Diff: psiswarm.h

Revision:

12:878c6e9d9e60

Parent:

11:312663037b8c

Child:

15:66be5ec52c3b

diff -r 312663037b8c -r 878c6e9d9e60 psiswarm.h
--- a/psiswarm.h	Sun Oct 16 21:06:15 2016 +0000
+++ b/psiswarm.h	Mon Oct 17 13:09:10 2016 +0000
@@ -1,11 +1,11 @@
-/* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Header File
- * 
+/* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm C++ Core Header File
+ *
  * Copyright 2016 University of York
  *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
  * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and limitations under the License.
  *
  * File: psiswarm.h
@@ -18,15 +18,15 @@
  * October 2016
  *
  *
- */ 
+ */
 
 #ifndef PSISWARM_H
 #define PSISWARM_H
-  
+
 #define SOFTWARE_VERSION_CODE 0.80
 
 #define PIC_ADDRESS 0x30
-#define LCD_ADDRESS 0x7C 
+#define LCD_ADDRESS 0x7C
 #define LED_IC_ADDRESS 0x42
 #define GPIO_IC_ADDRESS 0x40
 #define AUX_IC_ADDRESS 0x4E
@@ -70,13 +70,77 @@
 #include "colour.h"
 #include "sound.h"
 #include "demo.h"
-#include "dances.h"
+#include "animations.h"
 #include "basic.h"
 
 //NB The user needs to have a main.cpp with a main() function and a handle_switch_event(char) function
 #include "main.h"
 
+/** Psiswarm Class
+ * The main class to define a robot
+ *
+ * Example code for main.cpp:
+ * @code
+ * #include "psiswarm.h"
+ * Psiswarm psi;
+ * char * program_name = "Example";
+ * char * author_name  = "Name";
+ * char * version_name = "0.8";
+ * void handle_switch_event(char switch_state){}
+ * void handle_user_serial_message(char * message, char length, char interface) {}
+ * int main(){
+ *    psi.init();
+ *    while(1) { //Do something!
+ *    }
+ * }
+ * @endcode
+ */
+class Psiswarm
+{
+public:
+    /**
+     * Main initialisation routine for the PsiSwarm robot
+     *
+     * Set up the GPIO expansion ICs, launch demo mode if button is held
+     */
+    void init(void);
+    
+    /**
+     * Get the uptime for the robot
+     *
+     * @return The amount of time in seconds that the MBED has been active since last reset
+     */
+    float get_uptime(void);
+    
+    /**
+     * Pause the user code for a defined amount of time
+     *
+     * @param The amount of time in seconds to pause user code
+     */
+    void pause_user_code(float period);
+    
+    /**
+     * Reset the wheel encoder counters
+     */
+    void reset_encoders(void);
+    
+    /**
+     * Send a string (in printf format) to the preferred debug stream, specified in settings.h [of overridden programmatically]
+     *
+     * @param The string to send to output stream
+     */
+    void debug(const char* format, ...) ;
+private:
+    void IF_end_pause_user_code(void);
+    void IF_handle_events(void);
+    void IF_update_encoders(void);
+    void IF_update_user_id(void);
+    void IF_update_switch(void);
+    void IF_update_minutes(void);
+    void IF_get_hardware_description(void);
+};
 
+extern Psiswarm psi;
 extern Serial pc;
 extern Serial bt;
 extern Display display;
@@ -88,22 +152,8 @@
 extern Sound sound;
 extern Setup i2c_setup;
 extern Demo demo;
-extern Dances dances;
-
-void init(void);
-float get_uptime(void);
-void pause_user_code(float period);
-void reset_encoders(void);
-void debug(const char* format, ...) ;
-
-void IF_end_pause_user_code(void);
-void IF_handle_events(void);
-void IF_update_encoders(void);
-void IF_update_user_id(void);
-void IF_update_switch(void);
-void IF_update_minutes(void);
-void IF_get_hardware_description(void);
-
+extern Animations animations;
+extern Basic basic;
 extern char * program_name;
 extern char * author_name;
 extern char * version_name;
@@ -212,8 +262,9 @@
 extern char debug_mode;
 extern char debug_output;
 
-extern vector<string> basic_filenames; 
+extern vector<string> basic_filenames;
 extern char psi_basic_file_count;
 extern char use_flash_basic;
 extern char file_transfer_mode;
+
 #endif