/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/targets/enki-marxbot/AsebaMarxbot.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        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 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        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, see <http://www.gnu.org/licenses/>.
*/

#ifndef __ENKI_ASEBA_MARXBOT_H
#define __ENKI_ASEBA_MARXBOT_H

#include <enki/robots/marxbot/Marxbot.h>
#ifndef ASEBA_ASSERT
#define ASEBA_ASSERT
#endif
#include "../../vm/vm.h"
#include "../../common/consts.h"
#include <dashel/dashel.h>
#include <deque>
#include <string.h>

namespace Enki
{
        

        class AsebaMarxbot : public Marxbot, public Dashel::Hub
        {
        public:
                struct Event
                {
                        unsigned short source;
                        std::valarray<unsigned char> data;
                        
                        Event(unsigned short source, const uint8* data, uint16 length) :
                                source(source),
                                data(length)
                        {
                                memcpy(&this->data[0], data, length);
                        }
                        
                        Event(Dashel::Stream* stream)
                        {
                                uint16 len;
                                stream->read(&len, 2);
                                stream->read(&source, 2);
                                data.resize(len+2);
                                stream->read(&data[0], data.size());
                        }
                };
                
                struct Module
                {
                        Module();
                        
                        AsebaVMState vm;
                        std::valarray<unsigned short> bytecode;
                        std::valarray<signed short> stack;
                        //std::deque<Event> events;
                        
                        std::deque<Event> events;
                };
                
        private:
                struct BaseVariables
                {
                        sint16 id;
                        sint16 source;
                        sint16 args[32];
                };
                
                struct MotorVariables
                {
                        sint16 id;
                        sint16 source;
                        sint16 args[32];
                        sint16 speed;
                        sint16 odo[2];
                        sint16 user[220];
                };
                
                struct ProximitySensorVariables
                {
                        sint16 id;
                        sint16 source;
                        sint16 args[32];
                        sint16 bumpers[24];
                        sint16 ground[12];
                        sint16 user[188];
                };
                
                struct DistanceSensorVariables
                {
                        sint16 id;
                        sint16 source;
                        sint16 args[32];
                        sint16 distances[180];
                        sint16 user[44];
                };
                
                MotorVariables leftMotorVariables;
                MotorVariables rightMotorVariables;
                ProximitySensorVariables proximitySensorVariables;
                DistanceSensorVariables distanceSensorVariables;
                
                Module leftMotor;
                Module rightMotor;
                Module proximitySensors;
                Module distanceSensors;
                
        public:
                // public because accessed from a glue function
                std::vector<Module *> modules;
                static int marxbotNumber;
                
        public:
                
                AsebaMarxbot();
                virtual ~AsebaMarxbot();
                virtual void controlStep(double dt);
                
                virtual void connectionCreated(Dashel::Stream *stream);
                virtual void incomingData(Dashel::Stream *stream);
                virtual void connectionClosed(Dashel::Stream *stream, bool abnormal);
                
                // this must be public because of bindings to C functions
                Dashel::Stream* stream;
        };

}
#endif

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011