = 13;
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BrickletLaserRangeFinder.FUNCTION_GET_MOVING_AVERAGE = 14;
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BrickletLaserRangeFinder.FUNCTION_SET_MODE = 15;
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BrickletLaserRangeFinder.FUNCTION_GET_MODE = 16;
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BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER = 17;
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BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER = 18;
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BrickletLaserRangeFinder.FUNCTION_IS_LASER_ENABLED = 19;
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BrickletLaserRangeFinder.FUNCTION_GET_IDENTITY = 255;
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BrickletLaserRangeFinder.THRESHOLD_OPTION_OFF = 'x';
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BrickletLaserRangeFinder.THRESHOLD_OPTION_OUTSIDE = 'o';
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BrickletLaserRangeFinder.THRESHOLD_OPTION_INSIDE = 'i';
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BrickletLaserRangeFinder.THRESHOLD_OPTION_SMALLER = '<';
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BrickletLaserRangeFinder.THRESHOLD_OPTION_GREATER = '>';
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BrickletLaserRangeFinder.MODE_DISTANCE = 0;
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BrickletLaserRangeFinder.MODE_VELOCITY_MAX_13MS = 1;
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BrickletLaserRangeFinder.MODE_VELOCITY_MAX_32MS = 2;
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BrickletLaserRangeFinder.MODE_VELOCITY_MAX_64MS = 3;
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BrickletLaserRangeFinder.MODE_VELOCITY_MAX_127MS = 4;
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function BrickletLaserRangeFinder(uid, ipcon) {
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//Measures distance up to 40m with laser light
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/*
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Creates an object with the unique device ID *uid* and adds it to
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the IP Connection *ipcon*.
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*/
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Device.call(this, this, uid, ipcon);
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BrickletLaserRangeFinder.prototype = Object.create(Device);
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this.responseExpected = {};
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this.callbackFormats = {};
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this.APIVersion = [2, 0, 0];
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DEBOUNCE_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE] = Device.RESPONSE_EXPECTED_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_MOVING_AVERAGE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_MODE] = Device.RESPONSE_EXPECTED_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_MODE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER] = Device.RESPONSE_EXPECTED_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER] = Device.RESPONSE_EXPECTED_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_IS_LASER_ENABLED] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.responseExpected[BrickletLaserRangeFinder.CALLBACK_DISTANCE] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.CALLBACK_VELOCITY] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
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this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_IDENTITY] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
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this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_DISTANCE] = 'H';
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this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_VELOCITY] = 'h';
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this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED] = 'H';
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this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED] = 'h';
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this.getDistance = function(returnCallback, errorCallback) {
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/*
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Returns the measured distance. The value has a range of 0 to 4000
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and is given in cm.
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The Laser Range Finder Bricklet knows different modes. Distances
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are only measured in the distance measurement mode,
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see :func:`SetMode`. Also the laser has to be enabled, see
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:func:`EnableLaser`.
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If you want to get the distance periodically, it is recommended to
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use the callback :func:`Distance` and set the period with
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:func:`SetDistanceCallbackPeriod`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE, [], '', 'H', returnCallback, errorCallback);
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};
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this.getVelocity = function(returnCallback, errorCallback) {
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/*
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Returns the measured velocity. The value has a range of 0 to 12700
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and is given in 1/100 m/s.
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The Laser Range Finder Bricklet knows different modes. Velocity
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is only measured in the velocity measurement modes,
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see :func:`SetMode`. Also the laser has to be enabled, see
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:func:`EnableLaser`.
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If you want to get the velocity periodically, it is recommended to
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use the callback :func:`Velocity` and set the period with
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:func:`SetVelocityCallbackPeriod`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY, [], '', 'h', returnCallback, errorCallback);
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};
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this.setDistanceCallbackPeriod = function(period, returnCallback, errorCallback) {
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/*
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Sets the period in ms with which the :func:`Distance` callback is triggered
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periodically. A value of 0 turns the callback off.
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:func:`Distance` is only triggered if the distance value has changed since the
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last triggering.
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The default value is 0.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD, [period], 'I', '', returnCallback, errorCallback);
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};
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this.getDistanceCallbackPeriod = function(returnCallback, errorCallback) {
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/*
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Returns the period as set by :func:`SetDistanceCallbackPeriod`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD, [], '', 'I', returnCallback, errorCallback);
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};
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this.setVelocityCallbackPeriod = function(period, returnCallback, errorCallback) {
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/*
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Sets the period in ms with which the :func:`Velocity` callback is triggered
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periodically. A value of 0 turns the callback off.
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:func:`Velocity` is only triggered if the velocity value has changed since the
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last triggering.
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The default value is 0.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD, [period], 'I', '', returnCallback, errorCallback);
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};
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this.getVelocityCallbackPeriod = function(returnCallback, errorCallback) {
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/*
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Returns the period as set by :func:`SetVelocityCallbackPeriod`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_PERIOD, [], '', 'I', returnCallback, errorCallback);
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};
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this.setDistanceCallbackThreshold = function(option, min, max, returnCallback, errorCallback) {
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/*
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Sets the thresholds for the :func:`DistanceReached` callback.
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The following options are possible:
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.. csv-table::
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:header: "Option", "Description"
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:widths: 10, 100
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"'x'", "Callback is turned off"
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"'o'", "Callback is triggered when the distance value is *outside* the min and max values"
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"'i'", "Callback is triggered when the distance value is *inside* the min and max values"
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"'<'", "Callback is triggered when the distance value is smaller than the min value (max is ignored)"
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"'>'", "Callback is triggered when the distance value is greater than the min value (max is ignored)"
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The default value is ('x', 0, 0).
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD, [option, min, max], 'c H H', '', returnCallback, errorCallback);
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};
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this.getDistanceCallbackThreshold = function(returnCallback, errorCallback) {
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/*
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Returns the threshold as set by :func:`SetDistanceCallbackThreshold`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD, [], '', 'c H H', returnCallback, errorCallback);
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};
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this.setVelocityCallbackThreshold = function(option, min, max, returnCallback, errorCallback) {
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/*
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Sets the thresholds for the :func:`VelocityReached` callback.
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The following options are possible:
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.. csv-table::
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:header: "Option", "Description"
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:widths: 10, 100
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"'x'", "Callback is turned off"
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"'o'", "Callback is triggered when the velocity is *outside* the min and max values"
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"'i'", "Callback is triggered when the velocity is *inside* the min and max values"
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"'<'", "Callback is triggered when the velocity is smaller than the min value (max is ignored)"
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"'>'", "Callback is triggered when the velocity is greater than the min value (max is ignored)"
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The default value is ('x', 0, 0).
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD, [option, min, max], 'c h h', '', returnCallback, errorCallback);
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};
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this.getVelocityCallbackThreshold = function(returnCallback, errorCallback) {
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/*
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Returns the threshold as set by :func:`SetVelocityCallbackThreshold`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD, [], '', 'c h h', returnCallback, errorCallback);
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};
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this.setDebouncePeriod = function(debounce, returnCallback, errorCallback) {
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/*
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Sets the period in ms with which the threshold callbacks
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* :func:`DistanceReached`,
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* :func:`VelocityReached`,
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are triggered, if the thresholds
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* :func:`SetDistanceCallbackThreshold`,
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* :func:`SetVelocityCallbackThreshold`,
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keep being reached.
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The default value is 100.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'I', '', returnCallback, errorCallback);
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};
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this.getDebouncePeriod = function(returnCallback, errorCallback) {
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/*
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Returns the debounce period as set by :func:`SetDebouncePeriod`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 'I', returnCallback, errorCallback);
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};
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this.setMovingAverage = function(distanceAverageLength, velocityAverageLength, returnCallback, errorCallback) {
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/*
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Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__
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for the distance and velocity.
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Setting the length to 0 will turn the averaging completely off. With less
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averaging, there is more noise on the data.
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The range for the averaging is 0-30.
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The default value is 10.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE, [distanceAverageLength, velocityAverageLength], 'B B', '', returnCallback, errorCallback);
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};
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this.getMovingAverage = function(returnCallback, errorCallback) {
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/*
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Returns the length moving average as set by :func:`SetMovingAverage`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_MOVING_AVERAGE, [], '', 'B B', returnCallback, errorCallback);
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};
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this.setMode = function(mode, returnCallback, errorCallback) {
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/*
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The LIDAR has five different modes. One mode is for distance
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measurements and four modes are for velocity measurements with
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different ranges.
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The following modes are available:
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* 0: Distance is measured with resolution 1.0 cm and range 0-400 cm
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* 1: Velocity is measured with resolution 0.1 m/s and range is 0-12.7 m/s
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* 2: Velocity is measured with resolution 0.25 m/s and range is 0-31.75 m/s
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* 3: Velocity is measured with resolution 0.5 m/s and range is 0-63.5 m/s
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* 4: Velocity is measured with resolution 1.0 m/s and range is 0-127 m/s
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The default mode is 0 (distance is measured).
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_MODE, [mode], 'B', '', returnCallback, errorCallback);
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};
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this.getMode = function(returnCallback, errorCallback) {
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/*
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Returns the mode as set by :func:`SetMode`.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_MODE, [], '', 'B', returnCallback, errorCallback);
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};
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this.enableLaser = function(returnCallback, errorCallback) {
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/*
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Activates the laser of the LIDAR.
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We recommend that you wait 250ms after enabling the laser before
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the first call of :func:`GetDistance` to ensure stable measurements.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER, [], '', '', returnCallback, errorCallback);
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};
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this.disableLaser = function(returnCallback, errorCallback) {
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/*
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Deactivates the laser of the LIDAR.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER, [], '', '', returnCallback, errorCallback);
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};
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this.isLaserEnabled = function(returnCallback, errorCallback) {
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/*
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Returns *true* if the laser is enabled, *false* otherwise.
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_IS_LASER_ENABLED, [], '', '?', returnCallback, errorCallback);
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};
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this.getIdentity = function(returnCallback, errorCallback) {
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/*
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Returns the UID, the UID where the Bricklet is connected to,
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the position, the hardware and firmware version as well as the
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device identifier.
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The position can be 'a', 'b', 'c' or 'd'.
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The device identifier numbers can be found :ref:`here <device_identifier>`.
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|device_identifier_constant|
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*/
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this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_IDENTITY, [], '', 's8 s8 c B3 B3 H', returnCallback, errorCallback);
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};
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}
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module.exports = BrickletLaserRangeFinder;
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