ultrasonic_sensor.h

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#pragma once

#include "esphome/core/component.h"
#include "esphome/core/gpio.h"
#include "esphome/components/sensor/sensor.h"

#include <cinttypes>

namespace esphome {
namespace ultrasonic {

class UltrasonicSensorComponent : public sensor::Sensor, public PollingComponent {
 public:
  void set_trigger_pin(GPIOPin *trigger_pin) { trigger_pin_ = trigger_pin; }
  void set_echo_pin(InternalGPIOPin *echo_pin) { echo_pin_ = echo_pin; }

  void set_timeout_us(uint32_t timeout_us);

  // ========== INTERNAL METHODS ==========
  // (In most use cases you won't need these)
  void setup() override;
  void dump_config() override;

  void update() override;

  float get_setup_priority() const override;

  void set_pulse_time_us(uint32_t pulse_time_us);

 protected:
  static float us_to_m(uint32_t us);

  GPIOPin *trigger_pin_;
  InternalGPIOPin *echo_pin_;
  ISRInternalGPIOPin echo_isr_;
  uint32_t timeout_us_{};  
  uint32_t pulse_time_us_{};
};

}  // namespace ultrasonic
}  // namespace esphome