File content as of revision 22:d9df16225df3:

#include "Target.hpp"


Target::Target(ServomotorInterface& servomotor,
        LedControllerInterface& ally_leds,
        LedControllerInterface& enemy_leds,
        XbeeTransmitterInterface& xbee_transmitter):
    servomotor(servomotor),
    ally_leds(ally_leds),
    enemy_leds(enemy_leds),
    xbee_transmitter(xbee_transmitter)
{
}

void Target::execute_command(Mode mode, int timeout_ms)
{
    if(mode == Ally)
    {
        ally_command();
    }
    else
    {
        enemy_command();
    }
}


void Target::ally_command()
{
    servomotor.set_position_up();
    ally_leds.turn_on();
}

void Target::enemy_command()
{
    servomotor.set_position_up();
    enemy_leds.turn_on();
}

std::vector<uint8_t> Target::generate_message(uint8_t target_number, Result result, uint16_t time_taken_ms) const
{
    const uint8_t target_number_and_result = (target_number << 3) + result;
    const uint8_t time_taken_msb = time_taken_ms >> 8;
    const uint8_t time_taken_lsb = (time_taken_ms << 8) >> 8;

    std::vector<uint8_t> message;

    message.push_back(target_number_and_result);
    message.push_back(time_taken_msb);
    message.push_back(time_taken_lsb);

    return message;
}