#pragma once

#if !NO_STD
#include <limits>
#endif

#include "Thing.h"

namespace RoboidControl {

/// @brief A sensor measuring distance
class DistanceSensor : public Thing {
 public:
  /// @brief Create a new child touch sensor
  /// @param parent The parent thing
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
  DistanceSensor(Thing* parent = Thing::LocalRoot());

  /// @brief Get the current distance
  float GetDistance();

  /// @brief Function used to generate binary data for this sensor
  /// @param buffer The byte array for thw binary data
  /// @param ix The starting position for writing the binary data
  int GenerateBinary(char* bytes, unsigned char* ix) override;
  /// @brief Function used to process binary data received for this sensor
  /// @param bytes The binary data to process
  virtual void ProcessBinary(char* bytes) override;

 protected:
#if ARDUNIO
  float internalDistance = INFINITY;
  float externalDistance = INFINITY;
#else
  float internalDistance = std::numeric_limits<double>::infinity();
  float externalDistance = std::numeric_limits<double>::infinity();
#endif
};

}  // namespace RoboidControl