#ifndef robot_hh #define robot_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 "hardware.hh" #include "asserv.hh" #include "fsm_queue.hh" #include "ucoolib/base/proto/proto.hh" /// Main robot superclass. class Robot : public ucoo::Proto::Handler { public: /// Initialise robot singleton. Robot (); /// Main program loop. void main_loop (); /// Generate events for the FSM. bool fsm_gen_event (); /// Receive proto messages. void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size); public: /// Public access to hardware class. Hardware hardware; private: /// Main I2C queue. I2cQueue main_i2c_queue_; public: /// Public access to asserv class. Asserv asserv; private: /// Proto associated to each serial interface. ucoo::Proto dev_proto, zb_proto, usb_proto; public: /// Public access to deferred events FSM queue. FsmQueue fsm_queue; }; /// Global instance pointer. extern Robot *robot; #endif // robot_hh