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/**

 * 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.

 */

/**

 * @file encoders.h

 * @brief Contains encoder declarations and functions.

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 * @author Tom Mullins

 **/

#ifndef _ENCODERS_H_

#define _ENCODERS_H_

#include <fstream>

#include <messages/query_encoders.h>

class Encoder

{

    public:

        Encoder(int n);

        int get_ticks();

    private:

        std::fstream fticks; /**< The file in sysfs containing tick count */

};

/** @brief Initialize the encoders module and driver **/

int main(int argc, char **argv);

/** @brief Responds to service to query encoder data **/

bool handle_encoders_query(messages::query_encoders::Request  &req,

                           messages::query_encoders::Response &res);

#endif