aibolib.h

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// ***************************************************************************
//                           aibolib.h
//
//    copyright            : (C) 2003-2004 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************

#ifndef AIBOLIB_H
#define AIBOLIB_H


//std includes
#include <math.h>

//AIBO includes
#include <OPENR/OObject.h>
#include <OPENR/OSubject.h>
#include <OPENR/OObserver.h>
#include <OPENR/OObserverVector.h>
#include <OPENR/ODataFormats.h>
#include <OPENR/OPENRAPI.h>
#include <OPENR/OSyslog.h>
#include <MCOOP.h>

#include <Types.h>


#include "aiboled.h"
#include "aibosensor.h"
#include "aibocam.h"
//#include "aibojoint.h"
#include "aiboleg.h"
#include "aibohead.h"
#include "aibosound.h"

class Aibo: public OObject {

 public:
  
  Aibo();
  virtual ~Aibo(){}

  virtual OStatus DoInit   (const OSystemEvent& event) = 0;

  virtual OStatus DoStart  (const OSystemEvent& event) = 0;

  virtual OStatus DoStop   (const OSystemEvent& event) = 0;

  virtual OStatus DoDestroy(const OSystemEvent& event) = 0;

  int MotorPowerOn();

  int MotorPowerOff();

#ifndef RP

  static unsigned long Aibo::GetCurrentSystemTime();
  
  static unsigned long Aibo::GetTimeDiff(unsigned long t);
#endif    

 protected:
  void WaitReturnKey()const ;
  
  //OPrimitiveID GetPrimitiveID(const char* primitiveLocator);

  // void OpenAllPrimitives();
  
  //void CreateCommandVectors();

  //Variables-----------------------------------------------------------
  //AiboSensor Sensors;
  
  //AiboCam Camera;

  //AiboLed Leds;
  
  //AiboHead Head;
 
  //AiboLeg Legs;
  
  //AiboSound Sounds;
};


// *******************************
// *                             *
// *******************************
inline int Aibo::MotorPowerOn()
{
  if( OPENR::SetMotorPower(opowerON) == oSUCCESS)
    return 1;
  else
    return 0;
};


// *******************************
// *                             *
// *******************************
inline int Aibo::MotorPowerOff()
{
  if( OPENR::SetMotorPower(opowerOFF) == oSUCCESS)
    return 1;
  else
    return 0;
};


#ifndef RP
// *******************************
// *                             *
// *******************************
inline unsigned long Aibo::GetCurrentSystemTime() 
{
  SystemTime sysTime;
  GetSystemTime(&sysTime);
  return (sysTime.seconds * 1000 + sysTime.useconds / 1000);
}

// *******************************
// *                             *
// *******************************
inline unsigned long Aibo::GetTimeDiff(unsigned long t)
{
  return(GetCurrentSystemTime()-t);
};
#endif

#endif //define AIBOLIB_H

---

Tim Baier AiboLib v0.2.4

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