eirbot2020-1A/_protocole__nucleo_8hpp_source.html

#ifndef __PROTOCOLE_H_

#define __PROTOCOLE_H_


#include "mbed.h"

#include "asserv.hpp"

#include "asserv_vitesse_angle.hpp"


//temps en seconde avant que la requete expire

#define PROTO_TIMEOUT_DIST 20

#define PROTO_TIMEOUT_ROT 20


enum protocol_state {INIT, WAIT_ORDER, WAIT_ASSERV};

enum order {PO, RO, OTHER};


class Protocole

{

    public:

        Protocole();

        ~Protocole();


        //robot variables

        short x;

        short y;

        short angle;

        char GP2_on;

        char GP2_etats[3];

        char actionneur_id;

        char actionneur_etat;


        //void poll();

        void update_state();

        void act();

        void print_dbg();


    private:

        enum protocol_state state;

        enum order last_order;

        char readBuffer[32];

        int buf_index = 0;

        //flags

        bool order_ready_flag = false;

        bool timeout_flag = false;

        bool obstacle_flag = false;

        bool GP2_enable = false;


        RawSerial *_serial;

        RawSerial *debug_serial;

        void enable_callback(bool enable);

        void set_timeout_flag();

        void parse();

        void readByte();

};


#endif // __PROTOCOLE_H_