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-rw-r--r--digital/io-hub/src/apbirthday/robot.hh9
1 files changed, 7 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index fa2a2185..b9a6d8a6 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -25,6 +25,7 @@
// }}}
#include "hardware.hh"
#include "asserv.hh"
+#include "beacon.hh"
#include "fsm_queue.hh"
#include "chrono.hh"
#include "pressure.hh"
@@ -56,13 +57,15 @@ class Robot : public ucoo::Proto::Handler
/// Public access to hardware class.
Hardware hardware;
private:
- /// Main I2C queue.
- I2cQueue main_i2c_queue_;
+ /// I2C queues.
+ I2cQueue main_i2c_queue_, zb_i2c_queue_;
public:
/// Public access to asserv class.
Asserv asserv;
/// Public access to mimot class.
Mimot mimot;
+ /// Public access to beacon class.
+ Beacon beacon;
private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
@@ -111,6 +114,8 @@ class Robot : public ucoo::Proto::Handler
ucoo::Proto *stats_proto_;
/// Asserv stats interval and counter.
int stats_asserv_, stats_asserv_cpt_;
+ /// Beacon stats interval and counter.
+ int stats_beacon_, stats_beacon_cpt_;
/// Enable chrono stats.
bool stats_chrono_;
/// Last stated second.