/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2014-2016 Intel Corporation.
 *
 * 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 <linefinder.h>
#include <interfaces/iLineFinder.hpp>

namespace upm {
    /**
     * @brief Line Finder Sensor
     * @defgroup linefinder libupm-linefinder
     * @ingroup seeed dfrobot gpio color robok
     */

    /**
     * @library linefinder
     * @sensor linefinder
     * @comname Infrared (IR) Based Line Finder
     * @altname Grove Line Finder, DFRobot Line Tracking sensor
     * @type color
     * @man seeed dfrobot
     * @con gpio
     * @kit robok
     *
     * @brief API for the  Line Finder Sensor
     *
     * UPM module for the Line Finder sensor. It outputs a
     * digital signal indicating whether it is detecting black on a
     * white background, or white on a black background.
     *
     * @image html linefinder.jpg
     * @snippet linefinder.cxx Interesting
     */
    class LineFinder : virtual public iLineFinder {
    public:
        /**
         *  Line Finder digital sensor constructor
         *
         * @param pin Digital pin to use
         */
        LineFinder(int pin);

        /**
         * LineFinder destructor
         */
        ~LineFinder();

        /**
         * Determines whether white has been detected
         *
         * @return True if white is detected
         */
        virtual bool whiteDetected();

        /**
         * Determines whether black has been detected
         *
         * @return True if black is detected
         */
        virtual bool blackDetected();

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

        linefinder_context m_linefinder;
    };
}