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+#ifndef es_hh
+#define es_hh
+// es.hh
+// 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 "proto/proto.hh"
+
+#include <string>
+
+class Config;
+
+/// Gère la carte es et ses capteurs et actionneurs
+class Es : public Proto::Receiver
+{
+ private:
+ // Objet Proto de communication vers la carte es
+ Proto proto_;
+ // le tty est ...
+ std::string tty_;
+ /// Système de log
+ Log log_;
+
+ public:
+ /// Constructeur
+ Es (const Config & config);
+ /// Initialise les capteurs et actionneurs
+ void init(void);
+ /// On attend ...
+ bool wait(int timeout = -1);
+ /// Récupère le File Descriptor
+ int getFd(void);
+ /// définition du receiver::receive
+ void receive(char command, const Proto::Frame & frame);
+ /// sync..
+ bool sync(void);
+ private:
+ /// Charge les paramètre du fichier de config
+ void loadConfig(const Config & config);
+};
+
+#endif // es_hh