ev3robot/ev3/sensors/
ultrasonic_sensor.rs

1use std::str::FromStr;
2
3use crate::device::{ReadOnlyAttributeFile, ReadWriteAttributeFile};
4
5#[derive(Debug, Device, FindableDevice)]
6#[findable_device(class = "lego-sensor", driver = "lego-ev3-us")]
7pub struct UltrasonicSensor {
8    mode: ReadWriteAttributeFile,
9    #[device(attr_name = "value0")]
10    value: ReadOnlyAttributeFile,
11}
12
13impl UltrasonicSensor {
14    pub fn measure_cm(&mut self) -> anyhow::Result<CmMeter> {
15        self.mode.set_value("US-DIST-CM")?;
16        Ok(CmMeter { ultrasonic_sensor: self })
17    }
18
19    pub fn measure_inches(&mut self) -> anyhow::Result<InchMeter> {
20        self.mode.set_value("US-DIST-IN")?;
21        Ok(InchMeter { ultrasonic_sensor: self })
22    }
23
24    pub fn listen(&mut self) -> anyhow::Result<UltrasoundListener> {
25        self.mode.set_value("US-LISTEN")?;
26        Ok(UltrasoundListener { ultrasonic_sensor: self })
27    }
28
29    fn value<T: FromStr>(&mut self) -> anyhow::Result<T>
30    where
31        T::Err: Into<Box<dyn std::error::Error + Send + Sync>>,
32    {
33        self.value.value().map_err(Into::into)
34    }
35}
36
37macro_rules! ultrasonic_sensor_mode {
38    ($name:ident) => {
39        #[derive(Debug)]
40        pub struct $name<'a> {
41            ultrasonic_sensor: &'a mut UltrasonicSensor,
42        }
43    };
44}
45
46ultrasonic_sensor_mode!(CmMeter);
47ultrasonic_sensor_mode!(InchMeter);
48ultrasonic_sensor_mode!(UltrasoundListener);
49
50impl CmMeter<'_> {
51    pub fn cm(&mut self) -> anyhow::Result<f32> {
52        self.ultrasonic_sensor.value().map(div_by_10)
53    }
54}
55
56impl InchMeter<'_> {
57    pub fn inches(&mut self) -> anyhow::Result<f32> {
58        self.ultrasonic_sensor.value().map(div_by_10)
59    }
60}
61
62fn div_by_10(n: u32) -> f32 {
63    n as f32 / 10_f32
64}
65
66impl UltrasoundListener<'_> {
67    pub fn is_ultrasound_present(&mut self) -> anyhow::Result<bool> {
68        self.ultrasonic_sensor.value().map(|present: char| present == '1')
69    }
70}
ev3robot/ev3/sensors/ultrasonic_sensor.rs

ev3robot/ev3/sensors/
ultrasonic_sensor.rs
