LVMaxSonarEZ.h

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/*
Copyright (C) 2017 Michael Brookes

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef ANALOGDEVICE_LVMAXSONAREZ_H
#define ANALOGDEVICE_LVMAXSONAREZ_H

#include "../../analogBase.h"
#include <sstream>

namespace quadro {

    namespace analog {

        class LVMaxSonarEZ : public analogBase {

        public:

            const float SONIC_INCH_MODIFIER = 9.8f; 
            const float SONIC_CM_MODIFIER = 2.54f; 

            static const unsigned int SONIC_DATATIMER = 50000; 

            const int MAX_OPERATING_HEIGHT_IN_INCES = 255; 
            const int MIN_OPERATING_HEIGHT_IN_INCES = 6; 

            LVMaxSonarEZ();

            int start();

            int stop();

            double getDistance();

            __useconds_t dataTimer = SONIC_DATATIMER;

            enum deviceMode {
                Inches = 0,
                Cm = 1
            };

            enum deviceStatus {
                On = 1, 
                Off = 0, 
                Error = 2 
            };

            deviceStatus currentStatus;

            deviceMode currentMode;

            void setMode( deviceMode _mode );

            int getStatus();

            void setStatus( deviceStatus _status );

            pthread_t threadHandle; 

        private:

            static void* runMainSensorUpdateThread( void* static_inst );

            double convertReadingToDistance( int _reading );

            int reading; 

            int threadRet; 
        };

    }
}
#endif //ANALOGDEVICE_LVMAXSONAREZ_H