Initial sensor setup

requirements.txt

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+smbus2
+vl53l1x

src/sensor/tofsensor.py

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+from enum import Enum
+
+
+class Direction(Enum):
+    INDOOR = "indoor"
+    OUTDOOR = "outdoor"
+
+
+class ToFSensor:
+    def open(self):
+        raise NotImplementedError()
+
+    def setDirection(self, direction: Direction):
+        """Configure sensor to pick up the distance in a specific direction.
+        """
+        raise NotImplementedError()
+
+    def getDistance(self) -> float:
+        """Returns new distance in cm.
+        """
+        raise NotImplementedError()
+    
+    def close(self):
+        raise NotImplementedError()

src/sensor/vl53l1xsensor.py

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+from sensor.tofsensor import Direction, ToFSensor
+import VL53L1X
+
+# Reference: https://github.com/pimoroni/vl53l1x-python
+#
+# Left, right, top and bottom are relative to the SPAD matrix coordinates,
+# which will be mirrored in real scene coordinates.
+# (or even rotated, depending on the VM53L1X element alignment on the board and on the board position)
+#
+# ROI in SPAD matrix coords:
+#
+# 15  top-left
+# |  X____
+# |  |    |
+# |  |____X
+# |        bottom-right
+# 0__________15
+#
+
+
+class VL53L1XSensor (TofSensor):
+    def __init__(self) -> None:
+        super().__init__()
+
+    def open(self):
+        self.sensor = VL53L1X.VL53L1X(i2c_bus=1, i2c_address=0x29)
+        self.sensor.open()
+
+        # Optionally set an explicit timing budget
+        # These values are measurement time in microseconds,
+        # and inter-measurement time in milliseconds.
+        # If you uncomment the line below to set a budget you
+        # should use `tof.start_ranging(0)`
+        # tof.set_timing(66000, 70)
+        self.ranging = 2
+        # 0 = Unchanged
+        # 1 = Short Range
+        # 2 = Medium Range
+        # 3 = Long Range
+    def setDirection(self, direction: Direction):
+        """Configure sensor to pick up the distance in a specific direction.
+        """
+        direction_roi = {
+            Direction.INDOOR: VL53L1X.VL53L1xUserRoi(6, 3, 9, 0),
+            Direction.OUTDOOR: VL53L1X.VL53L1xUserRoi(6, 15, 9, 12)
+        }
+
+        roi = direction_roi[direction]
+
+        self.sensor.stop_ranging()
+        self.sensor.set_user_roi(roi)
+        self.start_ranging(self.ranging)
+
+    def getDistance(self) -> float:
+        """Returns new distance in cm.
+        """
+        distance = self.sensor.get_distance()
+
+        return distance / 10
+
+    def close(self):
+        self.sensor.stop_ranging()
+        self.sensor.close()