wiselib.testing/external_interface/pc/roomba_event_sensor.h

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#ifndef ROOMBA_EVENT_SENSOR_H
#define ROOMBA_EVENT_SENSOR_H

#include "util/delegates/delegate.hpp"

#include <iostream>

namespace wiselib {
   
   template<typename OsModel_P,
      typename Roomba_P
   >
   class RoombaEventSensor {
      public:
         typedef OsModel_P OsModel;
         typedef Roomba_P Roomba;
         typedef delegate1<void, uint8_t> event_callback_t;
         typedef RoombaEventSensor<OsModel, Roomba> self_type;
         typedef self_type* self_pointer_t;
         
         enum Event {
            EVENT_NONE = 0x0, EVENT_WALL = 0x1
         };
         
         enum ReturnValues {
            SUCCESS = OsModel::SUCCESS, ERR_UNSPEC = OsModel::ERR_UNSPEC
         };
         
         int init(Roomba& roomba);
         int init();
         int destruct();
         
         template<typename T, void (T::*TMethod)(uint8_t)>
         int reg_event_callback(T* obj);
         
         void on_new_data();
         
      private:
         typename Roomba::self_pointer_t roomba_;
         event_callback_t event_callback_;
         uint8_t bumps_;
   };
   
   template<typename OsModel_P, typename Roomba_P>
   int RoombaEventSensor<OsModel_P, Roomba_P>::
	init(Roomba_P& roomba) {
      roomba_ = &roomba;
      roomba_->template reg_new_data_callback<
         self_type, &self_type::on_new_data
      >(this);
      return SUCCESS;
   }
   
   template<typename OsModel_P, typename Roomba_P>
   void RoombaEventSensor<OsModel_P, Roomba_P>::
	on_new_data() {
      typename Roomba::value_t& v = (*roomba_)();
      int events = 0;
      if(v.bumps != bumps_) {
         //std::cout << "bumps before: " << bumps_ << " bumps now: " << v.bumps << "\n";
      }
      if(v.bumps & ~bumps_) { // if bumps has any 1s it didnt have before
         events |= EVENT_WALL;
      }
      bumps_ = v.bumps;
      
      if(events && event_callback_) {
         event_callback_(events);
      }
   }
   
   template<typename OsModel_P, typename Roomba_P>
   int RoombaEventSensor<OsModel_P, Roomba_P>::
	init() {
      return SUCCESS;
   }
   
   template<typename OsModel_P, typename Roomba_P>
   int RoombaEventSensor<OsModel_P, Roomba_P>::
	destruct() {
      return SUCCESS;
   }
   
   template<typename OsModel_P, typename Roomba_P>
   template<typename T, void (T::*TMethod)(uint8_t)>
   int RoombaEventSensor<OsModel_P, Roomba_P>::
	reg_event_callback(T* obj) {
      event_callback_ = event_callback_t::from_method<T, TMethod>(obj);
      return 1;
   }
   
} // namespace wiselib

#endif // ROOMBA_EVENT_SENSOR_H