LaserProximitySensor.h

#pragma once
 
#include <string>
 
#include <units/length.h>
 
#include "valkyrie/sensors/DebounceSensor.h"
#include "valkyrie/sensors/LidarSensor.h"
 
namespace valor {
namespace sensors {

struct LaserProximityData {
    units::millimeter_t distance;  
    bool triggered;                
};

class LaserProximitySensor : public BaseSensor<LaserProximityData>, public LidarSensor, public DebounceSensor {
   public:
    LaserProximitySensor();

    inline void SetThresholdDistance(units::millimeter_t threshold) { thresholdDistance = threshold; }

    inline units::millimeter_t GetThresholdDistance() const { return thresholdDistance; }

    void Reset() override;

    LaserProximityData Get() { return BaseSensor<LaserProximityData>::Get(); }

    void SetGetter(std::function<units::millimeter_t()> getter);
 
   protected:
    void Calculate() override;
 
    void Refresh() override;
 
   private:
    units::millimeter_t thresholdDistance;  
};
 
}  // namespace sensors
}  // namespace valor