ultrasonic_sensor.h

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#ifndef ULTRASONIC_SENSOR_H
#define ULTRASONIC_SENSOR_H
 
#include "bitrl/bitrl_types.h"
#include "bitrl/sensors/sensor_base.h"
#include "bitrl/sensors/backends/range_sensor_backend_base.h"
 
#include <memory>
#include <vector>
 
namespace bitrl
{
namespace sensors
{
class UltrasonicSensor final: public SensorBase
{
public:
 
    static const  std::string SENSOR_TYPE;
 
    explicit UltrasonicSensor(std::shared_ptr<bitrl::sensors::backends::RangeSensorBackendBase> backend,
        const std::string name = bitrl::consts::INVALID_STR);
 
    virtual void init();
 
    virtual const std::vector<real_t>& read_values();
 
    virtual std::string backend_type_str()const;
 
    virtual std::string sensor_units()const;
 
private:
    std::shared_ptr<bitrl::sensors::backends::RangeSensorBackendBase> backend_;
 
};
 
inline UltrasonicSensor::UltrasonicSensor(std::shared_ptr<bitrl::sensors::backends::RangeSensorBackendBase> backend,
                                         const std::string name)
    :
SensorBase(UltrasonicSensor::SENSOR_TYPE, name),
backend_(backend)
{}
 
inline
std::string UltrasonicSensor::backend_type_str()const{return backend_ -> backend_type_str();}
 
inline
std::string UltrasonicSensor::sensor_units()const{return backend_ -> sensor_units();}
 
 
}
}
 
#endif //ULTRASONIC_SENSOR_H