namespace Passer.RoboidControl {

    /// <summary>
    /// A sensor measuring the distance in the forward direction
    /// </summary>
    public class DistanceSensor : Thing {
        /// <summary>
        /// The current measured distance
        /// </summary>
        public float distance = 0;

        /// <summary>
        /// Constructor for a new distance sensor
        /// </summary>
        /// <param name="participant">The participant for which the sensor is needed</param>
        public DistanceSensor(RemoteParticipant participant) : base(participant, true) { }
        /// <summary>
        /// Create a distance sensor with the given ID
        /// </summary>
        /// <param name="participant">The participant for with the sensor is needed</param>
        /// <param name="networkId">The network ID of the sensor</param>
        /// <param name="thingId">The ID of the thing</param>
        public DistanceSensor(RemoteParticipant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) {
        }

#if UNITY_5_3_OR_NEWER
        /// @copydoc Passer::RoboidControl::Thing::CreateComponent              
        public override void CreateComponent() {
            this.component = Unity.DistanceSensor.Create(this);
            this.component.core = this;
        }
#endif        
        /// <summary>
        /// Function to extract the distance received in the binary message
        /// </summary>
        /// <param name="bytes">The byte array</param>
        public override void ProcessBinary(byte[] bytes) {
            byte ix = 0;
            this.distance = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
        }

    }

}