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135 lines
3.8 KiB
135 lines
3.8 KiB
// -----------------------------------------------------------------------------
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// HC-SR04, SRF05, SRF06, DYP-ME007, JSN-SR04T & Parallax PING)))™
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// Copyright (C) 2019 by Xose Pérez <xose dot perez at gmail dot com>
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// Enhancements by Rui Marinho
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// -----------------------------------------------------------------------------
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#if SENSOR_SUPPORT && SONAR_SUPPORT
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#pragma once
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#include <NewPing.h>
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#include <memory>
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#include "BaseSensor.h"
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class SonarSensor : public BaseSensor {
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public:
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// ---------------------------------------------------------------------
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// Echo pin.
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void setEcho(unsigned char echo) {
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_echo = echo;
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}
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// Number of iterations to ping in order to filter out erroneous readings
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// using a digital filter.
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void setIterations(unsigned int iterations) {
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_iterations = iterations;
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}
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// Max sensor distance in centimeters.
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void setMaxDistance(unsigned int distance) {
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_max_distance = distance;
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}
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// Trigger pin.
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void setTrigger(unsigned char trigger) {
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_trigger = trigger;
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}
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// ---------------------------------------------------------------------
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unsigned char getEcho() const {
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return _echo;
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}
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unsigned char getTrigger() const {
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return _trigger;
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}
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unsigned int getMaxDistance() const {
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return _max_distance;
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}
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unsigned int getIterations() const {
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return _iterations;
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}
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// ---------------------------------------------------------------------
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// Sensor API
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// ---------------------------------------------------------------------
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unsigned char id() const override {
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return SENSOR_SONAR_ID;
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}
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unsigned char count() const override {
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return 1;
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}
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// Initialization method, must be idempotent
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void begin() override {
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if (_sonar) {
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_sonar.reset(nullptr);
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}
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_sonar = std::make_unique<NewPing>(getTrigger(), getEcho(), getMaxDistance());
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_distance = 0.0;
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_ready = true;
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}
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// Descriptive name of the sensor
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String description() const override {
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char buffer[32];
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snprintf_P(buffer, sizeof(buffer),
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PSTR("Sonar @ GPIO(%hhu, %hhu)"), _trigger, _echo);
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return String(buffer);
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}
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// Address of the sensor (it could be the GPIO or I2C address)
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String address(unsigned char) const override {
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return String(_trigger);
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}
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// Type for slot # index
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unsigned char type(unsigned char index) const override {
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if (index == 0) return MAGNITUDE_DISTANCE;
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return MAGNITUDE_NONE;
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}
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// TODO: fix meter <-> cm conversions
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void pre() override {
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if (getIterations()) {
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_distance = NewPing::convert_cm(_sonar->ping_median(getIterations())) / 100.0;
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} else {
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_distance = _sonar->ping_cm() / 100.0;
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}
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}
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// Current value for slot # index
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double value(unsigned char index) override {
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if (index == 0) return _distance;
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return 0.0;
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}
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protected:
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// ---------------------------------------------------------------------
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// Protected
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// ---------------------------------------------------------------------
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unsigned char _trigger;
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unsigned char _echo;
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unsigned int _max_distance;
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unsigned int _iterations;
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double _distance;
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std::unique_ptr<NewPing> _sonar;
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};
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#endif // SENSOR_SUPPORT && SONAR_SUPPORT
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