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include/okapi/impl/device/opticalSensor.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 {
+enum class OpticalSensorOutput {
+  hue,        ///< The color.
+  saturation, ///< The color's intensity relative to its brightness.
+  brightness  ///< The amount of light.
+};
+
+class OpticalSensor : public ControllerInput<double> {
+  public:
+  /**
+   * An optical sensor on a V5 port.
+   *
+   * ```cpp
+   * auto osHue = OpticalSensor(1);
+   * auto osSat = OpticalSensor(1, OpticalSensorOutput::saturation);
+   * ```
+   *
+   * @param iport The V5 port the device uses.
+   * @param ioutput Which sensor output to return from (@ref okapi::OpticalSensor::get).
+   * @param idisableGestures Whether to automatically disable the gesture sensor. Typically, the
+   * gesture sensor should be disabled unless you are going to use gestures because the optical
+   * sensor does not update color information while detecting a gesture.
+   * @param ifilter The filter to use to filter the sensor output. Only the selected output (via
+   * ``ioutput``) is filtered; the other outputs are untouched.
+   */
+  OpticalSensor(std::uint8_t iport,
+                OpticalSensorOutput ioutput = OpticalSensorOutput::hue,
+                bool idisableGestures = true,
+                std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
+
+  virtual ~OpticalSensor() = default;
+
+  /**
+   * Get the current filtered value of the selected output (configured by the constructor).
+   *
+   * @return The current filtered value of the selected output (configured by the constructor).
+   */
+  double get();
+
+  /**
+   * Get the current hue value in the range ``[0, 360)``.
+   *
+   * @return The current hue value in the range ``[0, 360)``.
+   */
+  double getHue() const;
+
+  /**
+   * Get the current brightness value in the range ``[0, 1]``.
+   *
+   * @return The current brightness value in the range ``[0, 1]``.
+   */
+  double getBrightness() const;
+
+  /**
+   * Get the current saturation value in the range ``[0, 1]``.
+   *
+   * @return The current saturation value in the range ``[0, 1]``.
+   */
+  double getSaturation() const;
+
+  /**
+   * Get the PWM value of the white LED in the range ``[0, 100]``.
+   *
+   * @return The PWM value of the white LED in the range ``[0, 100]`` or ``PROS_ERR`` if the
+   * operation failed, setting ``errno``.
+   */
+  int32_t getLedPWM() const;
+
+  /**
+   * Set the PWM value of the white LED in the range ``[0, 100]``.
+   *
+   * @param value The PWM value in the range ``[0, 100]``.
+   * @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
+   * ``errno``.
+   */
+  int32_t setLedPWM(std::uint8_t ivalue) const;
+
+  /**
+   * Get the current proximity value in the range ``[0, 255]``. This is not available if gestures
+   * are being detected.
+   *
+   * @return The current proximity value in the range ``[0, 255]``.
+   */
+  int32_t getProximity() const;
+
+  /**
+   * Get the processed RGBC data from the sensor.
+   *
+   * @return The RGBC value if the operation was successful. If the operation failed, all field are
+   * set to ``PROS_ERR`` and ``errno`` is set.
+   */
+  pros::c::optical_rgb_s_t getRGB() const;
+
+  /**
+   * 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::OpticalSensor::get).
+   */
+  double controllerGet() override;
+
+  /**
+   * Enable gestures.
+   *
+   * @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
+   * ``errno``.
+   */
+  int32_t enableGestures() const;
+
+  /**
+   * Disable gestures.
+   *
+   * @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
+   * ``errno``.
+   */
+  int32_t disableGestures() const;
+
+  protected:
+  std::uint8_t port;
+  OpticalSensorOutput output;
+  std::unique_ptr<Filter> filter;
+
+  /**
+   * Gets the output directly from the sensor using the selected output.
+   */
+  double getSelectedOutput();
+};
+} // namespace okapi