From cafe0c5e56e45fbe106635da8551b872ed019f1c Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacobmperron@gmail.com>
Date: Mon, 26 Aug 2019 20:46:49 -0700
Subject: [PATCH] Add API for getting left and right cliff detections

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
---
 include/create/create.h | 20 ++++++++++++++++++++
 src/create.cpp          | 40 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 60 insertions(+)

diff --git a/include/create/create.h b/include/create/create.h
index 40196c4..4e03b61 100644
--- a/include/create/create.h
+++ b/include/create/create.h
@@ -366,6 +366,26 @@ namespace create {
        */
       bool isCliff() const;
 
+      /**
+       * \return true if the left sensor detects a cliff, false otherwise.
+       */
+      bool isCliffLeft() const;
+
+      /**
+       * \return true if the front left sensor detects a cliff, false otherwise.
+       */
+      bool isCliffFrontLeft() const;
+
+      /**
+       * \return true if the right sensor detects a cliff, false otherwise.
+       */
+      bool isCliffRight() const;
+
+      /**
+       * \return true if the front right sensor detects a cliff, false otherwise.
+       */
+      bool isCliffFrontRight() const;
+
       /**
        * \return true if there is a virtual wall signal is being received.
        */
diff --git a/src/create.cpp b/src/create.cpp
index 8279e2a..e71a556 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -663,6 +663,46 @@ namespace create {
     }
   }
 
+  bool Create::isCliffLeft() const {
+    if (data->isValidPacketID(ID_CLIFF_LEFT)) {
+      return GET_DATA(ID_CLIFF_LEFT) == 1;
+    }
+    else {
+      CERR("[create::Create] ", "Left cliff sensors not supported!");
+      return false;
+    }
+  }
+
+  bool Create::isCliffFrontLeft() const {
+    if (data->isValidPacketID(ID_CLIFF_FRONT_LEFT)) {
+      return GET_DATA(ID_CLIFF_FRONT_LEFT) == 1;
+    }
+    else {
+      CERR("[create::Create] ", "Front left cliff sensors not supported!");
+      return false;
+    }
+  }
+
+  bool Create::isCliffRight() const {
+    if (data->isValidPacketID(ID_CLIFF_RIGHT)) {
+      return GET_DATA(ID_CLIFF_RIGHT) == 1;
+    }
+    else {
+      CERR("[create::Create] ", "Rightt cliff sensors not supported!");
+      return false;
+    }
+  }
+
+  bool Create::isCliffFrontRight() const {
+    if (data->isValidPacketID(ID_CLIFF_FRONT_RIGHT)) {
+      return GET_DATA(ID_CLIFF_FRONT_RIGHT) == 1;
+    }
+    else {
+      CERR("[create::Create] ", "Front right cliff sensors not supported!");
+      return false;
+    }
+  }
+
   bool Create::isVirtualWall() const {
     if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
       return GET_DATA(ID_VIRTUAL_WALL);