mcp3008_linesensor.h

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#pragma once
 
#include <driver/spi_master.h>
#include <vector>
 
#include "mcp3008_driver.h"
 
namespace mcp3008 {
 
class LineSensorCalibrator;
 
class LineSensor : public Driver {
public:
    struct CalibrationData {
        uint16_t min[Driver::CHANNELS];
        uint16_t range[Driver::CHANNELS];
    } __attribute__((packed));
 
    LineSensor();
    virtual ~LineSensor();
 
    LineSensorCalibrator startCalibration();
 
    const CalibrationData& getCalibration() const { return m_calibration; }
 
    bool setCalibration(const CalibrationData& data);
 
    float readLine(bool white_line = false, float line_threshold = 0.20f) const;
 
    esp_err_t calibratedRead(std::vector<uint16_t>& results) const;
 
    esp_err_t calibratedRead(uint16_t* dest) const;
 
    uint16_t calibratedReadChannel(uint8_t channel, esp_err_t* result = nullptr) const;
 
private:
    LineSensor(const LineSensor&) = delete;
 
    void calibrateResults(uint16_t* dest) const;
    inline uint16_t calibrateValue(int chan, uint16_t val) const;
 
    CalibrationData m_calibration;
};
 
class LineSensorCalibrator {
    friend class LineSensor;
 
public:
    ~LineSensorCalibrator();
 
    void reset(); 
 
    esp_err_t record();
 
    void save(); 
 
private:
    LineSensorCalibrator(LineSensor& sensor);
 
    LineSensor& m_sensor;
    LineSensor::CalibrationData m_data;
    uint16_t m_max[Driver::CHANNELS];
};
 
}; // namespace mcp3008