first re-commit.

pigsonar.h

@@ -0,0 +1,64 @@
+/*****************************************************************************
+
+    source::worx libPiGPio
+    Copyright © 2022 c.holzheuer
+    chris@sourceworx.org
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    Uses:
+
+    pigpiod_if2 by joan2937, pigpio @ abyz.me.uk
+    https://abyz.me.uk/rpi/pigpio
+
+    sigslot  by 2017 Pierre-Antoine Lacaze
+    https://github.com/palacaze/sigslot
+
+***************************************************************************/
+
+
+#ifndef PIGSONAR_H
+#define PIGSONAR_H
+
+#include <pignode.h>
+#include <pigvalue.h>
+#include <pigpin.h>
+#include <pigchrono.h>
+#include <pigvalue.h>
+
+
+class LIBPIGPIO_EXPORT pigSonar : public pigNode, public pigValue<double>
+{
+
+
+public:
+
+    pigSonar();
+    pigSonar( pigpio::bcm_t trigger, pigpio::bcm_t echo );
+    virtual ~pigSonar();
+
+    void init( pigpio::bcm_t trigger, pigpio::bcm_t echo );
+
+    void stop();
+    void start( double thresh = 50000 );
+
+    double distance( int timeout=10 );
+
+protected:
+
+    pigPinOut _pinTrig;
+    pigPinIn  _pinEcho;
+
+    pigChrono _timer;
+    double    _dist;
+    uint32_t  _now, _lst;
+    bool      _active = false;
+
+};
+
+
+
+#endif // PIGSONAR_H