NXT_Interface.hpp

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#ifndef NXT_Interface_DEFINED
#define NXT_Interface_DEFINED
 
#include "wb_nxt_interface.h" 
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
#include <sstream>
#endif
 
namespace guWhiteboard                                                  
{
        class NXT_Interface: public wb_nxt_interface
        {
        public:
 
        NXT_Interface() { }
 
 
        inline bool operator == (const NXT_Interface &s) 
        {
            for(int p = Port1; p < NUMBER_OF_NXT_PORTS; p++)
            {
                nxt_port_object o = this->objects(p);
                nxt_port_object n = s.objects(p);
                if(o.type() != n.type())
                    return false;
#define PORT "(" << p << ")"
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wswitch-enum"
                switch (o.type())
                {
                case Touch_Sensor:
                    if(o.data().touch_sensor.pressed() != n.data().touch_sensor.pressed())
                        return false;
                    break;
                case Sonar_Sensor:
                    if(o.data().sonar_sensor.distance() != n.data().sonar_sensor.distance())
                        return false;
                    break;
                case Active_Light_Sensor:
                    if(o.data().active_light_sensor.value() != n.data().active_light_sensor.value())
                        return false;
                    break;
                case Passive_Light_Sensor:
                    if(o.data().passive_light_sensor.value() != n.data().passive_light_sensor.value())
                        return false;
                    break;
                case Motor:
                    if(o.data().motor.speed() != n.data().motor.speed() || o.data().motor.enc_ticks() != n.data().motor.enc_ticks() || o.data().motor.speed_mask() != n.data().motor.speed_mask() || o.data().motor.enc_ticks_mask() != n.data().motor.enc_ticks_mask())
                        return false;
                    break;
                default:
                    break;
                }
#pragma clang diagnostic pop
            }
            return true;
        }
 
        inline bool operator != (const NXT_Interface &s) 
        {
            return !(*this == s);
        }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
        NXT_Interface(const std::string &str) { from_string(str); }
 
                void from_string(const std::string &str) 
        {
            //NYI
            fprintf(stderr, "NXT_Interface doesn't implement from_string yet, have it back %s\n", str.c_str());
        }
 
                std::string description() const
                {
                        std::stringstream ss;
            for(int p = Port1; p < NUMBER_OF_NXT_PORTS; p++)
            {
                nxt_port_object o = objects(p);
#define PORT "(" << p << ")"
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wswitch-enum"
                switch (o.type())
                {
                case Touch_Sensor:
                    ss << PORT << "Touch: " << o.data().touch_sensor.pressed() << ", ";
                    break;
                case Sonar_Sensor:
                    ss << PORT << "Sonar: " << static_cast<int>(o.data().sonar_sensor.distance()) << ", ";
                    break;
                case Active_Light_Sensor:
                    ss << PORT << "Active Light: " << o.data().active_light_sensor.value() << ", ";
                    break;
                case Passive_Light_Sensor:
                    ss << PORT << "Passive Light: " << o.data().passive_light_sensor.value() << ", ";
                    break;
                case Motor:
                    ss << PORT << "Motor: (s: " << o.data().motor.speed() << ", enc: " << o.data().motor.enc_ticks() << "), ";
                    break;
                default:
                    break;
                }
#pragma clang diagnostic pop
            }
                        return ss.str();
                }
#endif // WHITEBOARD_POSTER_STRING_CONVERSION
        };
}
 
#endif //NXT_Interface_DEFINED