mrm-ir-finder3.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define ID_IR_FINDER3_0_IN 0x0330
#define ID_IR_FINDER3_0_OUT 0x0331
#define ID_IR_FINDER3_1_IN 0x0332
#define ID_IR_FINDER3_1_OUT 0x0333
#define ID_IR_FINDER3_2_IN 0x0334
#define ID_IR_FINDER3_2_OUT 0x0335
#define ID_IR_FINDER3_3_IN 0x0336
#define ID_IR_FINDER3_3_OUT 0x0337
#define ID_IR_FINDER3_4_IN 0x0338
#define ID_IR_FINDER3_4_OUT 0x0339
#define ID_IR_FINDER3_5_IN 0x033A
#define ID_IR_FINDER3_5_OUT 0x033B
#define ID_IR_FINDER3_6_IN 0x033C
#define ID_IR_FINDER3_6_OUT 0x033D
#define ID_IR_FINDER3_7_IN 0x033E
#define ID_IR_FINDER3_7_OUT 0x033F
 
#define MRM_IR_FINDER3_SENSOR_COUNT 18 // Number of IR receivers in each device.
 
//CANBus commands
#define COMMAND_IR_FINDER3_SENDING_SENSORS_1_TO_7 0x04
#define COMMAND_IR_FINDER3_SENDING_SENSORS_8_TO_12 0x05
#define COMMAND_IR_FINDER3_SENDING_ANGLE_AND_DISTANCE 0x09
 
#define MRM_IR_FINDER3_INACTIVITY_ALLOWED_MS 10000
 
class Mrm_ir_finder3 : public SensorBoard
{
    std::vector<uint16_t[MRM_IR_FINDER3_SENSOR_COUNT]>* readings; // Cumulative readings of all sensors
    std::vector<int16_t>* _angle;
    std::vector<bool>* _calculated; // If not, then for every sensor.
    std::vector<uint16_t>* _distance;
    bool near;
 
    bool calculatedStarted(uint8_t deviceNumber);
 
    bool singleStarted(uint8_t deviceNumber);
    
public:
    
    Mrm_ir_finder3(Robot* robot = 0, uint8_t maxNumberOfBoards = 1);
 
    ~Mrm_ir_finder3();
 
    void add(char * deviceName = (char*)"");
 
    int16_t angle(uint8_t deviceNumber = 0);
 
    uint16_t distance(uint8_t deviceNumber = 0);
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
    
    uint16_t reading(uint8_t receiverNumberInSensor, uint8_t deviceNumber = 0);
 
    void readingsPrint();
 
    void test();
 
    void testCalculated();
};