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#ifndef _ROBOCUP_SENSORS_H_
#define _ROBOCUP_SENSORS_H_
#include "qfixSoccerBoard.h"
#define SENSOR_PORT_LINIE_LINKS 0
#define SENSOR_PORT_LINIE_MITTE 1
#define SENSOR_PORT_LINIE_RECHTS 2
#define SENSOR_PORT_D_L 3
#define SENSOR_PORT_D_VL 4
#define SENSOR_PORT_D_V 5
#define SENSOR_PORT_D_VR 6
#define SENSOR_PORT_D_R 7
#define LINIE_WEISS 70
#define LINIE_FEHLER 71
#define SW_SCHWARZ(sensor) (sensor->getWert() > m_gw_sw)
#define SW_WEISS(sensor) (sensor->getWert() <= m_gw_sw)
#define C_SCHWARZ(sensor) (sensor->getWert() > m_gw_sg)
#define C_GRUEN(sensor) (sensor->getWert() > m_gw_gw && sensor->getWert() <= m_gw_sg)
#define C_WEISS(sensor) (sensor->getWert() > m_gw_ws && sensor->getWert() <= m_gw_gw)
#define C_SILBER(sensor) (sensor->getWert() <= m_gw_ws)
class Sensor {
private:
SoccerBoard *m_board;
int m_port;
int m_wert;
public:
Sensor(SoccerBoard *board, int port) {
m_board = board;
m_port = port;
}
void update();
int getWert() {
return m_wert;
}
};
class Sensors {
private:
SoccerBoard *m_board;
bool m_kalibriert;
Sensor *m_lsLinks, *m_lsMitte, *m_lsRechts;
int m_sLinks, m_sMitte, m_sRechts;
int m_gLinks, m_gMitte, m_gRechts;
int m_liniePos;
int m_gw_sg; // Grenzwert schwarz/grün
int m_gw_gw; // Grenzwert grün/weiß
int m_gw_ws; // Grenzwert weiß/silber
int m_gw_sw; // Grenzwert schwarz/weiß
Sensor *m_dsL, *m_dsVL, *m_dsV, *m_dsVR, *m_dsR;
public:
Sensors(SoccerBoard *board) {
m_board = board;
m_kalibriert = false;
m_lsLinks = new Sensor(board, SENSOR_PORT_LINIE_LINKS);
m_lsMitte = new Sensor(board, SENSOR_PORT_LINIE_MITTE);
m_lsRechts = new Sensor(board, SENSOR_PORT_LINIE_RECHTS);
m_dsL = new Sensor(board, SENSOR_PORT_D_L);
m_dsVL = new Sensor(board, SENSOR_PORT_D_VL);
m_dsV = new Sensor(board, SENSOR_PORT_D_V);
m_dsVR = new Sensor(board, SENSOR_PORT_D_VR);
m_dsR = new Sensor(board, SENSOR_PORT_D_R);
m_sLinks = m_sMitte = m_sRechts = 0;
m_gLinks = m_gMitte = m_gRechts = 0;
m_liniePos = 0;
}
~Sensors() {
delete m_lsLinks;
delete m_lsMitte;
delete m_lsRechts;
delete m_dsL;
delete m_dsVL;
delete m_dsV;
delete m_dsVR;
delete m_dsR;
}
int getLinie() {return m_liniePos;}
bool getOpfer() {
return /*(m_sLinks && m_sMitte && m_sRechts) || */(m_gLinks && m_gMitte && m_gRechts);
}
bool hindernisL() {
return (m_dsL->getWert() > HINDERNIS_ERKENNUNGSWERT_SEITL);
}
bool hindernisVL() {
return (m_dsVL->getWert() > HINDERNIS_ERKENNUNGSWERT);
}
bool hindernisV() {
return (m_dsV->getWert() > HINDERNIS_ERKENNUNGSWERT);
}
bool hindernisVR() {
return (m_dsVR->getWert() > HINDERNIS_ERKENNUNGSWERT);
}
bool hindernisR() {
return m_dsR->getWert();
}
int getDsL() {
return m_dsL->getWert();
}
int getDsVL() {
return m_dsVL->getWert();
}
int getDsV() {
return m_dsV->getWert();
}
int getDsVR() {
return m_dsVR->getWert();
}
int getDsR() {
return m_dsR->getWert();
}
void update();
void auswerten();
bool kalibrieren();
};
#endif
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