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-rw-r--r--i/siroco/src/communication_asservissement_control.cc59
-rw-r--r--i/siroco/src/communication_asservissement_control.h12
-rw-r--r--i/siroco/src/communication_asservissement_data.h14
-rw-r--r--i/siroco/src/communication_hub.cc58
-rw-r--r--i/siroco/src/communication_module.cc64
-rw-r--r--i/siroco/src/communication_module.h25
-rw-r--r--i/siroco/src/message.h9
-rw-r--r--i/siroco/src/message_asservissement_control.h2
-rwxr-xr-xi/siroco/src/pg_test/Makefile14
-rw-r--r--i/siroco/src/pg_test/communication_asservissement_control_test.cc42
-rw-r--r--i/siroco/src/pg_test/communication_module_test.cc42
11 files changed, 325 insertions, 16 deletions
diff --git a/i/siroco/src/communication_asservissement_control.cc b/i/siroco/src/communication_asservissement_control.cc
new file mode 100644
index 0000000..9645cf4
--- /dev/null
+++ b/i/siroco/src/communication_asservissement_control.cc
@@ -0,0 +1,59 @@
+// communication_asservissement_control.cc
+// {{{
+//
+// Copyright (C) 2004 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.
+//
+// }}}
+#include "communication_asservissement_control.h"
+
+namespace Siroco
+{
+
+// Paramètre le connecteur.
+void
+CommunicationAsservissementControl::setConnector (Connector &c)
+{
+}
+
+// Recoie un message.
+void
+CommunicationAsservissementControl::recv (const Message &m)
+{
+}
+
+// Envoie des messages de changement de Coef.
+void
+CommunicationAsservissementControl::coefP (int val) const
+{
+
+}
+
+void
+CommunicationAsservissementControl::coefI (int val) const
+{
+}
+
+void
+CommunicationAsservissementControl::coefD (int val) const
+{
+}
+
+}; //namespace Siroco
diff --git a/i/siroco/src/communication_asservissement_control.h b/i/siroco/src/communication_asservissement_control.h
index 4c04879..e408cb8 100644
--- a/i/siroco/src/communication_asservissement_control.h
+++ b/i/siroco/src/communication_asservissement_control.h
@@ -24,16 +24,24 @@
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
+#include "communication_module.h"
-class CommunicationAsservissementControl
+namespace Siroco
{
+
+class CommunicationAsservissementControl : public CommunicationModule
+{
+
+ public:
class Connector
{
public:
// Envoie les informations de PID à l'objet.
virtual void recvPID (int p, int i, int d) = 0;
};
+ private:
Connector &connector_;
+
public:
// Paramètre le connecteur.
void setConnector (Connector &c);
@@ -45,4 +53,6 @@ class CommunicationAsservissementControl
void coefD (int val) const;
};
+}; //Siroco
+
#endif // communication_asservissement_control_h
diff --git a/i/siroco/src/communication_asservissement_data.h b/i/siroco/src/communication_asservissement_data.h
index 8c8eb31..6cd0fa0 100644
--- a/i/siroco/src/communication_asservissement_data.h
+++ b/i/siroco/src/communication_asservissement_data.h
@@ -25,8 +25,11 @@
//
// }}}
-class CommunicationAsservissementData
+class CommunicationAsservissementData : public CommunicationModule
{
+ private:
+ Connector &connector_;
+ public:
// Classe de connection entre CommunicationAsservissementData et un autre
// objet.
class Connector
@@ -39,16 +42,17 @@ class CommunicationAsservissementData
int consignMax, int pwmMax, int measureMax)
= 0;
};
- Connector &connector_;
- public:
- // Destructeur.
+
+ // Constructeur / Destructeur.
+ CommunicationModule (void);
~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);
+ //void activate (bool flag = true);
};
#endif // communication_asservissement_data_h
diff --git a/i/siroco/src/communication_hub.cc b/i/siroco/src/communication_hub.cc
new file mode 100644
index 0000000..5247d7f
--- /dev/null
+++ b/i/siroco/src/communication_hub.cc
@@ -0,0 +1,58 @@
+// communication_hub.cc
+// {{{
+//
+// Copyright (C) 2004 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.
+//
+// }}}
+#include "communication_hub.h"
+
+namespace Siroco
+{
+
+// Enregistre un module.
+void
+CommunicationHub::add (CommunicationModule &m)
+{
+ moduleList_.push_back (m);
+}
+
+// Unregister a module.
+void
+CommunicationHub::remove (CommunicationModule &m)
+{
+ moduleList_.pop_back (m);
+}
+
+// Envoie un message à tout le monde sauf à soit même.
+void
+CommunicationHub::send (CommunicationModule &sender, Message &m)
+{
+ CommunicationModule::iterator i;
+
+ for (i = moduleList_.begin(); i != moduleList.end(); i++)
+ {
+ // On envoie le message à tous les modules sauf à l'envoyeur !
+ if (&sender != i)
+ i.recv (m);
+ }
+}
+
+};
diff --git a/i/siroco/src/communication_module.cc b/i/siroco/src/communication_module.cc
new file mode 100644
index 0000000..e8c7e6f
--- /dev/null
+++ b/i/siroco/src/communication_module.cc
@@ -0,0 +1,64 @@
+// communication_module.cc
+// {{{
+//
+// Copyright (C) 2004 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.
+//
+// }}}
+#include "communication_module.h"
+
+namespace Siroco
+{
+
+// Constructeur.
+CommunicationModule::CommunicationModule (bool state)
+{
+ // module est désactivé par défaut.
+ state_ = state;
+}
+
+// Destructeur (virtuel).
+CommunicationModule::~CommunicationModule (void)
+{
+ // vide
+}
+
+// Recoie un message (virtuel).
+void
+CommunicationModule::recv (const Message &m)
+{
+ // vide
+}
+
+// Active (true) ou désactive (false) le module.
+void
+CommunicationModule::activate (bool flag)
+{
+ state_ = flag;
+}
+
+//
+bool
+CommunicationModule::is_active (void)
+{
+ return state_;
+}
+
+};
diff --git a/i/siroco/src/communication_module.h b/i/siroco/src/communication_module.h
index 865b882..d95bab6 100644
--- a/i/siroco/src/communication_module.h
+++ b/i/siroco/src/communication_module.h
@@ -26,15 +26,34 @@
// }}}
#include "message.h"
+namespace Siroco
+{
+
class CommunicationModule
{
+ private:
+ // Activé ou Désactivé.
+ bool state_;
public:
- // Destructeur.
- virtual ~CommunicationModule (void);
+ // Constructeur / Destructeur.
+ CommunicationModule (bool state = false);
+ ~CommunicationModule (void);
+
+ // ce qu'on avait dit qui me semble pas top;..
+ //virtual ~CommunicationModule (void);
+
// Recoie un message.
+ // virtual void recv (void);
+ //Message m);
+ // Initial
virtual void recv (const Message &m);
+
+
// Active (true) ou désactive (false) le module.
- virtual void activate (bool flag = true);
+ // virtual void activate (bool flag = true);
+ void activate (bool flag = true);
+ bool is_active (void);
};
+}; //namespace Siroco
#endif // communication_module_h
diff --git a/i/siroco/src/message.h b/i/siroco/src/message.h
index 302ef4d..3b955a5 100644
--- a/i/siroco/src/message.h
+++ b/i/siroco/src/message.h
@@ -42,7 +42,10 @@ class Message
};
private:
Type type_;
- public:
+ // Méthodes interdites.
+ Message (const Message &);
+ Message &operator= (const Message &);
+ public:
// Constructeur.
Message (Type type);
// Destructeur et Big 3.
@@ -52,10 +55,6 @@ class Message
// Récupère le message.
template<typename T>
const T &get (void) const;
- private:
- // Méthodes interdites.
- Message (const Message &);
- Message &operator= (const Message &);
};
// Récupère le message.
diff --git a/i/siroco/src/message_asservissement_control.h b/i/siroco/src/message_asservissement_control.h
index f460656..b6e0039 100644
--- a/i/siroco/src/message_asservissement_control.h
+++ b/i/siroco/src/message_asservissement_control.h
@@ -41,6 +41,6 @@ class MessageAsservissementControl : public Message
void get (char &type, int &val) const;
};
-};
+}; //Siroco
#endif // message_asservissement_control_h
diff --git a/i/siroco/src/pg_test/Makefile b/i/siroco/src/pg_test/Makefile
index 6d01b3c..88603c0 100755
--- a/i/siroco/src/pg_test/Makefile
+++ b/i/siroco/src/pg_test/Makefile
@@ -3,7 +3,8 @@ TARGET_A = message_test
OBJECTS_A = message_test.o ../message.o
TARGET_B = message_asservissement_info_test
-OBJECTS_B = message_asservissement_info_test.o ../message_asservissement_info.o ../message.o
+OBJECTS_B = message_asservissement_info_test.o \
+ ../message_asservissement_info.o ../message.o
TARGET_MAGI = message_asservissement_get_info_test
OBJECTS_MAGI = message_asservissement_get_info_test.o \
@@ -17,6 +18,10 @@ TARGET_MAC = message_asservissement_control_test
OBJECTS_MAC = message_asservissement_control_test.o \
../message_asservissement_control.o ../message.o
+TARGET_CM = communication_module_test
+OBJECTS_CM = communication_module_test.o ../communication_module.o \
+ ../message.o
+
# LIB = -lccgnu2 -ldl -pthread
CFLAGS = -O2 -Wall -g
@@ -48,6 +53,13 @@ mac: $(TARGET_MAC)
$(TARGET_MAC): $(OBJECTS_MAC)
$(CC) $(CFLAGS) -o $@ $^
+
+cm: $(TARGET_CM)
+
+$(TARGET_CM): $(OBJECTS_CM)
+ $(CC) $(CFLAGS) -o $@ $^
+
+
#$(LIB)
# $(TARGET_B): $(OBJECTS_B)
diff --git a/i/siroco/src/pg_test/communication_asservissement_control_test.cc b/i/siroco/src/pg_test/communication_asservissement_control_test.cc
new file mode 100644
index 0000000..03c5059
--- /dev/null
+++ b/i/siroco/src/pg_test/communication_asservissement_control_test.cc
@@ -0,0 +1,42 @@
+// communication_module_test.cc
+// {{{
+//
+// Copyright (C) 2004 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.
+//
+// }}}
+#include <iostream>
+#include "../communication_asservissement_control.h"
+
+
+using namespace std;
+using namespace Siroco;
+
+int
+main (void)
+{
+ Communication c;
+
+ cout << "active : " << c.is_active () << endl;
+
+ c.activate ();
+ cout << "active : " << c.is_active () << endl;
+
+}
diff --git a/i/siroco/src/pg_test/communication_module_test.cc b/i/siroco/src/pg_test/communication_module_test.cc
new file mode 100644
index 0000000..cde9279
--- /dev/null
+++ b/i/siroco/src/pg_test/communication_module_test.cc
@@ -0,0 +1,42 @@
+// communication_module_test.cc
+// {{{
+//
+// Copyright (C) 2004 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.
+//
+// }}}
+#include <iostream>
+#include "../communication_module.h"
+
+
+using namespace std;
+using namespace Siroco;
+
+int
+main (void)
+{
+ CommunicationModule c;
+
+ cout << "active : " << c.is_active () << endl;
+
+ c.activate ();
+ cout << "active : " << c.is_active () << endl;
+
+}