RBCXUltrasound.h

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#pragma once
 
#include <condition_variable>
#include <functional>
#include <mutex>
#include <stdint.h>
#include <vector>
 
#include "RBCXTimers.h"
 
#include "rbcx.pb.h"
 
namespace rb {
 
class Manager;
 
class Ultrasound {
    friend class Manager;
 
public:
    static constexpr float defaultSpeedOfSound = 347.13f;
 
    typedef std::function<bool(uint32_t)> callback_t;
 
    uint32_t lastDistanceMm() const { return m_lastDistanceMm; }
 
    uint32_t lastDurationUs() const { return m_lastUs; }
 
    bool isLastMeasurementValid() const { return m_lastUs != 0; }
 
    void setSpeedOfSound(float speedOfSoundInMetersPerSecond = defaultSpeedOfSound);
 
    float getSpeedOfSound() const { return m_speedOfSound; }
 
    void measureAsync(callback_t callback = nullptr);
 
    uint32_t measure();
 
private:
    Ultrasound();
    Ultrasound(const Ultrasound&) = delete;
    ~Ultrasound();
 
    void init(uint8_t index);
 
    void recalculateLastDistanceLocked();
    void onMeasuringDone(const CoprocStat_UltrasoundStat& result);
 
    uint8_t m_index;
 
    uint32_t m_lastUs;
    uint32_t m_lastDistanceMm;
    float m_speedOfSound;
    bool m_measuring;
    std::vector<callback_t> m_callbacks;
    std::recursive_mutex m_mutex;
    std::condition_variable_any m_measuringDone;
    uint16_t m_timeoutTimer;
};
 
};