From 23ea03fbaf0c69a80e45ab6008075336ab15a80c Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 14 May 2025 12:04:29 +0200
Subject: [PATCH] Ultrasonic TouchSensor subclass

---
 Arduino/Things/UltrasonicSensor.cpp | 27 +++++++++++++++------------
 Arduino/Things/UltrasonicSensor.h   | 24 +++++++++++++++++++-----
 2 files changed, 34 insertions(+), 17 deletions(-)

diff --git a/Arduino/Things/UltrasonicSensor.cpp b/Arduino/Things/UltrasonicSensor.cpp
index 646a4f8..c4c960e 100644
--- a/Arduino/Things/UltrasonicSensor.cpp
+++ b/Arduino/Things/UltrasonicSensor.cpp
@@ -8,7 +8,7 @@ namespace Arduino {
 UltrasonicSensor::UltrasonicSensor(Participant* participant,
                                    unsigned char pinTrigger,
                                    unsigned char pinEcho)
-    : TouchSensor(participant) {
+    : Thing(participant) {
   this->pinTrigger = pinTrigger;
   this->pinEcho = pinEcho;
 
@@ -51,25 +51,28 @@ float UltrasonicSensor::GetDistance() {
   // if (distance > 30)
   //   distance = 0;
 
-  this->touchedSomething |= (this->distance > 0 && this->distance <= this->touchDistance);
-
-  // std::cout << "Ultrasonic " << this->touchedSomething << " |  " << (this->distance > 0) << " " <<
-  // (this->distance <= this->touchDistance) << "\n";
-
   return distance;
 }
 
 void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
-  this->touchedSomething = false;
   GetDistance();
   Thing::Update(currentTimeMs, recursive);
 }
 
-// void UltrasonicSensor::ProcessBinary(char* bytes) {
-//   this->touchedSomething = (bytes[0] == 1);
-//   if (this->touchedSomething)
-//     std::cout << "Touching something!\n";
-// }
+UltrasonicSensor::TouchSensor::TouchSensor(Thing& parent,
+                                           unsigned char pinTrigger,
+                                           unsigned char pinEcho)
+    : RoboidControl::TouchSensor(&parent),
+      ultrasonic(&parent, pinTrigger, pinEcho) {
+  this->touchedSomething = false;
+}
+
+void UltrasonicSensor::TouchSensor::Update(unsigned long currentTimeMs,
+                                           bool recursive) {
+  this->ultrasonic.Update(currentTimeMs, recursive);
+  this->touchedSomething = (this->ultrasonic.distance > 0 &&
+                            this->ultrasonic.distance <= this->touchDistance);
+}
 
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Things/UltrasonicSensor.h b/Arduino/Things/UltrasonicSensor.h
index d67d50e..1e49220 100644
--- a/Arduino/Things/UltrasonicSensor.h
+++ b/Arduino/Things/UltrasonicSensor.h
@@ -6,11 +6,8 @@ namespace RoboidControl {
 namespace Arduino {
 
 /// @brief An HC-SR04 ultrasonic distance sensor
-class UltrasonicSensor : public TouchSensor {
+class UltrasonicSensor : Thing {
  public:
-  // Inherit all constructors
-  //using TouchSensor::TouchSensor;
-
   /// @brief  Setup an ultrasonic sensor
   /// @param participant The participant to use
   /// @param pinTrigger The pin number of the trigger signal
@@ -25,7 +22,7 @@ class UltrasonicSensor : public TouchSensor {
   // parameters
 
   /// @brief The distance at which the object is considered to be touched
-  float touchDistance = 0.2f;
+  // float touchDistance = 0.2f;
 
   // state
 
@@ -45,6 +42,23 @@ class UltrasonicSensor : public TouchSensor {
   unsigned char pinTrigger = 0;
   /// @brief The pin number of the echo signal
   unsigned char pinEcho = 0;
+
+ public:
+  class TouchSensor;
+};
+
+class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
+ public:
+  TouchSensor(Thing& parent, unsigned char pinTrigger, unsigned char pinEcho);
+
+  float touchDistance = 0.2f;
+
+  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
+  virtual void Update(unsigned long currentTimeMs,
+                      bool recursive = false) override;
+
+ protected:
+  UltrasonicSensor ultrasonic;
 };
 
 }  // namespace Arduino