Thymio2.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2006 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://lis.epfl.ch/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_THYMIO2_H
#define __ENKI_THYMIO2_H

#include <enki/robots/DifferentialWheeled.h>
#include <enki/interactions/IRSensor.h>
#include <enki/interactions/GroundSensor.h>

namespace Enki
{

    class Thymio2 : public DifferentialWheeled
    {
    public:
        IRSensor infraredSensor0;
        IRSensor infraredSensor1;
        IRSensor infraredSensor2;
        IRSensor infraredSensor3;
        IRSensor infraredSensor4;
        IRSensor infraredSensor5;
        IRSensor infraredSensor6;
        
        GroundSensor groundSensor0;
        GroundSensor groundSensor1;

        unsigned int textureID;
        unsigned int* ledTexture;
        bool ledTextureNeedUpdate;

        enum LedIndex
        {
            TOP = 0,
            BOTTOM_LEFT, BOTTOM_RIGHT,

            BUTTON_UP, BUTTON_DOWN, BUTTON_LEFT, BUTTON_RIGHT,

            RING_0, RING_1, RING_2, RING_3,
            RING_4, RING_5, RING_6, RING_7,

            IR_FRONT_0, IR_FRONT_1, IR_FRONT_2,
            IR_FRONT_3, IR_FRONT_4, IR_FRONT_5,

            IR_BACK_0, IR_BACK_1,

            LEFT_RED, LEFT_BLUE, RIGHT_BLUE, RIGHT_RED,

            LED_COUNT
        };
        
    public:
        Thymio2();
        ~Thymio2();

        void setLedIntensity(LedIndex ledIndex, double intensity = 1.f);
        void setLedColor(LedIndex ledIndex, const Color& color = Color(1.,1.,1.,1.));
        Color getColorLed(LedIndex ledIndex) const;

    protected:
        Color ledColor[LED_COUNT];
    };
}

#endif