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-rw-r--r--i/marvin/src/es/es.hh68
1 files changed, 45 insertions, 23 deletions
diff --git a/i/marvin/src/es/es.hh b/i/marvin/src/es/es.hh
index ecdcd08..46f1dc7 100644
--- a/i/marvin/src/es/es.hh
+++ b/i/marvin/src/es/es.hh
@@ -35,9 +35,6 @@ class Config;
/// Gère la carte es et ses capteurs et actionneurs
class Es : public Proto::Receiver
{
- typedef std::vector<int> SensorRVB;
- typedef std::vector<SensorRVB> SensorsRVB;
- typedef std::vector<int> SniffRVB;
typedef std::vector<int> Sharps;
private:
// Objet Proto de communication vers la carte es
@@ -49,21 +46,36 @@ class Es : public Proto::Receiver
/// For LCD communication
char lcd_mess_char_[32];
/// Key pressed by the LCD Keyboard
- int lcd_key_pressed_;
+ int lcdKeyPressed_, lcdKeyStat_;
/// Frontal choc !
bool front_sensor_;
- /// Vector of sensors
- SensorsRVB sensorsRvb_;
- /// Sniff RVB
- SniffRVB sniffRvb_;
+ /// Ack frequency
+ int ackFreq_;
+ /// Main stat frequency
+ int mainStat_;
+ /// Config of RVB sensors
+ int rvbSensorFalseIC_, rvbSensorMaxOv_;
+ /// Config of RVB sniff
+ int rvbSniffRefRatio_, rvbSniffGreenLimit_, rvbSniffClearLimit_;
+ /// RVB Sensors raw stats
+ int rvbSensorMaskStat_, rvbSensorStat_;
+ /// Reference which sensor at boot time
+ int rvbSniffRefMask_;
+ /// RVB Sniff stats
+ int rvbSniffMaskStat_, rvbSniffStat_;
+ /// RVB Sensors raw stats
+ int rvbBallStat_;
+ /// Balls RVB
+ int rvbBall_[2];
/// Sharps
Sharps sharps_;
+ /// Others module, jack & colour
+ bool jack_, colorModeBlue_;
+ int othersStat_;
public:
/// Constructeur
Es (const Config & config);
- /// Initialise les capteurs et actionneurs, reset
- void reset (void);
/// On attend ...
bool wait (int timeout = -1);
/// Récupère le File Descriptor
@@ -72,9 +84,18 @@ class Es : public Proto::Receiver
void receive (char command, const Proto::Frame & frame);
/// sync..
bool sync (void);
-
/// Charge les paramètre du fichier de config
void loadConfig (const Config & config);
+
+ /// Initialise les capteurs et actionneurs, reset
+ void reset (void);
+ /// Stat for the main ()
+ void setMainStat (int freq);
+ /// Shut up !
+ void shutUp (void);
+ /// Set frequency of ack
+ void setAckStat (int freq);
+
/// Envoie de la config des sensors RVB
void setRVBSensorsConfig(int false_ic, int max_ov);
/// Envoie de la config des sniff RVB
@@ -82,16 +103,19 @@ class Es : public Proto::Receiver
/// Règle les stats des sensors RVB
void setRVBSensorsStat(int mask_captor, int freq);
/// règle la couleur actuelle comme référente
- void setRefColor(int mask_captor, int mode);
+ void setRefColor(int mask_captor, int mode = 0);
/// Règle les stats d'affichage de la couleur
void setRVBSniffStat (int mask_captor, int freq);
/// Configure statistic for the sensor of the ball
- void setRVBBallStat (int sensor_num, int freq);
+ void setRVBBallStat (int freq);
/// Enable all the sensors or just the 4 and 1 near the ground
void enableAllSensors (bool enable);
+ /// Set frequency of jack, selectoul printed out function
+ void setOthersStat (int freq);
+
/// Discute avec les servo...
- void setServoPos (int servoNb, int servoPos);
+ void setServoPos (int servo_mask, int servoPos);
/// Set update frequency of sharps
void setSharpUpdate (int sharp_mask, int freq);
@@ -110,23 +134,21 @@ class Es : public Proto::Receiver
void setTurbineSpeed (int turbNb, int speed);
/// Règle le sens de rotation du barillet
void setTheMeaningOfRotationOfBarillet (int answer);
+ /// Init the barillet and put it at the right place
+ void barilletInit (void);
/// Init n°2 of barillet
void init2Barillet(void);
+ /// Put barillet in sleep mode
+ void barilletSleep (void);
/// Dépose une balle du barillet
void deposeBalle(void);
/// Extrait une balle
void extraitBalle(void);
/// Rotation du barillet
void rotationBarillet(int posFinal);
- /// Put barillet in sleep mode
- void barilletSleep (void);
- /// Shut up !
- void shutUp (void);
- /// Set frequency of ack
- void setAckStat (int freq);
-
- /// Stat for the main ()
- void setMainStat (int freq);
+ private:
+ /// Decode a color into a string
+ std::string decodeColor (int color);
};
#endif // es_hh