sonar.cpp

#include "sonar.h"
#include "error.h"
Sonar::Sonar(Sensor_port port, Connection* connection, Sonar_mode mode):I2c(port, connection, LOWSPEED_9V, SONAR_ADDRESS){
  this->sonar_mode = mode;
}

Sonar::~Sonar(){}

void Sonar::init(bool reply){
  I2c::init(reply);
  read();
  read();
  off();
  this->has_init=true;
}

Sensor_type Sonar::get_type(){
  if(sonar_mode == METRIC){
    return SONAR_METRIC;
  }
  else{
    return SONAR_INCH;
  }
}

void Sonar::write_register(int reg_adr, int value){
  unsigned char command[3];
  command[0]=SONAR_ADDRESS;
  command[1]=reg_adr;
  command[2]=value;
  i2c_write(&command[0],3,0x00);
  wait_for_bytes(0);
}

int Sonar::read_register(int reg_adr){
  unsigned char rx_buffer[I2C_BUFFER_SIZE];
  unsigned char command[2];
  command[0]=SONAR_ADDRESS;
  command[1]=reg_adr;
  i2c_write(&command[0], 2, 1);
  wait_for_bytes(1);
  i2c_read(&rx_buffer[0], 1);
  return 0xff & rx_buffer[1]; //returns signed value
}

void Sonar::set_mode(int mode){
  write_register(COMMAND,mode);
}

void Sonar::sonar_reset(){
  set_mode(REQUEST_WARM_RESET);
}

void Sonar::off(){
  set_mode(OFF);
}

int Sonar::read(){
  if(!this->has_init){
     init();
  }
  set_mode(SINGLE_SHOT);
  if(sonar_mode == METRIC){
    return read_register(RESULT_1);
  }
  else{
    return ( (read_register(RESULT_1))  * 3937)/1000;
  }
}

std::string Sonar::print(){
  std::stringstream out;
  if(sonar_mode == METRIC){
    out << read() << " CM";
  }
  else{
    out << read() << " inch(s)";
  }
  return out.str();
}

void Sonar::set(unsigned int value){
  if(value == INCH){
    sonar_mode = INCH;
  }
  if(value == METRIC){
    sonar_mode = METRIC;
  }
  return;
}