@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/vl53lx.d.ts

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+/**
+ * VL53L 1D ToF family — VL53L0X, VL53L1CX, VL53L1CB, VL53L3CX, VL53L4CD,
+ * VL53L4CX — over the `APP_VL53L0_4` register bridge (contracts/12).
+ *
+ * The MCU is a thin I2C bridge that knows no sensor; every ULD runs here on
+ * the host (`uld/`). Two axes pick how a board is driven (`uld/registry.ts`):
+ * the **product** (whose parameter set to load — normally the part the
+ * board's device name carries; naming a neighbour borrows its driver) and the
+ * **driver kind** (`uld`, `ulp` or `histogram`). Every product answers with
+ * the same `Vl53lxMeasurement`; what differs is `supports(group)`.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53lx`. TS-only difference:
+ * the product-level description is `identifyProduct()`, because
+ * `DepzDevice.identify()` already classifies the firmware.
+ */
+import { DepzDevice, StreamQueue, type DeviceOptions } from "../../device/device.js";
+import type { PacketEvent } from "../../protocol/framing.js";
+import { XSHUT_OFF, XSHUT_ON, XSHUT_RESET } from "../../protocol/vl53l4.js";
+import { type Vl53lxInfo } from "../../protocol/vl53lx.js";
+import type { SerialTransport } from "../../transport/types.js";
+import { SensorDriver, type Measurement, type Target } from "./uld/base.js";
+import { ProtocolError, Vl53Error, type BridgeDevice } from "./uld/link.js";
+export { XSHUT_OFF, XSHUT_ON, XSHUT_RESET };
+/**
+ * Statuses that mean "this distance is real". A histogram product reports 6
+ * on the first frame of a stream and 11 on a merged pulse: use this, not
+ * `status === 0`, as the validity test on histogram products.
+ */
+export declare const PLOTTABLE_STATUSES: readonly number[];
+/**
+ * One ranging result, the same shape for every product of the family. On
+ * the histogram driver `targets` holds every return strongest-first and the
+ * top-level fields repeat `targets[0]`; `bins` carries the raw histogram
+ * (the driver's bin object). On the light drivers `targets` is empty and
+ * `bins` is null. `extra` is driver-specific — show it, don't branch on it.
+ */
+export interface Vl53lxMeasurement extends Measurement {
+    /** MCU uptime at the INT edge (stream) / read (poll). */
+    timestampUs: bigint;
+    bins: unknown;
+    /** `status === 0`. On histogram products prefer `plottable`. */
+    valid: boolean;
+    /** The frame has a usable range (PLOTTABLE_STATUSES). */
+    plottable: boolean;
+}
+/**
+ * The distances a chart should draw for one measurement: the plottable
+ * targets in driver order, or the single distance on a light driver.
+ */
+export declare function plotDistances(m: Measurement): number[];
+/** The first plottable target, or null when the frame produced nothing usable. */
+export declare function primaryTarget(m: Measurement): Target | null;
+/**
+ * What the device class needs from the histogram (Bare) driver beyond
+ * `SensorDriver`: `binData(raw)` steps the frame-pair state and returns the
+ * bin object, `toMeasurement(bins)` finds the targets. Both run exactly once
+ * per frame.
+ */
+export interface HistogramDriverApi {
+    binData(raw: Uint8Array): unknown;
+    toMeasurement(bins: unknown): Measurement;
+}
+/** The optional capability groups' methods (see `supports()`). */
+interface DriverExtras {
+    getOffset(): Promise<number>;
+    setOffset(offsetMm: number): Promise<void>;
+    getXtalk(): Promise<number>;
+    setXtalk(xtalkKcps: number): Promise<void>;
+    calibrateOffset(targetDistMm: number, nbSamples?: number): Promise<number>;
+    calibrateXtalk(targetDistMm: number, nbSamples?: number): Promise<number>;
+    getDetectionThresholds(): Promise<[number, number, number]>;
+    setDetectionThresholds(low: number, high: number, window: number): Promise<void>;
+    getSignalThreshold(): Promise<number>;
+    setSignalThreshold(signalKcps: number): Promise<void>;
+    getSigmaThreshold(): Promise<number>;
+    setSigmaThreshold(sigmaMm: number): Promise<void>;
+    getRoi(): Promise<[number, number]>;
+    setRoi(x: number, y: number): Promise<void>;
+    getRoiCenter(): Promise<number>;
+    setRoiCenter(centerSpad: number): Promise<void>;
+    startTemperatureUpdate(): Promise<void>;
+    performRefSpadManagement(): Promise<[number, number]>;
+}
+/** Everything about what is connected (`identifyProduct()`). */
+export interface Vl53lxProductInfo {
+    board: string;
+    detected: string | null;
+    product: string | null;
+    driver: string | null;
+    driverClass: string;
+    kinds: string[];
+    modelId: number;
+    /** Cross-check only: L1CX/L1CB and L4CD/L4CX share their ids. */
+    modelIdOk: boolean;
+    supports: ReadonlySet<string>;
+    modes: readonly string[];
+    reachMm: number | null;
+    driverReachMm: number | null;
+    budgetMs: readonly [number, number];
+    budgetChoices: number[];
+    histogram: boolean;
+    maxKhz: number;
+    caveat: string | null;
+}
+export interface Vl53lxOptions extends DeviceOptions {
+    /** ULD sleep implementation (tests inject an instant one). */
+    sleepImpl?: (ms: number) => Promise<void>;
+}
+export interface Vl53lxConfigureOptions {
+    /** Timing budget, ms (see budgetChoices()). Default 50. */
+    budgetMs?: number;
+    /** 0 = continuous; otherwise the period between measurements (> budget). */
+    interMs?: number;
+    /** One of `modes`, applied before the budget. */
+    mode?: string | null;
+    /** Re-apply a stored offset calibration. */
+    offsetMm?: number | null;
+    /** Re-apply a stored crosstalk calibration. */
+    xtalkKcps?: number | null;
+}
+/**
+ * A board of the VL53L 1D family (firmware `APP_VL53L0_4`).
+ *
+ * `init()` binds the (product, driver kind) pair and runs the ULD's
+ * sensorInit; `configure()` re-initialises and applies the ranging
+ * configuration — call it before every run. Then `startRanging()` arms the MCU
+ * stream and measurements arrive via `onMeasurement` / `measurements()` /
+ * `getMeasurement()`. Configuration must not change while ranging.
+ *
+ * This generic class serves any product (read from the board's device name,
+ * or `product` at init); the per-product subclasses (`Vl53l0x`...) fix it.
+ */
+export declare class Vl53lx extends DepzDevice {
+    /** The product this class drives; null = read it from the device name. */
+    static readonly PRODUCT: string | null;
+    protected driverInst: SensorDriver | null;
+    protected productName: string | null;
+    protected driverKindName: string | null;
+    protected caveat: string | null;
+    private boardNameCache;
+    private measureCbs;
+    private measureQueues;
+    protected rangingFlag: boolean;
+    private streamParseErrorCount;
+    /** Keeps asynchronous histogram decodes in frame order. */
+    private decodeChain;
+    /** MCU timestamp of the latest register read (poll-mode measurements). */
+    private lastRegTimestampUs;
+    private readonly sleepImpl;
+    private readonly platform;
+    /**
+     * The `BridgeDevice` the ULD ports talk to: register transfers split at the
+     * bridge's 253-byte limit; a non-OK status or a missing answer surfaces as
+     * `ProtocolError`, exactly what the ports catch.
+     */
+    readonly bridge: BridgeDevice;
+    /**
+     * A reset makes the die NACK for a moment (the VL53L0X soft reset does it);
+     * the driver waits those out, and they are no bus fault.
+     */
+    private sensorInit;
+    /** StatusError / DepzTimeoutError (and a short register read) → ProtocolError. */
+    private static asProtocolError;
+    constructor(transport: SerialTransport, opts?: Vl53lxOptions);
+    private get classProduct();
+    /**
+     * The board's device name (bootloader metablock), e.g.
+     * `DEPZ ToF Sensor VL53L4CX USB v2.1 TOVJALN523`. Read once, then cached.
+     */
+    boardName(): Promise<string>;
+    /** The product the device name carries, or null on an unstamped board. */
+    detected(): Promise<string | null>;
+    /** The product init() bound (null before init). */
+    get product(): string | null;
+    get driverKind(): string | null;
+    /** The ULD port in use — escape hatch for product-specific calls. */
+    get driver(): SensorDriver;
+    get initialized(): boolean;
+    /** The driver kinds a product has (default: this board's). */
+    driverKinds(product?: string): Promise<string[]>;
+    /**
+     * Bind the (product, driver kind) pair and initialise the sensor.
+     *
+     * `product` defaults to this class's product, else the board's device name;
+     * `driver` defaults to the product's first kind (`uld`, else `ulp`, else
+     * `histogram`). A pair the table has no row for throws
+     * `NotImplementedError` naming what the product has.
+     */
+    init(driver?: string | null, opts?: {
+        product?: string | null;
+    }): Promise<void>;
+    /** Everything about what is connected (needs init()). */
+    identifyProduct(): Promise<Vl53lxProductInfo>;
+    /**
+     * The lines a UI should show about the chosen pair: product named by hand,
+     * a borrowed driver, a pair that reaches less than the board is rated for,
+     * the driver's caveat.
+     */
+    notes(): Promise<string[]>;
+    /**
+     * Whether this product/driver serves an optional capability group: mode,
+     * timing, offset, calib_offset, xtalk, calib_xtalk, thresholds,
+     * signal_thresh, sigma_thresh, roi, temp_update, refspad.
+     */
+    supports(group: string): boolean;
+    /** Named ranging modes, first = what init leaves; [] if none. */
+    get modes(): readonly string[];
+    /**
+     * Drive XSHUT: XSHUT_OFF / XSHUT_ON / XSHUT_RESET (1 ms pulse + 5 ms wait;
+     * the host confirms the boot). OFF and RESET stop the stream; the sensor
+     * then holds none of the configuration — init() again.
+     */
+    xshut(action: number): Promise<void>;
+    /** RPT_VL53_INFO — the bridge's own counters; safe while streaming. */
+    bridgeInfo(): Promise<Vl53lxInfo>;
+    /**
+     * Re-initialise the sensor and apply a ranging configuration. The re-init
+     * is deliberate (the only way to know what the configuration registers
+     * hold). `mode` goes on before the budget; `offsetMm` / `xtalkKcps`
+     * re-apply a stored calibration.
+     */
+    configure(opts?: Vl53lxConfigureOptions): Promise<void>;
+    /** → [timingBudgetMs, interMeasurementMs]; 0 for the period = continuous. */
+    getRangeTiming(): Promise<[number, number]>;
+    /** The ranging mode in use, or null on a product without modes. */
+    getMode(): Promise<string | null>;
+    /** The only budgets accepted right now (ascending), or [] for any in range. */
+    budgetChoices(): number[];
+    /** The nearest budget this product will actually accept. */
+    snapBudget(budgetMs: number): number;
+    getOffsetMm(): Promise<number>;
+    setOffsetMm(offsetMm: number): Promise<void>;
+    getXtalkKcps(): Promise<number>;
+    setXtalkKcps(xtalkKcps: number): Promise<void>;
+    /**
+     * Offset calibration against a flat target at `targetDistMm`; returns the
+     * offset now programmed. Store it on the host (sensor RAM, lost on reset).
+     */
+    calibrateOffset(targetDistMm: number, nbSamples?: number): Promise<number>;
+    /** Crosstalk calibration; returns the xtalk now programmed (kcps). */
+    calibrateXtalk(targetDistMm: number, nbSamples?: number): Promise<number>;
+    /** → [distanceLowMm, distanceHighMm, window]. */
+    getDetectionThresholds(): Promise<[number, number, number]>;
+    /** Arm the distance-window interrupt; stays armed until the next init/configure. */
+    setDetectionThresholds(distanceLowMm: number, distanceHighMm: number, window: number): Promise<void>;
+    getSignalThresholdKcps(): Promise<number>;
+    setSignalThresholdKcps(signalKcps: number): Promise<void>;
+    getSigmaThresholdMm(): Promise<number>;
+    setSigmaThresholdMm(sigmaMm: number): Promise<void>;
+    /** → [x, y] SPAD window size. */
+    getRoi(): Promise<[number, number]>;
+    setRoi(x: number, y: number): Promise<void>;
+    getRoiCenter(): Promise<number>;
+    setRoiCenter(centerSpad: number): Promise<void>;
+    /** Re-run VHV after an ambient change over 8 °C. */
+    startTemperatureUpdate(): Promise<void>;
+    /** VL53L0X: re-measure the reference SPADs → [count, isAperture]. */
+    performRefSpadManagement(): Promise<[number, number]>;
+    /**
+     * Start the sensor's ranging loop and arm the MCU stream: one
+     * RPT_VL53_STREAM per INT edge, followed on the MCU by the driver's
+     * interrupt-release writes.
+     */
+    startRanging(): Promise<void>;
+    stopRanging(): Promise<void>;
+    get ranging(): boolean;
+    /**
+     * Single poll-mode measurement: start ranging, wait for data-ready, read,
+     * release the interrupt, stop. Rejects while the stream runs.
+     */
+    measureOnce(timeoutMs?: number): Promise<Vl53lxMeasurement>;
+    /** Subscribe to streamed measurements. Returns an unsubscribe function. */
+    onMeasurement(cb: (m: Vl53lxMeasurement) => void): () => void;
+    /** Async iterator over measurements — bounded, drop-oldest (contract 07 §3). */
+    measurements(maxsize?: number): StreamQueue<Vl53lxMeasurement>;
+    /** Wait for the next streamed measurement. */
+    getMeasurement(timeoutMs?: number): Promise<Vl53lxMeasurement>;
+    /** Stream reports dropped because the driver failed to decode them. */
+    get streamParseErrors(): number;
+    /** Drop counters of all live measurement queues (diagnostics). */
+    get streamDroppedCounts(): number[];
+    protected need(group: string): SensorDriver & DriverExtras;
+    protected requireNotRanging(): void;
+    private emit;
+    protected handleReport(pkt: PacketEvent): boolean;
+}
+/**
+ * VL53L0X (2 m, 1-byte register addresses, 400 kHz): ULD API 1.0.4 with
+ * ranging profiles, offset and crosstalk calibration, ref-SPAD management.
+ */
+export declare class Vl53l0x extends Vl53lx {
+    static readonly PRODUCT: string | null;
+}
+/** VL53L1CX (4 m): VL53L1X ULD (short / long) or the histogram driver. */
+export declare class Vl53l1cx extends Vl53lx {
+    static readonly PRODUCT: string | null;
+}
+/** VL53L1CB (8 m, cover-glass module): same die and drivers as VL53L1CX. */
+export declare class Vl53l1cb extends Vl53lx {
+    static readonly PRODUCT: string | null;
+}
+/** VL53L3CX (3 m): ST's ULP driver (single target) or the histogram driver. */
+export declare class Vl53l3cx extends Vl53lx {
+    static readonly PRODUCT: string | null;
+}
+/**
+ * VL53L4CX (6 m): the histogram driver only — to run it light, borrow a
+ * sibling's with `init(undefined, { product: "VL53L4CD" })`.
+ */
+export declare class Vl53l4cx extends Vl53lx {
+    static readonly PRODUCT: string | null;
+}
+/** Class per product (VL53L4CD on this firmware uses the generic class). */
+export declare const VL53LX_CLASS_BY_PRODUCT: Readonly<Record<string, typeof Vl53lx>>;
+/**
+ * Pick the 1D-family class (contract 12 §1): the production PID model, then
+ * the product the device name carries, then the generic class.
+ */
+export declare function resolveVl53lxClass(usbModel: string | null | undefined, deviceName: string | null | undefined): typeof Vl53lx;
+export declare const VL53LX_PRODUCTS: readonly ["VL53L0X", "VL53L1CX", "VL53L1CB", "VL53L3CX", "VL53L4CD", "VL53L4CX"];
+export declare const VL53LX_DRIVER_KINDS: readonly ["uld", "ulp", "histogram"];
+export { ProtocolError, Vl53Error };
+//# sourceMappingURL=vl53lx.d.ts.map

package/dist/sensors/vl53lx/vl53lx.d.ts.map

@@ -0,0 +1 @@
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