/home/travis/build/lis-epfl/MAVRIC_Library/drivers/sonar.hpp

/*******************************************************************************
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/*******************************************************************************
 * \file sonar.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Abstract class for sonars
 *
 ******************************************************************************/


#ifndef SONAR_HPP_
#define SONAR_HPP_


#include <cstdint>
#include <cstdbool>
#include <array>

extern "C"
{
#include "util/quaternions.h"
}


class Sonar
{
public:
    virtual bool init(void) = 0;


    virtual bool update(void) = 0;


    virtual const float& last_update_us(void) const = 0;


    virtual const std::array<float, 3>& orientation_bf(void) const = 0;


    virtual const float& distance(void) const = 0;


    virtual const float& velocity(void) const = 0;


    virtual const bool& healthy(void) const = 0;
};

static inline bool task_sonar_update(Sonar* sonar)
{
    return sonar->update();
};

#endif /* SONAR_HPP_ */