// es.cc // robert - programme du robot 2005 {{{ // // Copyright (C) 2005 Nicolas Haller // // Robot APB Team/Efrei 2005. // 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 "es/es.hh" /// Constructeur Es::Es (const Config & config) :proto_(*this), vitesseAsc(/*XXX*/), couleur(/*comment on la récup?*/), jackOut(/*idem*/) { init(); } void Es::init(void) { // XXX Bon ca serait cool que l'AVR renvoie toute ses info au reset // On reset l'AVR proto_.send('z'); // XXX z = reset AVR // on récup les données de couleur_ et de jackOut(mais comment??) proto_.sync(); } bool Es::stateJack(void) { return jackOut_; } bool Es::capteursContact(void) { return stateCapteurs_; } levelAsc Es::stateAsc(void) // XXX Au secours!! { return stateAsc_; } void Es::moveAsc(levelAsc niveau) { if(niveau == HAUT) proto_.send('a',"b",2); else if(niveau == MILIEU) proto_.send('a',"b",1); else proto_.send('a',"b",0); ascIdle_ == false; } void Es::ventouses(void) { proto_.send('v'); } void receive(char command, const Proto::Frame & frame) { switch(command) { case 'J': //position jack if(frame.args[0]) jackOut_ = true; else jackOut = false; break; case 'C': //couleur selectionné if(frame.args[0]) couleur_ = true; else couleur_ = false; break; case 'F': //J'ai fini (on suppose qu'il n'y a que l'asc) proto.send('F'); // XXX On met un argument?? ascIdle_ = true; } }