ColorSensor.h

//
// ColorSensor.h
//
// Copyright (c) 2025 Embedded Technology Software Design Robot Contest
//
 
#ifndef SPIKE_CPP_API_COLOR_SENSOR_H_ 
#define SPIKE_CPP_API_COLOR_SENSOR_H_
 
#include <cstdint>
extern "C" {
#include <spike/pup/colorsensor.h>
}
 
#include <libcpp/spike/Port.h>
 
namespace spikeapi {
class ColorSensor
{
public:
 
  struct RGB {
    uint16_t r;
    uint16_t g;
    uint16_t b;
  };
 
  struct HSV {
    uint16_t h;
    uint8_t  s;
    uint8_t  v;
  };
  
  ColorSensor(EPort port) { 
    mDevice = pup_color_sensor_get_device(static_cast<pbio_port_id_t>(port));
  }
  
  void getRGB(RGB& rgb) const { 
    pup_color_rgb_t pup_rgb = pup_color_sensor_rgb(mDevice);
    rgb.r = pup_rgb.r;
    rgb.g = pup_rgb.g;
    rgb.b = pup_rgb.b;    
  } 
    
  void getColor(HSV& hsv, bool surface = true) const { 
    pup_color_hsv_t pup_hsv = pup_color_sensor_color(mDevice, surface);
    hsv.h = pup_hsv.h;
    hsv.s = pup_hsv.s;
    hsv.v = pup_hsv.v;
  } 
    
  void getHSV(HSV& hsv, bool surface = true ) const { 
    pup_color_hsv_t pup_hsv = pup_color_sensor_hsv(mDevice, surface);
    hsv.h = pup_hsv.h;
    hsv.s = pup_hsv.s;
    hsv.v = pup_hsv.v;
  } 
    
  int32_t getReflection() const { 
    return pup_color_sensor_reflection(mDevice); 
  } 
    
  int32_t getAmbient() const { 
    return pup_color_sensor_ambient(mDevice); 
  } 
    
  void setLight(int32_t bv1, int32_t bv2, int32_t bv3) const { 
    pup_color_sensor_light_set(mDevice, bv1, bv2, bv3); 
  } 
    
  void lightOn() const { 
    pup_color_sensor_light_on(mDevice); 
  } 
    
  void lightOff() const { 
    pup_color_sensor_light_off(mDevice); 
  } 
    
  void setDetectableColors(int32_t size, pup_color_hsv_t *colors) const { 
    pup_color_sensor_detectable_colors(size, colors);
  }
 
  bool hasError() { return mDevice == 0; }
 
  
private: 
  pup_device_t *mDevice;
}; // class ColorSensor
}  // namespace spikeapi
 
#endif // !SPIKE_CPP_API_COLOR_SENSOR_H_