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/**
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* \file pros/distance.hpp
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* \ingroup cpp-distance
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*
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* Contains prototypes for the V5 Distance Sensor-related functions.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* \defgroup cpp-distance VEX Distance Sensor C++ API
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*/
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#ifndef _PROS_DISTANCE_HPP_
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#define _PROS_DISTANCE_HPP_
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#include <cstdint>
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#include <iostream>
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#include "pros/device.hpp"
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#include "pros/distance.h"
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namespace pros {
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inline namespace v5 {
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/**
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* \ingroup cpp-distance
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*/
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class Distance : public Device {
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/**
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* \addtogroup cpp-distance
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* @{
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*/
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public:
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/**
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* Creates a Distance Sensor object for the given port.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a Distance Sensor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \b Example
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* \code
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* #define DISTANCE_PORT 1
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*
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* void opcontrol() {
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* Distance distance(DISTANCE_PORT);
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* }
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* \endcode
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*/
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Distance(const std::uint8_t port);
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Distance(const Device& device) : Distance(device.get_port()){};
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/**
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* Get the currently measured distance from the sensor in mm
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \return The distance value or PROS_ERR if the operation failed, setting
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* errno. Will return 9999 if the sensor can not detect an object.
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*
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* \b Example
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* \code
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* #define DISTANCE_PORT 1
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*
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* void opcontrol() {
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Distance distance(DISTANCE_PORT);
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* while (true) {
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* printf("Distance confidence: %d\n", distance.get());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t get();
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/**
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* Get the currently measured distance from the sensor in mm.
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* \note This function is identical to get().
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \return The distance value or PROS_ERR if the operation failed, setting
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* errno. Will return 9999 if the sensor can not detect an object.
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*
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* \b Example
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* \code
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* #define DISTANCE_PORT 1
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*
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* void opcontrol() {
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Distance distance(DISTANCE_PORT);
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* while (true) {
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* printf("Distance confidence: %d\n", distance.get_distance());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t get_distance();
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/**
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* Gets all distance sensors.
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*
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* \return A vector of Distance sensor objects.
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*
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* \b Example
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* \code
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* void opcontrol() {
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* std::vector<Distance> distance_all = pros::Distance::get_all_devices(); // All distance sensors that are
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* connected
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* }
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* \endcode
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*/
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static std::vector<Distance> get_all_devices();
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/**
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* Get the confidence in the distance reading
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*
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* This is a value that has a range of 0 to 63. 63 means high confidence,
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* lower values imply less confidence. Confidence is only available
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* when distance is > 200mm.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \return The confidence value or PROS_ERR if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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* #define DISTANCE_PORT 1
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*
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* void opcontrol() {
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Distance distance(DISTANCE_PORT);
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* while (true) {
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* printf("Distance confidence: %d\n", distance.get_confidence());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t get_confidence();
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/**
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* Get the current guess at relative object size
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*
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* This is a value that has a range of 0 to 400.
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* A 18" x 30" grey card will return a value of approximately 75
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* in typical room lighting.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \return The size value or PROS_ERR if the operation failed, setting
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* errno. Will return -1 if the sensor is not able to determine object size.
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*
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* \b Example
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* \code
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* #define DISTANCE_PORT 1
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*
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* void opcontrol() {
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Distance distance(DISTANCE_PORT);
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* while (true) {
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* printf("Distance confidence: %d\n", distance.get_object_size());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t get_object_size();
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/**
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* Get the object velocity in m/s
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \return The velocity value or PROS_ERR if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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*
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* void opcontrol() {
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* Distance distance(DISTANCE_PORT);
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* while (true) {
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* printf("Distance Object velocity: %f\n", distance.get_object_velocity());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual double get_object_velocity();
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/**
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* This is the overload for the << operator for printing to streams
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*
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* Prints in format(this below is all in one line with no new line):
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* Distance [port: (port number), distance: (distance), confidence: (confidence),
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* object size: (object size), object velocity: (object velocity)]
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*/
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friend std::ostream& operator<<(std::ostream& os, pros::Distance& distance);
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private:
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///@}
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};
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namespace literals {
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/**
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* Constructs a Distance sensor object from a literal ending in _dist via calling the constructor
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*
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* \return a pros::Distance for the corresponding port
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*
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* \b Example
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* \code
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* using namespace pros::literals;
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* void opcontrol() {
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* pros::Distance dist = 2_dist; //Makes an dist object on port 2
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* }
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* \endcode
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*/
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const pros::Distance operator"" _dist(const unsigned long long int d);
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} // namespace literals
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} // namespace v5
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} // namespace pros
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#endif
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