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authorNicolas Schodet2013-04-03 22:13:23 +0200
committerNicolas Schodet2013-04-03 22:55:09 +0200
commit1b0e39a3eeab73de59e5b6fe982bff67021afc78 (patch)
treefc1f9158e7db7ae2a13e4d057f3fc5c279942653 /digital/io-hub/src/common-cc
parent94ad65245035203845f264f89a05d564b680869d (diff)
digital/io-hub/src/apbirthday: add communication with beacon board
Diffstat (limited to 'digital/io-hub/src/common-cc')
-rw-r--r--digital/io-hub/src/common-cc/beacon.cc64
-rw-r--r--digital/io-hub/src/common-cc/beacon.hh64
2 files changed, 128 insertions, 0 deletions
diff --git a/digital/io-hub/src/common-cc/beacon.cc b/digital/io-hub/src/common-cc/beacon.cc
new file mode 100644
index 00000000..4a1b0f02
--- /dev/null
+++ b/digital/io-hub/src/common-cc/beacon.cc
@@ -0,0 +1,64 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT 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.
+//
+// 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 "beacon.hh"
+
+#include "ucoolib/utils/bytes.hh"
+
+Beacon::Beacon (I2cQueue &queue)
+ : I2cQueue::Slave (queue, 0x0a, 5 * pos_nb), on_ (false), robots_nb_ (0)
+{
+ for (int i = 0; i < pos_nb; i++)
+ trust_[i] = 0;
+}
+
+void
+Beacon::recv_status (const uint8_t *status)
+{
+ int index = 0;
+ for (int i = 0; i < pos_nb; i++)
+ {
+ pos_[i].x = ucoo::bytes_pack (status[index], status[index + 1]);
+ index += 2;
+ pos_[i].y = ucoo::bytes_pack (status[index], status[index + 1]);
+ index += 2;
+ trust_[i] = status[index];
+ index++;
+ }
+}
+
+void
+Beacon::send_position (const vect_t &pos)
+{
+ uint8_t buf[] = {
+ on_,
+ team_color,
+ (uint8_t) robots_nb_,
+ ucoo::bytes_unpack (pos.x, 1),
+ ucoo::bytes_unpack (pos.x, 0),
+ ucoo::bytes_unpack (pos.y, 1),
+ ucoo::bytes_unpack (pos.y, 0),
+ };
+ send (buf, sizeof (buf));
+}
+
diff --git a/digital/io-hub/src/common-cc/beacon.hh b/digital/io-hub/src/common-cc/beacon.hh
new file mode 100644
index 00000000..c84e9c8c
--- /dev/null
+++ b/digital/io-hub/src/common-cc/beacon.hh
@@ -0,0 +1,64 @@
+#ifndef beacon_hh
+#define beacon_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT 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.
+//
+// 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 "i2c_queue.hh"
+#include "defs.hh"
+
+/// Interface to beacon board.
+class Beacon : public I2cQueue::Slave
+{
+ public:
+ /// Number of reported positions.
+ static const int pos_nb = 2;
+ public:
+ /// Constructor.
+ Beacon (I2cQueue &queue);
+ /// See I2cQueue::Slave::recv_status.
+ void recv_status (const uint8_t *status);
+ /// Turn on (true) or off (false).
+ void on (bool state = true) { on_ = state; }
+ /// Give number of opponents robots.
+ void set_robots_nb (int robots_nb) { robots_nb_ = robots_nb; }
+ /// Send my position along with other informations.
+ void send_position (const vect_t &pos);
+ /// Get a detected position, return trust (0 for invalid, 100 for full
+ /// trust).
+ int get_position (int index, vect_t &pos)
+ {
+ pos = pos_[index];
+ return trust_[index];
+ }
+ private:
+ /// To send: beacon system powered.
+ bool on_;
+ /// To send: number of opponents.
+ int robots_nb_;
+ /// Received obstacles position.
+ vect_t pos_[pos_nb];
+ /// Received trust.
+ int trust_[pos_nb];
+};
+
+#endif // beacon_hh