DirectionalOdometer.hpp

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#pragma once
 
#include "DirectionlessOdometer.hpp"
 
struct DirectionalOdometerPins
{
    DirectionalOdometerPins(uint8_t pulsePin, uint8_t forwardWhenLowPin)
        : pulse{ pulsePin }
        , direction{ forwardWhenLowPin }
    {
    }
 
    const uint8_t pulse;     // NOLINT: It's OK for these member variables to be non-private
    const uint8_t direction; // NOLINT
};
 
class DirectionalOdometer : public DirectionlessOdometer
{
public:
    DirectionalOdometer(Runtime& runtime,
                        uint8_t pulsePin,
                        uint8_t forwardWhenLowPin,
                        InterruptCallback callback,
                        unsigned long pulsesPerMeter);
 
    DirectionalOdometer(Runtime& runtime,
                        DirectionalOdometerPins pins,
                        InterruptCallback callback,
                        unsigned long pulsesPerMeter);
 
    /* Check `DirectionlessOdometer` for documentation */
    void reset() override;
 
    /* Check `DirectionlessOdometer` for documentation */
    void update() override;
 
    /* Check `Odometer` interface for documentation */
    long getDistance() override;
 
    /* Check `Odometer` interface for documentation */
    float getSpeed() override;
 
    /* Check `Odometer` interface for documentation */
    bool providesDirection() const override;
 
    int8_t getDirection() const;
 
private:
    const uint8_t mDirectionPin;
    Runtime& mRuntime;
    const int kPinStateWhenForward;
    volatile unsigned long mNegativePulsesCounter{ 0 };
    volatile int mDirectionPinState;
};