#pragma once

#include "Sensor.h"

/// @brief A sensor which can measure the distance the the nearest object
class DistanceSensor : public Sensor {
 public:
     DistanceSensor() { isDistanceSensor = true; }
     DistanceSensor(float triggerDistance) { isDistanceSensor = true; this->triggerDistance = triggerDistance; }
  /// @brief Determine the distance to the nearest object
  /// @return the measured distance in meters to the nearest object
     virtual float GetDistance() { return distance; };
     virtual void SetDistance(float distance) { this->distance = distance; }; // for simulation purposes

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

  bool IsOn() {
    bool isOn = GetDistance() <= triggerDistance;
    return isOn;
  }

  bool isOff() {
    bool isOff = GetDistance() > triggerDistance;
    return isOff;
  }
protected:
    float distance = 0;
};