enki/BluetoothBase.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2008 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://lis.epfl.ch/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_BLUETOOTHBASE_H
#define __ENKI_BLUETOOTHBASE_H

#include "PhysicalEngine.h"

#include <valarray>
#include <list>
#include <queue>


namespace Enki
{
    class Bluetooth;


    class BluetoothBase
    {
    protected:
        struct BtClients
        {
            Bluetooth* owner;
            unsigned address;
        };
        
        struct Connections
        {
            Bluetooth* source;
            unsigned destaddress;
        };
        
        struct Transmissions
        {
            Bluetooth* source;
            unsigned address;
            char* data;
            unsigned size;
        };
        
        std::list<BtClients> clients;
        std::queue<Connections> connectbuffer;
        std::queue<Connections> disconnectbuffer;
        std::queue<Transmissions> transmissions;
        
        bool bbSendDataTo(Bluetooth* source, unsigned address, char* data, unsigned size);
        bool bbConnectTo(Bluetooth* source,unsigned address);
        bool bbCloseConnection(Bluetooth* source,unsigned address);
        
        Bluetooth* getAddress(unsigned address);
        bool checkDistance(Bluetooth* source, Bluetooth* destination);
        
    public:
        enum Errors
        {
            BT_NO_ERROR = 0,
            ADDRESS_UNKNOWN = 1,
            DISTANCE_EXCEEDED = 2,
            TOO_MANY_CONNECTIONS = 3,
            RECEPTION_BUFFER_FULL = 4
        };


        BluetoothBase();
        virtual ~BluetoothBase();
        
        bool registerClient(Bluetooth* owner, unsigned address);
        bool removeClient(Bluetooth* owner);
        
        void sendDataTo(Bluetooth* source, unsigned address, char* data, unsigned size);
        void connectTo(Bluetooth* source,unsigned address);
        void closeConnection(Bluetooth* source,unsigned address);
        
        virtual void step(double dt, World *w);
    };

}

#endif

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