mrm-lid2.h

#pragma once
#include "Arduino.h"
#include <Wire.h>
#include "VL53L1X_api.h"
 
#define MAX_VL53L1XS 12 // Maximum number of sensors. 
 
typedef void(*ArgumenlessFunction)();
typedef bool(*BreakCondition)();
 
class VL53L1Xs
{
    uint16_t lastDistance[MAX_VL53L1XS]; // Last distance in mm
    uint32_t lastMeasurement[MAX_VL53L1XS]; // Last distance measurement in ms
    int nextFree = 0; // Sensor count + 1
    uint8_t pins[MAX_VL53L1XS]; // Pins the LIDARs use for XSHUT.
    HardwareSerial * serial; // Additional serial port
    VL53L1_Dev_t  *pDev[MAX_VL53L1XS];
    bool warnings; // Display warnings.
 
    void errorVL(uint8_t sensorNumber, String message);
 
    void warning(String message);
 
  public:
    enum RangeProfile { ShortRange, MidRange, LongRange };
 
    VL53L1Xs(HardwareSerial * hardwareSerial = 0, bool displayWarnings = false);
 
    ~VL53L1Xs();
 
    void add(uint8_t pin = 0xFF, uint8_t i2c_addr = 0x29);
 
    void begin(boolean verbose = false);
 
    uint16_t distance(uint8_t sensorNumber);
 
    void rangeProfileSet(RangeProfile value, uint8_t sensorNumber = 0xFF);
 
    void roi(uint8_t sensorNumber = 0xFF,  uint8_t TopLeftX = 0, uint8_t TopLeftY = 15, uint8_t BottomRightX = 15, uint8_t BottomRightY = 0);
 
    void roiCenter(uint8_t sensorNumber, uint8_t &xCenter, uint8_t &yCenter);
    
    void stress(BreakCondition breakWhen = 0);
 
    void test(BreakCondition breakWhen = 0);
};
 
/* Declaration of error function. Definition is in Your code. Recommended actions: stop the motors, display error message
and go into an endless loop.
@param message - error message.
*/
void error(String message);