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+#ifndef robot_hh
+#define robot_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 "hardware.hh"
+
+#include "ucoolib/base/proto/proto.hh"
+
+/// Main robot superclass.
+class Robot : public ucoo::Proto::Handler
+{
+ public:
+ /// Initialise robot singleton.
+ Robot ();
+ /// Main program loop.
+ void main_loop ();
+ /// Generate events for the FSM.
+ void fsm_gen_event ();
+ /// Receive proto messages.
+ void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size);
+ public:
+ /// Public access to hardware class.
+ Hardware hardware;
+ private:
+ /// Proto associated to each serial interface.
+ ucoo::Proto dev_proto, zb_proto, usb_proto;
+};
+
+/// Global instance pointer.
+extern Robot *robot;
+
+#endif // robot_hh