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#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 <string>
#include <vector>

class Config;

/// G�re la carte es et ses capteurs et actionneurs
class Es : public Proto::Receiver
{
    typedef std::vector<int> Sharps;
    
    private:
	// Objet Proto de communication vers la carte es
	Proto proto_;
	// le tty est ...
	std::string tty_;
	/// Syst�me 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_;
	/// Config of RVB sensors
	int rvbSensorFalseIC_, rvbSensorMaxOv_;
	/// Config of RVB sniff
	int rvbSniffRefRatio_, rvbSniffGreenLimit_, rvbSniffClearLimit_;
	/// RVB Sensors raw stats
	int rvbSensorMaskStat_, rvbSensorStat_;
	/// RVB Sniff stats
	int rvbSniffMaskStat_, rvbSniffStat_;
	/// RVB Sensors raw stats
	int rvbBallStat_;
	/// Sharps
	Sharps sharps_;
	/// Others module, jack & colour
	bool jackIn_, colorModeBlue_;
	int othersStat_;
	/// Stat of front sensors
	int rvbSniffFrontStat_;
	int thresholdFrontSensors_, thresholdBallSensors_, thresholdHoleSensors_;
	

	/// System for analyse a ball
	int seenColors_[5], lastSeenColors_[5], comptSeenColors_[5];

    public:
	// Some fucking defines !
	const int unknownColor_, redColor_, blueColor_, greenColor_, whiteColor_,
	      blackColor_;
	const int leftFrontRVB_, rightFrontRVB_, holeRVB_, frontBallRVB_,
	      rearBallRVB_;
	/// Constructeur
	Es (const Config & config);
	/// On attend ...
	bool wait (int timeout = -1);
	/// R�cup�re le File Descriptor
	int getFd (void);
	/// d�finition du receiver::receive
	void receive (char command, const Proto::Frame & frame);
	/// sync..
	bool sync (void);
	/// Charge les param�tre 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);

	/// 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);
	/// R�gle les stats des sensors RVB
	void setRVBSensorsStat(int mask_captor, int freq);
	/// r�gle la couleur actuelle comme r�f�rente
	void refColor(int mask_captor, int mode = 0);
	/// R�gle 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
	/// Use this function with frequency 0 to disable this stat.
	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);

	/// R�gle la vitesse des turbines
	void setTurbineSpeed (int turbNb, int speed);
	/// R�gle 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);
	/// D�pose 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);
	/// What color do you see my lord ?
	int colorSeen (int sensor_num);

    private:
	/// Decode a color into a string
	std::string decodeColor (int color);
	/// Update system for one sensor
	void updateAnalysisSensor (int value, int index, int threshold);
};
#endif // es_hh