aiboled.h

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// ***************************************************************************
//                           aiboled.h
//
//    copyright            : (C) 2003 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************

#ifndef AIBOLED_H
#define AIBOLED_H


//std includes
#include <math.h>

//AIBO includes
#include <OPENR/ODataFormats.h>
#include <OPENR/OObject.h>
#include <OPENR/OPENRAPI.h>
#include <OPENR/OSyslog.h>
#include <Types.h>




static const int NUM_LEDS = 20;

enum LED{
    FL, 
    CL, 
    BL, 
    FR, 
    CR, 
    BR, 
    BC, 
    FA, 
    FB, 
    FC, 
    HL, 
    B3, 
    B2, 
    B1, 
    B4, 
    B5, 
    B6, 
    TC, 
    TL, 
    TR  
};

static const char* const LED_ARRAY[] = {
  
  // Head Lights
  "PRM:/r1/c1/c2/c3/l1-LED2:l1",       //front left
  "PRM:/r1/c1/c2/c3/l2-LED2:l2",       //center left
  "PRM:/r1/c1/c2/c3/l3-LED2:l3",       //back left
  "PRM:/r1/c1/c2/c3/l4-LED2:l4",       //front right
  "PRM:/r1/c1/c2/c3/l5-LED2:l5",       //center right
  "PRM:/r1/c1/c2/c3/l6-LED2:l6",       //back right
  "PRM:/r1/c1/c2/c3/l7-LED2:l7",       //back center (head indicator)
  
   //Face lights
  "PRM:/r1/c1/c2/c3/l8-LED2:l8",       //front light B
  "PRM:/r1/c1/c2/c3/l9-LED2:l9",       //front light A
  "PRM:/r1/c1/c2/c3/la-LED2:la",       //front light C
  "PRM:/r1/c1/c2/c3/lb-LED2:lb",        //Retractable head light

  //Back lights
  "PRM:/r6/l1-LED2:l1",                //first from left
  "PRM:/r6/l2-LED2:l2",                //second from left
  "PRM:/r6/l3-LED2:l3",                //third from left
  "PRM:/r6/l4-LED2:l4",                //fourth from left
  "PRM:/r6/l5-LED2:l5",                //fifth from left
  "PRM:/r6/l6-LED2:l6",                //sixth from left
  
  //Tail lights
  "PRM:/r6/l7-LED2:l7",                //center
  "PRM:/r6/l8-LED2:l8",                //right
  "PRM:/r6/l9-LED2:l9"                 //left
 };

class AiboLed {
  
 public:
  AiboLed();
  
  virtual ~AiboLed(){};
  

  void OpenPrimitives();

 
  RCRegion* FindFreeRegion() const;
  
  int FindFreeRegionIndex() const;
  
  RCRegion* GetRegion(int index = 0);

  int GetValidRegions() const;

  void NewCommandVectorData(int numVecs = 1);
  

  //  void NewCommandVectorData();

  void SetCommandVector(int index, OCommandVectorData *vec);


  void SetLed(LED led, bool on, int time, int cmdVecIndex = 0);
  

  void SetLed(LED led, int time, int cmdVecIndex);
  
  
  void SetLed(LED led, int time, bool on = true,int cmdVecIndex = 0);
  
  void SetLedTime(LED led, int time, bool on = true, int cmdVecIndex = 0);
  
  

  void SetHeadLight(int time, bool on = true, int cmdVecIndex = 0);
  

  static const int MaxLedRegions = 3;

  RCRegion*         Region[MaxLedRegions];

 protected:
  
  
  int LedIndex[NUM_LEDS];
  
  int ValidRegions;
  
  OPrimitiveID      LedID[NUM_LEDS];
 
  
};

// ******************************************
// **                                      **
// ******************************************
inline void AiboLed::SetHeadLight(int time, bool on, int cmdVecIndex)
{
  SetLed(HL, time, on, cmdVecIndex);
};
  

// ******************************************
// **                                      **
// ******************************************
inline RCRegion* AiboLed::GetRegion(int index)
{
    return Region[index];
};

// ******************************************
// **                                      **
// ******************************************
inline int AiboLed::GetValidRegions() const
{
  return ValidRegions;
};


#endif //define AIBOLED_H

---

Tim Baier AiboLib v0.2.4

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