SENSORSSonarSensors.hpp

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#ifndef SENSORSSonarSensors_DEFINED
#define SENSORSSonarSensors_DEFINED
 
#include "wb_sensors_sonar.h" 
 
namespace guWhiteboard                                                  
{
        namespace Sonar
        {
                typedef enum ReadingCodesEnum {
                        Left0,
                        Left1,
                        Left2,
                        Left3,
                        Left4,
                        Left5,
                        Left6,
                        Left7,
                        Left8,
                        Left9,
                        Center0,
                        Center1,
                        Center2,
                        Center3,
                        Center4,
                        Center5,
                        Center6,
                        Center7,
                        Center8,
                        Center9,
                        Right0,
                        Right1,
                        Right2,
                        Right3,
                        Right4,
                        Right5,
                        Right6,
                        Right7,
                        Right8,
                        Right9,
                        NUMBER_OF_READINGS
                } ReadingCode;
 
            enum Giraff
            {
                LeftFrontCM          = Left0,
                LeftBackCM           = Left1,
                LeftFrontMM          = Left2,
                LeftBackMM           = Left3,
                LeftFrontAverageCM   = Left4,
                LeftBackAverageCM    = Left5,
                LeftFrontAverageMM   = Left6,
                LeftBackAverageMM    = Left7,
                LeftFrontHighByte    = Left8,
                LeftBackHighByte     = Left9,
 
                CentreFrontCM        = Center0,
                CentreFrontMM        = Center1,
                CentreFrontAverageCM = Center2,
                CentreFrontAverageMM = Center3,
                
                RightFrontCM          = Right0,
                RightBackCM           = Right1,
                RightFrontMM          = Right2,
                RightBackMM           = Right3,
                RightFrontAverageCM   = Right4,
                RightBackAverageCM    = Right5,
                RightFrontAverageMM   = Right6,
                RightBackAverageMM    = Right7,
                RightFrontHighByte    = Right8,
                RightBackHighByte     = Right9
            };
 
        enum Toto
        {
            sZero = Left0,
            sEleven = Left1,
            sTen = Left2,
            sNine = Left3,
 
            sOne = Center0,
            sTwo = Center1,
            sThree = Center2,
            sFour = Center3,
 
            sFive = Right0,
            sSix = Right1,
            sSeven = Right2,
            sEight = Right3
        };
        }
 
        class SENSORSSonarSensors : public wb_sensors_sonar
        {
                
        public:
                SENSORSSonarSensors()
                {
 
                }
 
                inline bool operator == (const SENSORSSonarSensors &s) 
                {
                   for(int i = Sonar::Left0; i < Sonar::NUMBER_OF_READINGS; i++)
                   {
                        if(this->sonar(i) != s.sonar(i))
                            return false;
                        else
                            continue;
                   }
                    return true;
                }
 
                inline bool operator != (const SENSORSSonarSensors &s) 
                {
                    return !(*this == s);
                }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
                SENSORSSonarSensors(const std::string &str) { from_string(str); }
                
                void from_string(const std::string &str)
                {
                    std::istringstream iss(str);
                    std::string token;
            for (int i=0; i< Sonar::NUMBER_OF_READINGS && getline(iss, token, ','); i++  )  
            { u_int8_t value = static_cast<u_int8_t>(atoi(token.c_str())); 
                    set_sonar(value,i); 
            }
                }
                
#pragma clang diagnostic ignored "-Wcovered-switch-default"
#pragma clang diagnostic ignored "-Wunreachable-code"
                
                std::string description() const
                {
                        std::stringstream ss;
 
                        for (int i = 0; i < (Sonar::NUMBER_OF_READINGS-1); i++)
                                ss << static_cast<int>(sonar(i)) << ",";
                        ss << static_cast<int>(sonar(Sonar::NUMBER_OF_READINGS-1)); //Don't want a ', ' for the last element.
                        
                        return ss.str();
                }
#endif // WHITEBOARD_POSTER_STRING_CONVERSION
                
        };
}
 
#endif //SENSORSSonarSensors_DEFINED