#ifndef NV7_RANGEFINDER_H
#define NV7_RANGEFINDER_H

#include <Arduino.h>
#ifdef NV7_SERIAL0_MODE
  #define NV7RANGEFINDER_USE_SERIAL0
  #define NV7RANGEFINDER_DISABLE_LOGS
#else
  #include <SoftwareSerial.h>
#endif

#define RANGEFINDER_NV7_MAX_DISTANCE (60000)

class NV7Rangefinder {
public:

    static void TaskNV7Rangefinder(void* pvParameters);

    struct Measurement {
        int16_t elevation;
        float distance;
        int16_t sineHeight, horizDistance, twoPointHeight, azimuth;
        int16_t horizAngle, span, speed;
        uint8_t unit;
        int16_t secondElevation;
        bool isValid;
    };

    NV7Rangefinder();

    void singleMeasure(Stream& port);
    void startContinuousMeasure(Stream& port);
    void stopContinuousMeasure(Stream& port);
    Measurement getLastMeasurement();

private:

    unsigned long baudrate;
    TaskHandle_t taskHandle;
    Measurement lastMeasurement;
};

#endif // NV7_RANGEFINDER_H