KickerInterface.h
00001 00002 /*************************************************************************** 00003 * KickerInterface.h - Fawkes BlackBoard Interface - KickerInterface 00004 * 00005 * Templated created: Thu Oct 12 10:49:19 2006 00006 * Copyright 2007 Daniel Beck 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __INTERFACES_KICKERINTERFACE_H_ 00025 #define __INTERFACES_KICKERINTERFACE_H_ 00026 00027 #include <interface/interface.h> 00028 #include <interface/message.h> 00029 #include <interface/field_iterator.h> 00030 00031 namespace fawkes { 00032 00033 class KickerInterface : public Interface 00034 { 00035 /// @cond INTERNALS 00036 INTERFACE_MGMT_FRIENDS(KickerInterface) 00037 /// @endcond 00038 public: 00039 /* constants */ 00040 00041 /** 00042 Enumeration defining on which side of the robot the ball shall be 00043 guided (and thus on which side the arm is to be erected). 00044 */ 00045 typedef enum { 00046 GUIDE_BALL_LEFT /**< 00047 Constant defining that the kicker shall activate the ball guidance device 00048 in such a way that the left arm is erected. 00049 */, 00050 GUIDE_BALL_RIGHT /**< 00051 Constant defining that the kicker shall activate the ball guidance device 00052 in such a way that the right arm is erected. 00053 */ 00054 } GuideBallSideEnum; 00055 00056 private: 00057 /** Internal data storage, do NOT modify! */ 00058 typedef struct { 00059 unsigned int current_intensity; /**< 00060 The currently set intensity. 00061 */ 00062 int num_kicks_left; /**< 00063 Number of Left-Kicks 00064 */ 00065 int num_kicks_center; /**< 00066 Number of Center-Kicks 00067 */ 00068 int num_kicks_right; /**< 00069 Number of Right-Kicks 00070 */ 00071 GuideBallSideEnum guide_ball_side; /**< Side where the ball 00072 guidance arm is currently erected. */ 00073 } KickerInterface_data_t; 00074 00075 KickerInterface_data_t *data; 00076 00077 public: 00078 /* messages */ 00079 class KickMessage : public Message 00080 { 00081 private: 00082 /** Internal data storage, do NOT modify! */ 00083 typedef struct { 00084 unsigned int intensity; /**< Intensity in the range [0..255]. */ 00085 bool left; /**< True to kick with left kicker. */ 00086 bool center; /**< True to kick with central kicker. */ 00087 bool right; /**< True to kick with right kicker. */ 00088 } KickMessage_data_t; 00089 00090 KickMessage_data_t *data; 00091 00092 public: 00093 KickMessage(const bool ini_left, const bool ini_center, const bool ini_right, const unsigned int ini_intensity); 00094 KickMessage(); 00095 ~KickMessage(); 00096 00097 KickMessage(const KickMessage *m); 00098 /* Methods */ 00099 bool is_left() const; 00100 void set_left(const bool new_left); 00101 size_t maxlenof_left() const; 00102 bool is_center() const; 00103 void set_center(const bool new_center); 00104 size_t maxlenof_center() const; 00105 bool is_right() const; 00106 void set_right(const bool new_right); 00107 size_t maxlenof_right() const; 00108 unsigned int intensity() const; 00109 void set_intensity(const unsigned int new_intensity); 00110 size_t maxlenof_intensity() const; 00111 virtual Message * clone() const; 00112 }; 00113 00114 class ResetCounterMessage : public Message 00115 { 00116 public: 00117 ResetCounterMessage(); 00118 ~ResetCounterMessage(); 00119 00120 ResetCounterMessage(const ResetCounterMessage *m); 00121 /* Methods */ 00122 virtual Message * clone() const; 00123 }; 00124 00125 class GuideBallMessage : public Message 00126 { 00127 private: 00128 /** Internal data storage, do NOT modify! */ 00129 typedef struct { 00130 GuideBallSideEnum guide_ball_side; /**< Side where to guide the ball and erect the arm. */ 00131 } GuideBallMessage_data_t; 00132 00133 GuideBallMessage_data_t *data; 00134 00135 public: 00136 GuideBallMessage(const GuideBallSideEnum ini_guide_ball_side); 00137 GuideBallMessage(); 00138 ~GuideBallMessage(); 00139 00140 GuideBallMessage(const GuideBallMessage *m); 00141 /* Methods */ 00142 GuideBallSideEnum guide_ball_side() const; 00143 void set_guide_ball_side(const GuideBallSideEnum new_guide_ball_side); 00144 size_t maxlenof_guide_ball_side() const; 00145 virtual Message * clone() const; 00146 }; 00147 00148 virtual bool message_valid(const Message *message) const; 00149 private: 00150 KickerInterface(); 00151 ~KickerInterface(); 00152 00153 public: 00154 /* Methods */ 00155 int num_kicks_left() const; 00156 void set_num_kicks_left(const int new_num_kicks_left); 00157 size_t maxlenof_num_kicks_left() const; 00158 int num_kicks_center() const; 00159 void set_num_kicks_center(const int new_num_kicks_center); 00160 size_t maxlenof_num_kicks_center() const; 00161 int num_kicks_right() const; 00162 void set_num_kicks_right(const int new_num_kicks_right); 00163 size_t maxlenof_num_kicks_right() const; 00164 GuideBallSideEnum guide_ball_side() const; 00165 void set_guide_ball_side(const GuideBallSideEnum new_guide_ball_side); 00166 size_t maxlenof_guide_ball_side() const; 00167 unsigned int current_intensity() const; 00168 void set_current_intensity(const unsigned int new_current_intensity); 00169 size_t maxlenof_current_intensity() const; 00170 virtual Message * create_message(const char *type) const; 00171 00172 virtual void copy_values(const Interface *other); 00173 00174 }; 00175 00176 } // end namespace fawkes 00177 00178 #endif
