TimeOfFlight.h

#pragma once
 
#include "frc/PIDSource.h"
#include "frc/smartdashboard/SendableBase.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "TimeOfFlightApi.h"
 
namespace frc {
class TimeOfFlightImpl;
 
class TimeOfFlight : public PIDSource, public SendableBase {
public:
    enum RangingMode {
        kShort   = 0,
        kMedium  = 1,
        kLong    = 2
    };
 
    enum Status {
        kValid = 0,
 
        kSigmaHigh = 1,
 
        kReturnSignalLow = 2,
 
        kReturnPhaseBad = 4,
 
        kHardwareFailure = 5,
 
        kWrappedTarget = 7,
 
        kInternalError = 8,
 
        kInvalid = 14
    };
 
 
    explicit TimeOfFlight(uint8_t sensorID);
    virtual ~TimeOfFlight();
 
    // Delete Copy constructor and assignment operator
    TimeOfFlight(const TimeOfFlight&) =delete;
    TimeOfFlight& operator=(const TimeOfFlight&) =delete;
 
    // Use default Move constructor and assignment operator
    TimeOfFlight(TimeOfFlight&&) =default;
    TimeOfFlight& operator=(TimeOfFlight&&) =default;
 
    void IdentifySensor();
 
    uint32_t GetFirmwareVersion() const;
 
    uint32_t GetSerialNumber() const;
 
    bool IsRangeValid() const;
 
    double GetRange() const;
 
    double GetRangeSigma() const;
 
    double GetAmbientLightLevel() const;
 
    Status GetStatus() const;
 
    void SetRangingMode(RangingMode mode, double sampleTime);
 
    void SetRangeOfInterest(uint8_t topLeftX, uint8_t topLeftY, uint8_t bottomRightX, uint8_t bottomRightY);
 
    double PIDGet() override;
 
    void SetPIDSourceType(PIDSourceType pidSource) override;
 
    void InitSendable(SendableBuilder& builder) override;
 
private:
   TimeOfFlight_t *m_timeOfFlightHandle;
   RangingMode m_rangingMode;
};
 
}