DirectionlessOdometer.hpp

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#pragma once
 
#include <stdint.h> // NOLINT(modernize-deprecated-headers)
 
#include "../../../runtime/Runtime.hpp"
#include "../Odometer.hpp"
 
class DirectionlessOdometer : public Odometer
{
public:
    DirectionlessOdometer(Runtime& runtime,
                          uint8_t pulsePin,
                          InterruptCallback callback,
                          unsigned long pulsesPerMeter);
 
    ~DirectionlessOdometer() override = default;
 
    /* Check `Odometer` interface for documentation */
    long getDistance() override;
 
    /* Check `Odometer` interface for documentation */
    float getSpeed() override;
 
    /* Check `Odometer` interface for documentation */
    bool isAttached() const override;
 
    /* Check `Odometer` interface for documentation */
    bool providesDirection() const override;
 
    virtual void reset();
 
    virtual void update();
 
protected:
    const float
        mPulsesPerMeterRatio; // NOLINT: Refactor this so protected variables are not necessary
    volatile unsigned long mPulsesCounter{ 0 }; // NOLINT
    volatile unsigned long mPreviousPulse{ 0 }; // NOLINT
    volatile unsigned long mDt{ 0 };            // NOLINT
 
private:
    const float mMillimetersPerPulse;
    Runtime& mRuntime;
    const bool kSensorAttached;
};