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// es.cc
// 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 "es/es.hh"
#include "config/config.hh"

/// Constructeur
Es::Es (const Config & config)
    :proto_(*this), log_("Es")
{
    // R�cup�ration des valeurs de configuration dans le fichier
    loadConfig(config);
    proto_.open(tty_);
}

void Es::init(void)
{
    // On reset l'AVR
    proto_.send('z');
    // XXX Voir pour envoyer les config
}

bool
Es::wait(int timeout /*-1*/)
{
    return proto_.wait(timeout);
}

/// R�cup�re le File Descriptor
int Es::getFd(void)
{
    return proto_.getFd();
}

void Es::loadConfig(const Config & config)
{
    tty_ = config.get<std::string>("es.tty");
}

// Envoie de la config des sensors RVB
void Es::setRVBSensorsConfig(int false_ic, int max_ov)
{
    proto_.send('p',"bw", false_ic, max_ov);
}

// Envoie de la config des sniff RVB
void Es::setRVBSniffConfig(int ref_ratio)
{
    proto_.send('x', "b", ref_ratio);
}
void Es::receive(char command, const Proto::Frame & frame)
{
}

// R�gle les stats des sensors RVB
void Es::setRVBSensorsStat(int mask_captor, int freq)
{
    proto_.send('S', "wb", mask_captor, freq);
}

// r�gle la couleur actuelle comme r�f�rente
void Es::setRefColor(int mask_captor, int mode)
{
    proto_.send('r', "wb", mask_captor, mode);
}

/// R�gle les stats si le "sensors is seen"
// XXX Faudra lui filer un vrai nom quand m�me
void Es::setRVBSeenStat(int mask_captor, int freq)
{
    proto_.send('A', "wb", mask_captor, freq);
}

// Discute avec les servo...
void Es::setServoPos(int servoNb, int servoPos)
{
    proto_.send('m', "bb", servoNb, servoPos);
}

// R�gle la vitesse des turbines
void Es::setTurbineSpeed(int turbNb, int speed)
{
    proto_.send('v', "bw", turbNb, speed);
}

// R�gle le sens de rotation du barillet
void Es::setTheMeaningOfRotationOfBarillet(int answer)
{
    proto_.send('w', "b", answer);
}

// Init n�2 of barillet
void Es::init2Barillet(void)
{
    proto_.send('g');
}

// D�pose une balle du barillet
void Es::deposeBalle(void)
{
    proto_.send('d');
}

/// Extrait une balle
void Es::extraitBalle(void)
{
    proto_.send('e');
}

/// Rotation du barillet
void Es::rotationBarillet(int posFinal)
{
    proto_.send('t', "b", posFinal);
}

bool Es::sync(void)
{
    return proto_.sync();
}