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// es.cc
// robert - programme du robot 2005 {{{
//
// Copyright (C) 2005 Nicolas Haller
//
// Robot APB Team/Efrei 2005.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// 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.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}

#include "es/es.hh"
#include "config/config.hh"

/// Constructeur
Es::Es (const Config & config)
    :proto_(*this)
{
    // R�cup�ration des valeurs de configuration dans le fichier
    loadConfig(config);
    proto_.open(tty_);
    init();
}

void Es::init(void)
{
    // XXX Bon ca serait cool que l'AVR renvoie toute ses info au reset
    // On reset l'AVR
    proto_.send('z'); // XXX z = reset AVR
    // XXX on r�cup les donn�es de couleur_ et de jackOut(mais comment??)
    proto_.sync();
    angle1_ = 0;
    dist1_ = 0;
    angle2_ = 0;
    dist2_ = 0;
    angle3_ = 0;
    dist3_ = 0;
    ascIdle_ = true;
    ascFailure_ = false;
    proto_.send('P',"bbbbbb", ascMinHaut_, ascMaxHaut_, ascAccHaut_,
	    		      ascMinBas_,  ascMaxBas_,  ascAccBas_);
    ascCurrentPos_ = false;
}

bool Es::getAscCurPos(void)
{
    return ascCurrentPos_;
}

bool Es::getAscState(void)
{
    return ascFailure_;
}

bool Es::ascIsIdle(void)
{
    return ascIdle_;
}

void Es::monterAsc(void)
{
    proto_.send('m');
    ascIdle_ = false;
}

void Es::descendreAsc(void)
{
    proto_.send('d');
    ascIdle_ = false;
}

void Es::ventouses(void)
{
    proto_.send('v',"b",pVentouses_);
}

void Es::wait(int timeout)
{
    proto_.wait(timeout);
}

void Es::loadConfig(const Config & config)
{
    tty_ = config.get<std::string>("es.tty");
    ascMinHaut_ = config.get<int>("es.ascMinHaut");
    ascMaxHaut_ = config.get<int>("es.ascMaxHaut");
    ascAccHaut_ = config.get<int>("es.ascAccHaut");
    ascMinBas_ = config.get<int>("es.ascMinBas");
    ascMaxBas_ = config.get<int>("es.ascMaxBas");
    ascAccBas_ = config.get<int>("es.ascAccBas");

    pVentouses_ = config.get<int>("es.pVentouses");
}

void Es::receive(char command, const Proto::Frame & frame)
{
    switch(command)
    {
	case 'T': //L'ascenceur est en haut
	    proto_.send('F', "b", 0); //XXX on met l'arg??
	    ascCurrentPos_ = true;
	    ascIdle_ = true;
	    break;
	case 'I': // XXX L'ascenceur est en bas (ca serait cool si c'�tait implent�)
	    proto_.send('F', "b", 0); // XXX idem
	    ascCurrentPos_ = false;
	    ascIdle_ = true;
	    break;
	case 'E': // XXX Probl�me d'ascenseur
	    proto_.send('F', "b", 0); // XXX idem
	    ascCurrentPos_ = false;
	    ascIdle_ = true;
	    ascFailure_ = true; // XXX Mais alors pour le repasser � false...
	    break;
	case 't': // Cachalot de Romain(Tourelle)
	    // XXX A CODER
	    break;
	    
    }
}