wb_nxt_interface.h

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#ifndef wb_nxt_interface_h
#define wb_nxt_interface_h
 
#include <gu_util.h>
 
enum nxt_ports
{
    Port1 = 0,
    Port2,
    Port3,
    Port4,
    MotorA,
    MotorB,
    MotorC,
    NUMBER_OF_NXT_PORTS
};
 
enum nxt_port_object_type
{
    Empty_Port = 0,
    Sonar_Sensor,
    Touch_Sensor,
    Passive_Light_Sensor,
    Active_Light_Sensor,
    Motor,
    NUMBER_OF_NXT_OBJECT_TYPES
};
 
    //Doxy is warning about undocumented functions as a result of our macros and the fact that they're used in this union. This will disable doxy from parsing this section, which means no warnings but also no generated documentation for this section. The other option is to redefine the macros locally to fix the naming problem. - Carl.
 
union nxt_port_object_data
{
    struct {
    PROPERTY(uint8_t, distance)
    } sonar_sensor; 
 
    struct {
    PROPERTY(bool, pressed)
    }  touch_sensor;  
 
    struct {
    PROPERTY(int32_t, value)
    }    passive_light_sensor; 
 
    struct {
    PROPERTY(int32_t, value)
    }    active_light_sensor; 
 
    struct {
    CONTROLLED_PROPERTY(uint32_t, enc_ticks) 
    
    CONTROLLED_PROPERTY(int16_t, speed) 
    
    CONTROL_BIT(enc_ticks)
    CONTROL_BIT(speed)
    
    
    unsigned int _padding : 14;
    }    motor;  
};
 
struct nxt_port_object
{
    PROPERTY(enum nxt_port_object_type, type)
    PROPERTY(union nxt_port_object_data, data)
};
 
struct wb_nxt_interface
{
    ARRAY_PROPERTY(struct nxt_port_object, objects, NUMBER_OF_NXT_PORTS)
 
#ifdef __cplusplus
    wb_nxt_interface()
    {
        memset(this, 0, sizeof(*this));
    }
#endif
};
 
#endif //wb_nxt_interface_h