/* * Copyright (C) 2018 dimercur * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 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, see . */ #ifndef __MESSAGES_H__ #define __MESSAGES_H__ #include #include "img.h" /** * Message ID defined for system communication * * @brief List of available message ID * */ typedef enum { //Generic messages MESSAGE_EMPTY = 0, MESSAGE_LOG, // Message containing answer (after robot command, or for monitor) MESSAGE_ANSWER_ACK, MESSAGE_ANSWER_NACK, MESSAGE_ANSWER_ROBOT_TIMEOUT, MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND, MESSAGE_ANSWER_ROBOT_ERROR, MESSAGE_ANSWER_COM_ERROR, // messages for serial communication with robot MESSAGE_ROBOT_COM_OPEN, MESSAGE_ROBOT_COM_CLOSE, // Messages specific to server MESSAGE_MONITOR_LOST, // Messages for camera MESSAGE_CAM_OPEN, MESSAGE_CAM_CLOSE, MESSAGE_CAM_ASK_ARENA, MESSAGE_CAM_ARENA_CONFIRM, MESSAGE_CAM_ARENA_INFIRM, MESSAGE_CAM_POSITION_COMPUTE_START, MESSAGE_CAM_POSITION_COMPUTE_STOP, MESSAGE_CAM_POSITION, MESSAGE_CAM_IMAGE, // Messages for robot MESSAGE_ROBOT_PING, MESSAGE_ROBOT_RESET, MESSAGE_ROBOT_START_WITH_WD, MESSAGE_ROBOT_START_WITHOUT_WD, MESSAGE_ROBOT_RELOAD_WD, MESSAGE_ROBOT_MOVE, MESSAGE_ROBOT_TURN, MESSAGE_ROBOT_GO_FORWARD, MESSAGE_ROBOT_GO_BACKWARD, MESSAGE_ROBOT_GO_LEFT, MESSAGE_ROBOT_GO_RIGHT, MESSAGE_ROBOT_STOP, MESSAGE_ROBOT_POWEROFF, MESSAGE_ROBOT_BATTERY_GET, MESSAGE_ROBOT_BATTERY_LEVEL, MESSAGE_ROBOT_STATE_GET, MESSAGE_ROBOT_STATE_NOT_BUSY, MESSAGE_ROBOT_STATE_BUSY } MessageID; typedef enum { BATTERY_UNKNOWN=-1, BATTERY_EMPTY=0, BATTERY_LOW, BATTERY_FULL } BatteryLevel; using namespace std; /** * Base class for messaging * * @brief Base class for messaging * */ class Message { public: /** * Create a new, empty message */ Message(); /** * Create a new, empty message */ Message(MessageID id); /** * Destroy message */ virtual ~Message(); /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ virtual string ToString(); /** * Allocate a new mesage and copy contents of current message * @return A message, copy of current */ virtual Message* Copy(); /** * Compare message ID * @param id Id to compare message to * @return true if id is equal to message id, false otherwise */ bool CompareID(MessageID id) { return (this->messageID == id) ? true:false; } /** * Get message ID * @return Current message ID */ MessageID GetID() { return messageID; } /** * Set message ID * @param id Message ID */ virtual void SetID(MessageID id); /** * Comparison operator * @param msg Message to be compared * @return true if message are equal, false otherwise */ virtual bool operator==(const Message& msg) { return (messageID == msg.messageID); } /** * Difference operator * @param msg Message to be compared * @return true if message are different, false otherwise */ virtual bool operator!=(const Message& msg) { return !(messageID == msg.messageID); } protected: /** * Message identifier (@see MessageID) */ MessageID messageID; /** * Verify if message ID is compatible with current message type * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ virtual bool CheckID(MessageID id); }; /** * Message class for holding float value, based on Message class * * @brief Float message class * */ class MessageInt : public Message { public: /** * Create a new, empty float message */ MessageInt(); /** * Create a new float message, with given ID and value * @param id Message ID * @param val Message value * @throw std::runtime_error if message ID is incompatible with float data */ MessageInt(MessageID id, int val); /** * Set message ID * @param id Message ID * @throw std::runtime_error if message ID is incompatible with float data */ void SetID(MessageID id); /** * Get message value (int) * @return int value */ int GetValue() { return value; } /** * Set message value (int) * @param val int value to store in message */ void SetValue(int val) { this->value = val; } /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ string ToString(); /** * Allocate a new mesage and copy contents of current message * @return A message, copy of current */ Message* Copy(); /** * Comparison operator * @param msg Message to be compared * @return true if message are equal, false otherwise */ virtual bool operator==(const MessageInt& msg) { return ((messageID == msg.messageID) && (value == msg.value)); } /** * Difference operator * @param msg Message to be compared * @return true if message are different, false otherwise */ virtual bool operator!=(const MessageInt& msg) { return !((messageID == msg.messageID) && (value == msg.value)); } protected: /** * Message integer value */ int value; /** * Verify if message ID is compatible with current message type * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ bool CheckID(MessageID id); }; /** * Message class for holding string value, based on Message class * * @brief String message class * */ class MessageString : public Message { public: /** * Create a new, empty string message */ MessageString(); /** * Create a new string message, with given ID and string * @param id Message ID * @param s Message string * @throw std::runtime_error if message ID is incompatible with string data */ MessageString(MessageID id, string s); /** * Set message ID * @param id Message ID * @throw std::runtime_error if message ID is incompatible with string data */ void SetID(MessageID id); /** * Get message string * @return String */ string GetString() { return s; } /** * Set message string * @param s String to store in message */ void SetString(string s) { this->s = s; } /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ string ToString(); /** * Allocate a new message and copy contents of current message * @return A message, copy of current */ Message* Copy(); /** * Comparison operator * @param msg Message to be compared * @return true if message are equal, false otherwise */ virtual bool operator==(const MessageString& msg) { return ((messageID == msg.messageID) && (s == msg.s)); } /** * Difference operator * @param msg Message to be compared * @return true if message are different, false otherwise */ virtual bool operator!=(const MessageString& msg) { return !((messageID == msg.messageID) && (s == msg.s)); } protected: /** * Message content */ string s; /** * Verify if message ID is compatible with current message type * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ bool CheckID(MessageID id); }; /** * Message class for holding image, based on Message class * * @brief Image message class * */ class MessageImg : public Message { public: /** * Create a new, empty image message */ MessageImg(); /** * Create a new image message, with given ID and boolean value * @param id Message ID * @param image Pointer to image * @throw std::runtime_error if message ID is incompatible with image message */ MessageImg(MessageID id, Img* image); /** * Destroy Image message */ virtual ~MessageImg(); /** * Set message ID * @param id Message ID * @throw std::runtime_error if message ID is incompatible withimage message */ void SetID(MessageID id); /** * Get message image * @return Pointer to image */ Img* GetImage() { return image; } /** * Set message image * @param image Pointer to image object */ void SetImage(Img* image); /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ string ToString(); /** * Allocate a new message and copy contents of current message * @return A message, copy of current */ Message* Copy(); protected: /** * Message image */ Img* image; /** * Verify if message ID is compatible with current message type * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ bool CheckID(MessageID id); }; /** * Message class for holding position, based on Message class * * @brief Position message class * */ class MessagePosition : public Message { public: /** * Create a new, empty image message */ MessagePosition(); /** * Create a new image message, with given ID and boolean value * @param id Message ID * @param pos Position * @throw std::runtime_error if message ID is incompatible with image message */ MessagePosition(MessageID id, Position& pos); /** * Set message ID * @param id Message ID * @throw std::runtime_error if message ID is incompatible withimage message */ void SetID(MessageID id); /** * Get message image * @return Pointer to image */ Position GetPosition() { return pos; } /** * Set message image * @param image Pointer to image object */ void SetPosition(Position& pos); /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ string ToString(); /** * Allocate a new message and copy contents of current message * @return A message, copy of current */ Message* Copy(); protected: /** * Message position */ Position pos; /** * Verify if message ID is compatible with current message type * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ bool CheckID(MessageID id); }; /** * Message class for holding battery level, based on Message class * * @brief Position message class * */ class MessageBattery : public Message { public: /** * Create a new, empty image message */ MessageBattery(); /** * Create a new image message, with given ID and boolean value * @param id Message ID * @param image Pointer to image * @throw std::runtime_error if message ID is incompatible with image message */ MessageBattery(MessageID id, BatteryLevel level); /** * Set message ID * @param id Message ID * @throw std::runtime_error if message ID is incompatible withimage message */ void SetID(MessageID id); /** * Get message image * @return Pointer to image */ BatteryLevel GetLevel() { return level; } /** * Set message image * @param image Pointer to image object */ void SetLevel(BatteryLevel level); /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ string ToString(); /** * Allocate a new message and copy contents of current message * @return A message, copy of current */ Message* Copy(); protected: /** * Message position */ BatteryLevel level; /** * Verify if message ID is compatible with current message type * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ bool CheckID(MessageID id); }; #endif /* __MESSAGES_H__ */