Colony

/**

 * Eugene Marinelli

 */

#include <VirtualWall.h>

#include <colonet_wireless.h>

VirtualWall::VirtualWall(void) {

  wall_available = false;

}

VirtualWall::~VirtualWall(void) {

}

int VirtualWall::set_coordinates(int upper_x, int upper_y, int lower_x, int lower_y) {

  if (upper_x < 0 || upper_y < 0 || lower_x < 0 || lower_y < 0) {

    return -1;

  }

  upper_left_x = upper_x;

  upper_left_y = upper_y;

  lower_right_x = lower_x;

  lower_right_y = lower_y;

  wall_available = true;

  /* Let the robots know. */

  send_to_robots();

  return 0;

}

void VirtualWall::send_to_robots() {

  if (wall_available) {

    unsigned char args[PACKET_DATA_LEN];

    args[0] = (upper_left_x >> 8) & 0xFF;

    args[1] = upper_left_x & 0xFF;

    args[2] = (upper_left_y >> 8) & 0xFF;

    args[3] = upper_left_y & 0xFF;

    colonet_wl_send(0, GLOBAL_DEST, COLONET_COMMAND, SERVER_REPORT_VIRTUAL_WALL_UPPER, args);

    args[0] = (lower_right_x >> 8) & 0xFF;

    args[1] = lower_right_x & 0xFF;

    args[2] = (lower_right_y >> 8) & 0xFF;

    args[3] = lower_right_y & 0xFF;

    colonet_wl_send(0, GLOBAL_DEST, COLONET_COMMAND, SERVER_REPORT_VIRTUAL_WALL_LOWER, args);

  }

}

void VirtualWall::clear() {

  wall_available = false;

}

int VirtualWall::get_coordinates(int* upper_x, int* upper_y, int* lower_x, int* lower_y) {

  if (wall_available) {

    *upper_x = upper_left_x;

    *upper_y = upper_left_y;

    *lower_x = lower_right_x;

    *lower_y = lower_right_y;

    return 0;

  } else {

    return -1;

  }

}