#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 #include class Config; /// Gère la carte es et ses capteurs et actionneurs class Es : public Proto::Receiver { 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_[32]; /// Key pressed by the LCD Keyboard int lcdKeyPressed_, lcdKeyStat_; /// Frontal choc ! bool front_sensor_; /// 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_; /// Stat of front sensors int rvbSniffFrontStat_; 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); /// Envoie de la config des sensors RVB void setRVBSensorsConfig(int false_ic, int max_ov); /// Envoie de la config des sniff RVB void setRVBSniffConfig(int ref_ratio, int green_limit, int clear_limit); /// 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 = 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 freq); /// Set frequency of front sensor in analyse mode void setRVBSniffFrontStat (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 servo_mask, int servoPos); /// 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); /// Règle la vitesse des turbines 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 turbine to minimal speed void barilletDebutLancement (void); /// Init front turbine to full speed void barilletLancement (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); /// Empty everything in the barillet void barilletEmpty (void); private: /// Decode a color into a string std::string decodeColor (int color); }; #endif // es_hh