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#ifndef ai_h
#define ai_h
// ai.h
// nono - programme du robot 2004. {{{
//
// Copyright (C) 2004 Nicolas Schodet
//
// 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 "motor/motor.h"
#include "io/analog_servo_pp.h"
#include "io/gpio_asserv.h"
#include "io/gpio_concat.h"
#include "io/gpio_servo_pp.h"
#include "io/gpio_param.h"
#include "video4linux/video4linux.h"

/// Intelligence (heu...) artificielle.
class Ai
{
    class FinDeMatch
      {
      };
    Motor motor_;
    GpioServoPp gspp_;
    AnalogServoPp ana_;
    GpioAsserv ga_;
    GpioConcat gc_;
    GpioParam gp_;
    Video4Linux v4l_;
    static const int roundDuration_ = 90000;
    static const int captureInterval_ = 500;
    int lastCapture_;
    double front_, bigFront_, width_, rear_;
    int gpioJack_;
    int gpioRoul_;
    int gpioRoulS_;
    int gpioContactL_;
    int gpioContactR_;
    int anaSharpL_;
    int anaSharpR_;
    bool roulOn_, roulRev_;
  public:
    /// Constructeur.
    Ai (void);
    /// Initialise le robot.
    void init (void);
    /// Arr�te le robot.
    void stop (void);
    /// Lance le robot.
    void run (void);
    /// Mises � jour p�riodiques.
    void update (void);
    /// Mises � jour jusqu'� fin du mouvement en cours.
    void updateToEnd (void);
    /// Mises � jour jusqu'� timeout.
    void updateWait (int t);
  protected:
    /// L�ve (true) ou baisse (false) la benne.
    void benneUp (bool f);
    /// Fait tourner le rouleau.
    void rouleau (bool on, bool rev);
    /// Attend.
    void wait (int t);
    /// Attend le jack entr� (false) ou sorti (true).
    void waitJack (bool out);
    /// Rejoint un point.
    void goTo (double x, double y);
    /// Recale contre une bordure.
    void recale (void);
    /// Recale et ajuste en X contre une bordure.
    void recaleX (double x, double a);
    /// Mouvement basic.
    void basic (double v, double d);
    /// Rotation.
    void rotation (double a);
    /// D�charge la benne.
    void decharge (int t);
};

#endif // ai_h