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// 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"
#include "config/config.hh"

/// Constructeur
Es::Es (const Config & config)
    :proto_(*this), log_("Es")
{
    // R�cup�ration des valeurs de configuration dans le fichier
    loadConfig(config);
    proto_.open(tty_);
}

void Es::init(void)
{
    // On reset l'AVR
    proto_.send('z');
    ascIdle_ = true;
    ascFailure_ = false;
    // Envoire des param�tre ascenceur vers l'AVR
    proto_.send('P',"bbbbbb", ascMinHaut_, ascMaxHaut_, ascAccHaut_,
	    		      ascMinBas_,  ascMaxBas_,  ascAccBas_);
    // Envoie de la p�riode de retour des mesure t�l�m�tre
    proto_.send('C',"b", pStatTele_);
    ascCurrentPos_ = false;
}

bool Es::getAscCurPos(void)
{
    return ascCurrentPos_;
}

bool Es::getAscState(void)
{
    return ascFailure_;
}

bool Es::ascIsIdle(void)
{
    return ascIdle_;
}

bool Es::obsTropPres(void)
{
    if(distGauche_ > teleSeuil_ || distDroite_ > teleSeuil_)
	return true;
    else
	return false;
}

void Es::monterAsc(void)
{
    proto_.send('m');
    ascIdle_ = false;
}

void Es::descendreAsc(void)
{
    proto_.send('d');
    ascIdle_ = false;
}

void Es::ventouses(void)
{
    proto_.send('v',"b",pVentouses_);
}

void Es::wait(int timeout)
{
    proto_.wait(timeout);
}

/// R�cup�re le File Descriptor
int Es::getFd(void)
{
    return proto_.getFd();
}

void Es::loadConfig(const Config & config)
{
    tty_ = config.get<std::string>("es.tty");
    ascMinHaut_ = config.get<int>("es.ascMinHaut");
    ascMaxHaut_ = config.get<int>("es.ascMaxHaut");
    ascAccHaut_ = config.get<int>("es.ascAccHaut");
    ascMinBas_ = config.get<int>("es.ascMinBas");
    ascMaxBas_ = config.get<int>("es.ascMaxBas");
    ascAccBas_ = config.get<int>("es.ascAccBas");

    pVentouses_ = config.get<int>("es.pVentouses");

    pStatTele_ = config.get<int>("es.pStatTele");
    teleSeuil_  = config.get<int>("es.teleSeuil");
}

void Es::receive(char command, const Proto::Frame & frame)
{
    switch(command)
    {
	case 'T': //L'ascenceur est en haut
	    proto_.send('F', "b", 0);
	    ascCurrentPos_ = true;
	    ascIdle_ = true;
	    break;
	case 'I': // L'ascenceur est en bas
	    proto_.send('F', "b", 0);
	    ascCurrentPos_ = false;
	    ascIdle_ = true;
	    break;
	case 'E': // Probl�me d'ascenseur
	    proto_.send('F', "b", 0);
	    ascCurrentPos_ = false;
	    ascIdle_ = true;
	    ascFailure_ = true;
	    break;
	case 'C': // retour t�l�m�tre
	    proto_.decode(frame,"ww", distGauche_, distDroite_);
//	    log_("T�l�m�tre") << "Valeur gauche" << distGauche_ << "Valeur Droite" << distDroite_;
	    break;
	    
    }
}

bool Es::sync(void)
{
    return proto_.sync();
}