enki/interactions/Bluetooth.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_BLUETOOTH_H
#define __ENKI_BLUETOOTH_H

#include "../PhysicalEngine.h"
#include "../Interaction.h"


#include <queue>

namespace Enki
{   


    class Bluetooth: public GlobalInteraction
    {
protected:
        friend class BluetoothBase;
        
        double range;
        
        unsigned nbConnections;
        unsigned maxConnections;
        unsigned address;
        
        char** rxBuffer;
        char** txBuffer;
        unsigned rxBufferSize;
        unsigned txBufferSize;
        bool* receptionFlags;
        unsigned* destAddress;
        unsigned* sizeToSend;
        unsigned* sizeReceived;
        
        bool updateAddress;
        bool randomAddress;
        
        std::queue<unsigned> connectToRobot;
        std::queue<unsigned> closeConnectionToRobot;
        
        unsigned* transmissionError;
        char connectionError;
        char disconnectionError;
        
        void cancelRxBuffer();
        void cancelTxBuffer();
        void cancelAllData();
        void initAllData();
        
public:
        enum Errors
        {
            BT_NO_ERROR = 0,
            ADDRESS_UNKNOWN = 1,
            DISTANCE_EXCEEDED = 2,
            TOO_MANY_CONNECTIONS = 3,
            RECEPTION_BUFFER_FULL = 4
        };

        Bluetooth(Robot* owner,double range, unsigned maxConnections, unsigned rxbuffersize, unsigned txbuffersize,unsigned address);
        virtual ~Bluetooth();
        
        virtual void step(double dt, World *w);
        
        void setAddress(unsigned address);
        unsigned getAddress();
        
        void connectTo(unsigned address);
        bool closeConnection(unsigned index);
        
        bool didIReceive();
        bool didIReceive(unsigned source);
        bool* getReceptionFlags();
        const char* getRxBuffer(unsigned source);
        unsigned getSizeReceived(unsigned source);
        
        bool sendDataTo(unsigned dest,char* data,unsigned size);
        unsigned* getTransmissionError();
        bool isThereTxError();
        
        unsigned getConnectionError();
        unsigned getDisconnectionError();
        
        unsigned getTxBufferSize();
        void changeTxBufferSize(unsigned size);
        
        unsigned getRxBufferSize();
        void changeRxBufferSize(unsigned size);
        
        unsigned getMaxConnections();
        void changeMaxConnections(unsigned size);
        
        unsigned getNbConnections();
        unsigned* getConnectedAddresses();
        
    };
    
}

#endif

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