summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/apbirthday/robot.hh
blob: d65b2a3a51ef4f56f7e53b1e0c5a8d7af39c9b57 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
#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 "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.
    void 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:
    /// Proto associated to each serial interface.
    ucoo::Proto dev_proto, zb_proto, usb_proto;
};

/// Global instance pointer.
extern Robot *robot;

#endif // robot_hh