36 lines
822 B
C++
36 lines
822 B
C++
#include "DistanceSensor.h"
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// #include "NetworkPerception.h"
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#include "Messages.h"
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#include <math.h>
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DistanceSensor::DistanceSensor() {
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this->type = Thing::DistanceSensorType;
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this->distance = INFINITY;
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this->triggerDistance = 1.0F;
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}
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DistanceSensor::DistanceSensor(float triggerDistance) : DistanceSensor() {
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this->triggerDistance = triggerDistance;
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}
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float DistanceSensor::GetDistance() {
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if (distance < minRange || distance > maxRange)
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return -1; // invalid distance
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return distance;
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};
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bool DistanceSensor::ObjectNearby() {
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if (distance < minRange || distance > maxRange)
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return false;
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bool isOn = distance <= triggerDistance;
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return isOn;
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}
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void DistanceSensor::ProcessBytes(unsigned char *bytes) {
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unsigned char ix = 0;
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this->distance = Messages::ReceiveFloat16(bytes, &ix);
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}
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