UltrasonicSensor.h

//
// UltrasonicSensor.h
//
// Copyright (c) 2025 Embedded Technology Software Design Robot Contest
//
 
#ifndef SPIKE_CPP_API_ULTRASONIC_SENSOR_H_ 
#define SPIKE_CPP_API_ULTRASONIC_SENSOR_H_
 
#include <cstdint>
extern "C" {
#include <spike/pup/ultrasonicsensor.h>
}
 
#include <libcpp/spike/Port.h>
 
namespace spikeapi {
class UltrasonicSensor
{
public:
 
  UltrasonicSensor(EPort port) { 
    mDevice = pup_ultrasonic_sensor_get_device(static_cast<pbio_port_id_t>(port));
  }
    
  int32_t getDistance() const { 
    return pup_ultrasonic_sensor_distance(mDevice); 
  } 
    
  bool isPresence() const { 
    return pup_ultrasonic_sensor_presence(mDevice); 
  } 
    
  void setLight(int32_t bv1, int32_t bv2, int32_t bv3, int32_t bv4) const { 
    pup_ultrasonic_sensor_light_set(mDevice, bv1, bv2, bv3, bv4); 
  } 
    
  void lightOn() const { 
    pup_ultrasonic_sensor_light_on(mDevice); 
  } 
    
  void lightOff() const { 
    pup_ultrasonic_sensor_light_off(mDevice); 
  }
 
  bool hasError() { return mDevice == 0; }
  
  
private: 
  pup_device_t *mDevice;
}; // class UltrasonicSensor
}  // namespace spikeapi
 
#endif // !SPIKE_CPP_API_ULTRASONIC_SENSOR_H_