mRunCtrl.h

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#ifndef M_RUN_CTROL_H
#define M_RUN_CTROL_H

#include "vmonitor.h"
#include "tRunCtrlSimulator.h"


class mRunCtrl : public RunCtrl {
  vmonitor* mon;
  int MonitorMode;
  SDL_cond* cond;
  SDL_mutex* mutex;
  tRunCtrl_Simulator* simulator;
  static bool isVersionPrinted;
  static bool isHelpPrinted;
  void printVersion(void);
  void printHelp(void);
  void parseArgs(int argc, char* argv[]);
  unsigned long getHostTicks(void);

  void writeLocalPosition(const VXV::Position3D& ret_pos, unsigned long ticks);
  void readLocalPosition(VXV::Position& ret_pos);
  void writeIsStable(bool ret_value, unsigned long ticks);
  bool readIsStable(void);
  void pauseLock(void);
  void pauseUnlock(void);

public:
  tRunCtrl_Simulator::TicksPosition& ticksPos; 
  mRunCtrl(void);
  virtual ~mRunCtrl(void);

  int connect(void);

  int connect(const char* device, long baudrate = Baudrate);

  int connect(int argc, char *argv[]);

  void adjustOwnTicks(unsigned long setTicks);

  VXV::Position3D getLocalPosition(void);

  void stop(void);

  void followLine(const VXV::Position& position,
                  const CoordinateCtrl* crd = VXV::GL);

  void followCircle(const VXV::Grid& center, int radius,
                    const CoordinateCtrl* crd = VXV::GL);

  void followCircleOnTangent(const VXV::Position& position, int radius,
                             const CoordinateCtrl* crd = VXV::GL);

  void stopToLine(const VXV::Position& position,
                  const CoordinateCtrl* crd = VXV::GL);

  void rotateToDirection(const VXV::Direction& direction,
                         const CoordinateCtrl* crd = VXV::GL);


  void rotateAngle(const VXV::Direction& direction);

  void spin(const VXV::Direction& velocity);

  void lastMoveCommand(const CoordinateCtrl* crd = VXV::GL);


  bool isStable(void);

  void servoCtrl(bool on);

  void setMotorPwm(int id, unsigned char duty);

  void setMotorPwm(int id, unsigned char duty[], int nums);

  void setMotorMode(int id, unsigned char mode);

  void setMotorMode(int id, unsigned char mode[], int nums);
  //void getEncoderVel(int id, int *cnt);
  //void getEncoderVel(int id, int cnt[], int nums);
  //void getEncoderValue(int id, unsigned short *cnt);
  //void getEncoderValue(int id, unsigned short cnt[], int nums);

  void setWheelVel(int id, int mm_vel);

  void setWheelVel(int id, int mm_vel[], int nums);
};

#endif /* !M_RUN_CTROL_H */