Sensor.H

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// The contents of this file are subject to the Mozilla Public License
// Version 1.0 (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.mozilla.org/MPL/
// 
// Software distributed under the License is distributed on an "AS IS"
// basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See
// the License for the specific language governing rights and
// limitations under the License.
//
// This software was developed as part of the legOS project.
//
// Contributor: Pat Welch (legOS@mousebrains.com)

#ifndef _Sensor_H_
#define _Sensor_H_

#include <config.h>

#if defined(CONF_DSENSOR)

#include <dsensor.h>
#include <conio.h>

class Sensor {
public:
  enum Port {
    S1 = 0,     
    S2,         
    S3,         
    Battery     
  };

  Sensor(const Port port, bool makeActive = false)
    : sensor((port == S1) ? SENSOR_1 : 
             (port == S2) ? SENSOR_2 :
             (port == S3) ? SENSOR_3 :
             BATTERY) 
  {
    if (makeActive) active();    // Don't use mode here, since this saves memory
    else            passive();
  }

  ~Sensor() {off();}

  unsigned int get() const {return sensor;}

  void mode(bool makeActive) const {
    if (makeActive) active();
    else            passive();
  }

  void passive() const {ds_passive(&sensor);}

  void active() const {ds_active(&sensor);}

  void on () const {active();}

  void off() const {passive();}

  void strobe() const {off(); on();}

  void strobe(const int ms) const {off(); delay(ms); on();}

  unsigned int sample(unsigned int size = 10, int wait = 2) const {
    if (size == 0) size = 1;
    unsigned int sum(get());
    for (unsigned int i = 1; i < size; ++i) {
      sum += get();
      delay(wait);
    }
    return sum / size;
  }

protected:
  volatile unsigned int& sensor;
};

#else // CONF_DSENSOR
#warning Enable CONF_DSENSOR to use Sensor.H
#endif // CONF_DSENSOR
#endif // _Sensor_H_

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