#pragma once

#include "Sensor.h"

namespace Passer {
namespace RoboidControl {

/// @brief A Sensor which can measure the distance to the nearest object
class DistanceSensor : public Sensor {
public:
  /// @brief Default constructor
  DistanceSensor();
  /// @brief Creates a DistanceSensor with the given trigger distance
  /// @param triggerDistance The distance at which the sensors indicates that a
  /// object is close by
  DistanceSensor(float triggerDistance);

  /// @brief Determine the distance to the nearest object
  /// @return the measured distance in meters to the nearest object
  virtual float GetDistance();

  /// @brief The minimum range at which the sensor gives reliable measurements
  float minRange = 0.01F;
  /// @brief The maximum range at which the sensor gives reliable measurements
  float maxRange = 10.0F;

  /// @brief The distance at which ObjectNearby triggers
  float triggerDistance = 1;

  /// @brief Indicate that an object is nearby
  /// @return True when an object is nearby
  bool ObjectNearby();

protected:
  /// @brief Distance to the closest object
  float distance = 0;
};

} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;