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include/okapi/impl/device/distanceSensor.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/api/control/controllerInput.hpp"
+#include "okapi/api/filter/passthroughFilter.hpp"
+#include <memory>
+
+namespace okapi {
+class DistanceSensor : public ControllerInput<double> {
+  public:
+  /**
+   * A distance sensor on a V5 port.
+   *
+   * ```cpp
+   * auto ds = DistanceSensor(1);
+   * auto filteredDistSensor = DistanceSensor(1, std::make_unique<MedianFilter<5>>());
+   * ```
+   *
+   * @param iport The V5 port the device uses.
+   * @param ifilter The filter to use for filtering the distance measurements.
+   */
+  DistanceSensor(std::uint8_t iport,
+                 std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
+
+  virtual ~DistanceSensor() = default;
+
+  /**
+   * Get the current filtered sensor value in mm.
+   *
+   * @return The current filtered sensor value in mm.
+   */
+  double get();
+
+  /**
+   * Get the sensor value for use in a control loop. This method might be automatically called in
+   * another thread by the controller.
+   *
+   * @return The same as [get](@ref okapi::DistanceSensor::get).
+   */
+  double controllerGet() override;
+
+  /**
+   * Get the confidence in the distance reading. This value has a range of ``[0, 63]``. ``63`` means
+   * high confidence, lower values imply less confidence. Confidence is only available when distance
+   * is greater than ``200`` mm.
+   *
+   * @return The confidence value in the range ``[0, 63]``.
+   */
+  std::int32_t getConfidence() const;
+
+  /**
+   * Get the current guess at relative object size. This value has a range of ``[0, 400]``. A 18" x
+   * 30" grey card will return a value of approximately ``75`` in typical room lighting.
+   *
+   * @return The size value in the range ``[0, 400]`` or ``PROS_ERR`` if the operation failed,
+   * setting errno.
+   */
+  std::int32_t getObjectSize() const;
+
+  /**
+   * Get the object velocity in m/s.
+   *
+   * @return The object velocity in m/s.
+   */
+  double getObjectVelocity() const;
+
+  protected:
+  std::uint8_t port;
+  std::unique_ptr<Filter> filter;
+};
+} // namespace okapi