Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _APPR_EMITTER_H_

#define _APPR_EMITTER_H_

#include "../Behavior.h"

#include "../Sensors.h"

#include "../helper_classes/ScoutPosition.h"

/* Details about map:

 * 1 meter = 200 pixels

 * 1 block is a 13x13 pixel section

 * actual meter x meter map has 15 blocks in one row/column

 * # blocks per robot map row = 2*(block per map's row)-1

 */

// number of blocks in one row/column of robot's map

#define MAP_LENGTH 29

class ApproachEmitter: public Behavior

{

    public:

    ApproachEmitter(std::string scoutname, Sensors* sensors);

    void run();

    private:

    int identifyPosition(std::vector<uint32_t> readings,

                     std::vector<uint32_t> senders);

    void searchForSignal();

    bool reverse_park();

    int get_side();

    bool checkBOM(int bNum, unsigned int ID);

    void update_readings();

    bool at_destination();

    std::string name;

    pos* scout_pos;

    std::vector<uint8_t> LEFT;

    std::vector<uint8_t> RIGHT;

    std::vector<uint8_t> FRONT;

    std::vector<uint8_t> BACK;

    int start_side;

    std::vector<uint32_t> readings;

    std::vector<uint32_t> senders;

    int lost_signal_time;

    int wheel_vel_diff;

};

#endif