HC_SR04.cpp

#include "HC_SR04.h"
#include "EZB.h"

HC_SR04Class::HC_SR04Class(EZB* ezb){
  m_ezb = ezb;
  MinPoolTimeMS = 200;
}

int HC_SR04Class::GetValue(DigitalClass::DigitalPortEnum triggerPort, DigitalClass::DigitalPortEnum echoPort){

  struct timespec now;
  clock_gettime(1, &now);
  if(!(MinPoolTimeMS > 0 && m_last_request[triggerPort].tv_nsec + (MinPoolTimeMS*1000000) > now.tv_nsec)){
    unsigned char args[1];
    args[0] = echoPort;
    unsigned char* retval = m_ezb->SendCommand(EZB::HC_SR04 + triggerPort, args, 1, 1);
    m_last_value[triggerPort] = retval[0];
    delete [] retval;
    clock_gettime(1, &m_last_request[triggerPort]);
  }
  return m_last_value[triggerPort];
}