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#ifndef gpio_servo_pp_h
#define gpio_servo_pp_h
// gpio_servo_pp.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 "gpio.h"
#include "servo.h"
#include "serial/serial.h"
#include "logger/log.h"

#include <map>

/// Classe pour la gestion de la carte servo � Pierre Prot.
class GpioServoPp : public Gpio, public Servo
{
    /// Nombre d'entr�es/sorties.
    static const int nbInputs_ = 8, nbOutputs_ = 6,
    nbServo_ = 2, nbAnaInputs_ = 4;
    /// Sorties courantes.
    unsigned int outputs_;
    /// Derni�re valeurs d'entr�es.
    unsigned int inputs_;
    unsigned int anaInput_[4];
    /// Position des servos.
    int servoPos_[nbServo_];
    // Ligne s�rie.
    Serial serial_;
    std::string ttyname_;
    int ttyspeed_;
    // Logger.
    Log log_;
    // Nom des E/S.
    typedef std::map<std::string, int> Names;
    Names names_;
  public:
    /// Constructeur.
    GpioServoPp (void);
    /// Destructeur.
    ~GpioServoPp (void);
    /// Change plusieurs sorties.
    void set (int n, unsigned int bits, int nb);
    /// Lit plusieurs entr�es.
    unsigned int get (int n, int nb);
    /// Bouge un servo de DIFF.
    void move (int n, int diff);
    /// Bouge un servo en position POS.
    void moveTo (int n, int pos);
    /// Met � jour.
    void update (void);
    /// R�cup�re le nombre d'entr�es/sorties.
    int getNbIo (void);
    /// R�cup�re une entr�e/sortie par son nom.
    int getByName (const std::string &name) const;
    /// R�cup�re la valeure d'une entr�e analogique.
    unsigned int getAna (int n);
    /// R�cup�re le nombre d'entr�es analogiques.
    int getNbAna (void) const;
};

#endif // gpio_servo_pp_h