irobotSensor.h

00001 /** \file irobotSensor.h
00002  *
00003  * iRobot Create sensor operations.
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 _IROBOTSENSOR_H
00014 #define _IROBOTSENSOR_H
00015 
00016 #include "irobotSensorTypes.h"
00017 #include "irobotError.h"
00018 #include "xqueue.h"
00019 
00020 /// read a sensor from a data queue
00021 /// \return error code
00022 int32_t irobotReadBumps_Wheeldrops(
00023     xqueue_t * const queue,                                 ///< [in/out] queue containing sensor packet
00024     irobotBumps_WheelDrops_t * const bumps_wheelDrops       ///< [out] sensor value
00025 );
00026 
00027 /// read a sensor from a data queue
00028 /// \return error code
00029 int32_t irobotReadButtons(
00030     xqueue_t * const queue,         ///< [in/out] queue containing sensor packet
00031     irobotButtons_t * const buttons ///< [out] sensor value
00032 );
00033 
00034 /// read a sensor from a data queue
00035 /// \return error code
00036 int32_t irobotReadCargoBayDigitalInputs(
00037     xqueue_t * const queue,                             ///< [in/out] queue containing sensor packet
00038     irobotCargoBayDigitalInputs_t * const digitalInputs ///< [out] sensor value
00039 );
00040 
00041 /// read a sensor from a data queue
00042 /// \return error code
00043 int32_t irobotReadChargingSourcesAvailable(
00044     xqueue_t * const queue,                             ///< [in/out] queue containing sensor packet
00045     irobotChargingSourcesAvailable_t * const sources    ///< [out] sensor value
00046 );
00047 
00048 /// read a sensor from a data queue
00049 /// \return error code
00050 int32_t irobotReadLowSideDriver_WheelOvercurrent(
00051     xqueue_t * const queue,                                     ///< [in/out] queue containing sensor packet
00052     irobotLowSideDriver_WheelOvercurrent_t * const lsd_wo       ///< [out] sensor value
00053 );
00054 
00055 /// read a sensor group from a data queue
00056 /// \return error code
00057 int32_t irobotReadSensorGroup0(
00058     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00059     irobotSensorGroup0_t * const sensorGroup0   ///< [out] sensor value
00060 );
00061 
00062 /// read a sensor group from a data queue
00063 /// \return error code
00064 int32_t irobotReadSensorGroup1(
00065     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00066     irobotSensorGroup1_t * const sensorGroup1   ///< [out] sensor value
00067 );
00068 
00069 /// read a sensor group from a data queue
00070 /// \return error code
00071 int32_t irobotReadSensorGroup2(
00072     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00073     irobotSensorGroup2_t * const sensorGroup2   ///< [out] sensor value
00074 );
00075 
00076 /// read a sensor group from a data queue
00077 /// \return error code
00078 int32_t irobotReadSensorGroup3(
00079     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00080     irobotSensorGroup3_t * const sensorGroup3   ///< [out] sensor value
00081 );
00082 
00083 /// read a sensor group from a data queue
00084 /// \return error code
00085 int32_t irobotReadSensorGroup4(
00086     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00087     irobotSensorGroup4_t * const sensorGroup4   ///< [out] sensor value
00088 );
00089 
00090 /// read a sensor group from a data queue
00091 /// \return error code
00092 int32_t irobotReadSensorGroup5(
00093     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00094     irobotSensorGroup5_t * const sensorGroup5   ///< [out] sensor value
00095 );
00096 
00097 /// read a sensor group from a data queue
00098 /// \return error code
00099 int32_t irobotReadSensorGroup6(
00100     xqueue_t * const queue,                     ///< [in/out] queue containing sensor packet
00101     irobotSensorGroup6_t * const sensorGroup6   ///< [out] sensor value
00102 );
00103 
00104 /// print all irobot sensors
00105 /// \return error code
00106 int32_t irobotPrintSensorGroup6(
00107     const irobotSensorGroup6_t * const sensors
00108 );
00109 
00110 
00111 #endif  /// _IROBOTSENSOR_H