urm37.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2015-2016 Intel Corporation.
 *
 * Thanks to Adafruit for supplying a google translated version of the
 * Chinese datasheet and some clues in their code.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#pragma once

#include <string>
#include <iostream>

#include <stdlib.h>
#include <unistd.h>
#include <string.h>

#include "urm37.h"

namespace upm {
  class URM37 {
  public:

    URM37(int aPin, int resetPin, int triggerPin, float aref=5.0);

    URM37(int uart, int resetPin);

    ~URM37();

    void reset();

    float getDistance(int degrees=0);

    float getTemperature();

    uint8_t readEEPROM(uint8_t addr);

    void writeEEPROM(uint8_t addr, uint8_t value);

  protected:
    // urm37 device context
    urm37_context m_urm37;

  private:
    /* Disable implicit copy and assignment operators */
    URM37(const URM37&) = delete;
    URM37 &operator=(const URM37&) = delete;
  };
}