rangeSensor.h

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/* Copyright 2014 - 2015 CyberTech Labs Ltd.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License. */

#pragma once

#include <QtCore/QThread>

#include "sensorInterface.h"
#include "deviceState.h"

namespace trikKernel {
class TimeVal;
}

namespace trikHal {
class HardwareAbstractionInterface;
}

namespace trikKernel {
class Configurer;
}

namespace trikControl {

class RangeSensorWorker;
class ModuleLoader;

class RangeSensor : public SensorInterface
{
    Q_OBJECT

public:
    RangeSensor(const QString &port, const trikKernel::Configurer &configurer, ModuleLoader &moduleLoader
            , const trikHal::HardwareAbstractionInterface &hardwareAbstraction);

    ~RangeSensor() override;

    Status status() const override;

    int minValue() const override;

    int maxValue() const override;

signals:
    void newData(int distance, int rawDistance, const trikKernel::TimeVal &eventTime);

public slots:
    void init();

    int read() override;

    int readRawData() override;

    void stop();

private:
    DeviceState mState;

    QScopedPointer<RangeSensorWorker> mSensorWorker;

    QThread mWorkerThread;

    int mMinValue = 0;

    int mMaxValue = 0;
};

}