#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 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