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+#ifndef communication_asservissement_data_h
+#define communication_asservissement_data_h
+// communication_asservissement_data.h
+// {{{
+//
+// Copyright (C) 2003 Nicolas Schodet et Pierre-André Galmes
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// }}}
+
+class CommunicationAsservissementData
+{
+ // Classe de connection entre CommunicationAsservissementData et un autre
+ // objet.
+ class Connector
+ {
+ public:
+ // Recoit des données d'asservissement.
+ virtual void recvData (int consign, int pwm, int measure) = 0;
+ // Recoit les minimas et les maxima.
+ virtual void recvMinMax (int consignMin, int pwmMin, int measureMin,
+ int consignMax, int pwmMax, int measureMax)
+ = 0;
+ };
+ Connector &connector_;
+ public:
+ // Destructeur.
+ ~CommunicationModule (void);
+ // Paramètre le connecteur.
+ void setConnector (Connector &c);
+ // Recoie un message.
+ void recv (const Message &m);
+ // Active (true) ou désactive (false) le module.
+ void activate (bool flag = true);
+};
+
+#endif // communication_asservissement_data_h