#pragma once

#include "Things/TouchSensor.h"

namespace RoboidControl {
namespace Arduino {

/// @brief An HC-SR04 ultrasonic distance sensor
class UltrasonicSensor : Thing {
 public:
  struct Configuration {
    int triggerPin;
    int echoPin;
  };

  /// @brief  Setup an ultrasonic sensor
  /// @param participant The participant to use
  /// @param pinTrigger The pin number of the trigger signal
  /// @param pinEcho The pin number of the echo signal
  UltrasonicSensor(Configuration config, Participant* participant);
  UltrasonicSensor(Configuration config, Thing* parent);

  // parameters

  /// @brief The distance at which the object is considered to be touched
  // float touchDistance = 0.2f;

  // state

  /// @brief The last read distance
  float distance = 0;
  /// @brief erform an ultrasonic 'ping' to determine the distance to the
  /// nearest object
  /// @return the measured distance in meters to the nearest object
  float GetDistance();

  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
  virtual void Update(bool recursive = false) override;

 protected:
  /// @brief The pin number of the trigger signal
  unsigned char pinTrigger = 0;
  /// @brief The pin number of the echo signal
  unsigned char pinEcho = 0;

 public:
  class TouchSensor;
};

#pragma region Touch sensor

class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
 public:
  TouchSensor(UltrasonicSensor::Configuration config, Thing& parent);
  TouchSensor(UltrasonicSensor::Configuration config, Thing* parent);

  float touchDistance = 0.2f;

  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
  virtual void Update(bool recursive = false) override;

 protected:
  UltrasonicSensor ultrasonic;
};

#pragma region Touch sensor

}  // namespace Arduino
}  // namespace RoboidControl