ultrasonic.h

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#pragma once
 
#include <cstdint>
#include <soc/gpio_num.h>
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Ultrasonic {
    private:
        static constexpr const char* TAG = "Device::Ultrasonic";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_ULTRASONIC;
 
        static constexpr gpio_num_t TRIGGER_PIN = GPIO_NUM_25;
        static constexpr gpio_num_t ECHO_PIN = GPIO_NUM_26;
 
        static constexpr float MAX_DISTANCE = 200.0f;
        static constexpr uint16_t ECHO_TIMEOUT_US = 50'000;
 
        Robot& robot;
        float distance;
 
    public:
        explicit Ultrasonic(Robot& robot);
        ~Ultrasonic();

        void initialize();

        void measure();

        [[nodiscard]] float get_distance() const { return distance; }
    };
}