Srf08.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef SRF08_H
#define SRF08_H

#include <Thread.h>
#include <UsRangeFinder.h>

namespace flair {
namespace core {
class I2cPort;
}
namespace gui {
class SpinBox;
}
}

namespace flair {
namespace sensor {
class Srf08 : public core::Thread, public UsRangeFinder {

public:
  Srf08(std::string name,
        core::I2cPort *i2cport, uint16_t address, uint8_t priority);

  ~Srf08();

  void SetRange(void);

  void SetMaxGain(void);

private:
  void UpdateFrom(const core::io_data *data){};

  void Run(void);

  void SendEcho(void);
  void GetEcho(void);

  bool is_init;
  core::Time echo_time;
  float z_1, z_2;
  gui::SpinBox *gain, *range;
  uint16_t address;
  core::I2cPort *i2cport;
};
} // end namespace sensor
} // end namespace flair
#endif // SRF08_H