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*updated* Add .data_ready property to VL53L0X allowing end-users to predict if calls to .range will block #35

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Merged
merged 6 commits into from
Mar 9, 2022
Merged

*updated* Add .data_ready property to VL53L0X allowing end-users to predict if calls to .range will block #35

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a71f813
Add a timeout to read_range to reduce block time when sensor data is …
whogben Mar 8, 2022
9105915
convert "!= None "to "is not None"
whogben Mar 8, 2022
aee98b4
autoformat with black
whogben Mar 8, 2022
8150fbd
Revert "autoformat with black"
whogben Mar 8, 2022
eff83d4
Add a .data_available property
whogben Mar 8, 2022
4db93da
Change data_available to data_ready to match other VL series sensor d…
whogben Mar 8, 2022
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14 changes: 12 additions & 2 deletions adafruit_vl53l0x.py
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,7 @@ def __init__(self, i2c, address=41, io_timeout_s=0):
self._i2c = i2c
self._device = i2c_device.I2CDevice(i2c, address)
self.io_timeout_s = io_timeout_s
self._data_ready = False
# Check identification registers for expected values.
# From section 3.2 of the datasheet.
if (
Expand Down Expand Up @@ -528,6 +529,15 @@ def range(self):
self.do_range_measurement()
return self.read_range()

@property
def data_ready(self):
"""Check if data is available from the sensor. If true a call to .range
will return quickly. If false, calls to .range will wait for the sensor's
next reading to be available."""
if not self._data_ready:
self._data_ready = self._read_u8(_RESULT_INTERRUPT_STATUS) & 0x07 != 0
return self._data_ready

def do_range_measurement(self):
"""Perform a single reading of the range for an object in front of the
sensor, but without return the distance.
Expand Down Expand Up @@ -555,15 +565,14 @@ def do_range_measurement(self):

def read_range(self):
"""Return a range reading in millimeters.

Note: Avoid calling this directly. If you do single mode, you need
to call `do_range_measurement` first. Or your program will stuck or
timeout occurred.
"""
# Adapted from readRangeContinuousMillimeters in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
start = time.monotonic()
while (self._read_u8(_RESULT_INTERRUPT_STATUS) & 0x07) == 0:
while not self.data_ready:
if (
self.io_timeout_s > 0
and (time.monotonic() - start) >= self.io_timeout_s
Expand All @@ -573,6 +582,7 @@ def read_range(self):
# fractional ranging is not enabled
range_mm = self._read_u16(_RESULT_RANGE_STATUS + 10)
self._write_u8(_SYSTEM_INTERRUPT_CLEAR, 0x01)
self._data_ready = False
return range_mm

@property
Expand Down