From 1b0e39a3eeab73de59e5b6fe982bff67021afc78 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 3 Apr 2013 22:13:23 +0200 Subject: digital/io-hub/src/apbirthday: add communication with beacon board --- digital/io-hub/src/common-cc/beacon.hh | 64 ++++++++++++++++++++++++++++++++++ 1 file changed, 64 insertions(+) create mode 100644 digital/io-hub/src/common-cc/beacon.hh (limited to 'digital/io-hub/src/common-cc/beacon.hh') diff --git a/digital/io-hub/src/common-cc/beacon.hh b/digital/io-hub/src/common-cc/beacon.hh new file mode 100644 index 00000000..c84e9c8c --- /dev/null +++ b/digital/io-hub/src/common-cc/beacon.hh @@ -0,0 +1,64 @@ +#ifndef beacon_hh +#define beacon_hh +// io-hub - Modular Input/Output. {{{ +// +// Copyright (C) 2013 Nicolas Schodet +// +// APBTeam: +// Web: http://apbteam.org/ +// Email: team AT apbteam DOT org +// +// 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 "i2c_queue.hh" +#include "defs.hh" + +/// Interface to beacon board. +class Beacon : public I2cQueue::Slave +{ + public: + /// Number of reported positions. + static const int pos_nb = 2; + public: + /// Constructor. + Beacon (I2cQueue &queue); + /// See I2cQueue::Slave::recv_status. + void recv_status (const uint8_t *status); + /// Turn on (true) or off (false). + void on (bool state = true) { on_ = state; } + /// Give number of opponents robots. + void set_robots_nb (int robots_nb) { robots_nb_ = robots_nb; } + /// Send my position along with other informations. + void send_position (const vect_t &pos); + /// Get a detected position, return trust (0 for invalid, 100 for full + /// trust). + int get_position (int index, vect_t &pos) + { + pos = pos_[index]; + return trust_[index]; + } + private: + /// To send: beacon system powered. + bool on_; + /// To send: number of opponents. + int robots_nb_; + /// Received obstacles position. + vect_t pos_[pos_nb]; + /// Received trust. + int trust_[pos_nb]; +}; + +#endif // beacon_hh -- cgit v1.2.3