Diff: Command.h

Revision:

1:e541c8ebe96b

Parent:

0:57ef16865c0b

Child:

2:58d7debaed1f

--- a/Command.h	Sat Aug 15 12:52:19 2015 +0000
+++ b/Command.h	Fri Aug 21 04:51:05 2015 +0000
@@ -1,38 +1,84 @@
 #ifndef INCLUDED_COMMAND_H
 #define INCLUDED_COMMAND_H
 
-#include "Steering.h"
-
 class Command{
 public:
-    Command( Steering::ActionType action, float moveDirection_rad, float moveDuty, float roll ) :
-    mActionType( action ),
-    mMoveDirection_rad( moveDirection_rad ),
-    mMoveDuty( moveDuty ),
-    mRollCoeff( roll ){
+    enum ActionType{
+        STOP        = 0x00,
+        MOVE        = 0x10,
+        ROLL        = 0x20,
+        ABS_ROLL    = 0x30,
+        WAIT_SERVO  = 0xFF  // 通信で送られて来ることはないデータ
+    };
+    
+    enum AimTargetType{
+        NONE        = 0x0,
+        OWN_POLE    = 0x4,
+        CENTER_POLE = 0x8,
+        ENEMYS_POLE = 0xC
+    };
+    
+    enum ShotTargetID{
+        OWN_POLE_ID,
+        CENTER_POLE_ID,
+        ENEMYS_POLE_ID
+    };
+    
+    Command( ActionType action, float moveDirection_rad, float moveDuty, float roll, bool isShootabl, AimTargetType target );
+    
+    void setActionType( ActionType action ){
+        mActionType = action;
+    }
+    void setMoveDirection_rad( float moveDirection_rad ){
+        mMoveDirection_rad = moveDirection_rad;
+    }
+    void setMoveDuty( float moveDuty ){
+        mMoveDuty = moveDuty;
+    }
+    void setRollCoeff( float rollCoeff ){
+        mRollCoeff = rollCoeff;
+    }
+    void setAimStateByTargetType( AimTargetType target );
+    void setPositionOfShooting( float position ){
+        mPositionOfShooting = position;
+    }
+    void setAngleOfShooting( float angle ){
+        mAngleOfShooting = angle;
     }
     
-    Steering::ActionType getActionType(){
+    ActionType getActionType(){
         return mActionType;
     }
-    
     float getMoveDirection_rad(){
         return mMoveDirection_rad;
     }
-    
     float getMoveDuty(){
         return mMoveDuty;
     }
-    
     float getRollCoeff(){
         return mRollCoeff;
     }
+    float getPositionOfShooting(){
+        return mPositionOfShooting;
+    }
+    float getAngleOfShooting(){
+        return mAngleOfShooting;
+    }
+    bool isShootable(){
+        return mIsShootable;
+    }
     
 private:
-    Steering::ActionType mActionType;
+    static const float mPositionSetOfShooting[];
+    static const float mAngleSetOfShooting[];
+    
+    ActionType mActionType;
     float mMoveDirection_rad;
     float mMoveDuty;
     float mRollCoeff;
+    float mPositionOfShooting;
+    float mAngleOfShooting;
+    bool mIsShootable;
 };
 
 #endif