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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>

class Config;

/// G�re 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_;
	/// Syst�me 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);
	/// 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);
    private:
	/// Charge les param�tre du fichier de config
	void loadConfig(const Config & config);
};

#endif // es_hh