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diff --git a/digital/io-hub/src/common-cc/beacon.cc b/digital/io-hub/src/common-cc/beacon.cc
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+// 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));
+}
+