#ifndef es_hh #define es_hh // es.hh // chuck - programme du robot 2007 {{{ // // Copyright (C) 2007 Romain Becquet // // Robot APB Team/Efrei 2007. // Web: http://assos.efrei.fr/si2e/ // Email: si2e 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 #include class Config; /// Gère la carte es et ses capteurs et actionneurs class Es : public Proto::Receiver { public: enum ascen{UP,DOWN}; typedef std::vector Sharps; private: // Objet Proto de communication vers la carte es Proto proto_; // le tty est ... std::string tty_; /// Système de log Log log_; /// For LCD communication char lcd_mess_char_[16]; /// Key pressed by the LCD Keyboard int lcdKeyPressed_, lcdKeyStat_; /// Frontal choc ! bool front_sensor_; /// Ack frequency int ackFreq_; /// Main stat frequency int mainStat_; /// Sharps Sharps sharps_; /// Others module, jack & colour bool jackIn_, colorModeBlue_; int othersStat_; /// Stat of front sensors int rvbSniffFrontStat_; int thresholdFrontSensors_, thresholdBallSensors_, thresholdHoleSensors_; /// Si la turbine avant est allumé bool frontTurbineIsFull_; /// Threshold for Sharp int thresholdSharp_; /// Frequency of sharp update_ int freqSharp_; /// Do we have seen something bool ackSharp_; public: /// Constructeur Es (const Config & config); /// 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); /// 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); /// Get the state of the jack bool isJackOut (void); /// Get the color mode of the button bool isColorModeBlue (void); /// Set frequency of jack, selectoul printed out function /// Use this function with frequency 0 to disable this stat. void setOthersStat (int freq); /// Set update frequency of sharps void setSharpUpdate (int sharp_mask, int freq); /// Set statistics frequency of sharps void setSharpStat (int sharp_mask, int freq); /// Set configuration of threshold sharps void setSharpThreshold (int sharp_num, int threshold_high, int threshold_low); /// Print something on the LCD (max 32 char) void lcdPrint (const std::string &message); /// Get the current pressed keys of the LCD void lcdGetKey (int freq); ///Activé l'assenceur void bouge_ascenceur(int sens,uint8_t vit,uint8_t tps); ///rotate Left or Right int setcolorsens(void); //a finir pour def le vit void roulo_roule(int vit); //le roulo tombe void roulo_tombe(void); /// Get sharp ack bool getSharpAck (void) const { return ackSharp_; } /// Restart the detection of something front void launchSharpDetection (void); private: /// Update system for one sensor void updateAnalysisSensor (int value, int index, int threshold); }; #endif // es_hh