From 19a5b01c7de84ffa8647715379309b676063c70b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 14 Mar 2013 00:14:21 +0100 Subject: digital/io-hub/src/apbirthday: add robot superclass --- digital/io-hub/src/apbirthday/robot.hh | 53 ++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 digital/io-hub/src/apbirthday/robot.hh (limited to 'digital/io-hub/src/apbirthday/robot.hh') diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh new file mode 100644 index 00000000..d65b2a3a --- /dev/null +++ b/digital/io-hub/src/apbirthday/robot.hh @@ -0,0 +1,53 @@ +#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 -- cgit v1.2.3