irobotSensorPoll.h

00001 /** \file irobotSensorPoll.h
00002  *
00003  * Methods to poll iRobot sensors.
00004  *
00005  * \author Jeff C. Jensen
00006  * \date 2013-12-09
00007  * \copyright Copyright (C) 2013, Jeff C. Jensen, Edward A. Lee, and Sanjit A. Seshia.
00008  *            This software accompanies An Introductory Lab in Embedded and Cyber-Physical Systems
00009  *            and is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0
00010  *            Unported License. See http://leeseshia.org/lab.
00011  */
00012 
00013 #ifndef _IROBOT_SENSORPOLL_H
00014 #define _IROBOT_SENSORPOLL_H
00015 
00016 #include "irobotUART.h"
00017 #include "irobotSensorTypes.h"
00018 
00019 /// Request sensor packet from iRobot and wait for response
00020 /// \warning Polling requires both transmitting and receiving
00021 ///             to the UART port, hence these functions are *not*
00022 ///             thread safe with regard to other UART functions.
00023 /// \return error code
00024 int32_t irobotSensorPollSensorGroup6(
00025     const irobotUARTPort_t          port,               ///< [in] iRobot UART port
00026     irobotSensorGroup6_t * const    sensorGroup6        ///< [in] Sensor group
00027 );
00028 
00029 #endif // _IROBOT_SENSORPOLL_H