summaryrefslogtreecommitdiffhomepage
path: root/digital/io-hub/src/common-cc/beacon.hh
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io-hub/src/common-cc/beacon.hh')
-rw-r--r--digital/io-hub/src/common-cc/beacon.hh64
1 files changed, 64 insertions, 0 deletions
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