brick.h

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/* Copyright 2013 - 2016 Yurii Litvinov and CyberTech Labs Ltd.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License. */

#pragma once

#include <QtCore/QHash>
#include <QtCore/QScopedPointer>

#include <trikKernel/configurer.h>
#include <trikKernel/differentOwnerPointer.h>

#include "brickInterface.h"

namespace trikHal {
class HardwareAbstractionInterface;
}

namespace trikControl {

class AnalogSensor;
class Battery;
class ColorSensor;
class DigitalSensor;
class Display;
class Encoder;
class EventDevice;
class Fifo;
class Gamepad;
class GyroSensor;
class MspCommunicatorInterface;
class Keys;
class Led;
class LineSensor;
class ModuleLoader;
class ObjectSensor;
class SoundSensor;
class PowerMotor;
class PwmCapture;
class RangeSensor;
class ServoMotor;
class TonePlayer;
class VectorSensor;
class CameraDeviceInterface;
class I2cCommunicator;

class /* TRIKCONTROL_EXPORT for ScriptRunner/PythonQt */ TRIKCONTROL_EXPORT Brick : public BrickInterface
{
    Q_OBJECT

public:
    Brick(const QString &systemConfig, const QString &modelConfig, const QString &mediaPath);

    Brick(trikHal::HardwareAbstractionInterface &hardwareAbstraction, const QString &systemConfig
            , const QString &modelConfig, const QString &mediaPath);

    ~Brick() override;

    void reset() override;

    DisplayWidgetInterface *graphicsWidget() override;

    QString configVersion() const override;

public slots:
    void configure(const QString &portName, const QString &deviceName) override;

    void playSound(const QString &soundFileName) override;

    void playTone(int hzFreq, int msDuration) override;

    void say(const QString &text) override;

    void stop() override;

    MotorInterface *motor(const QString &port) override;

    PwmCaptureInterface *pwmCapture(const QString &port) override;

    SensorInterface *sensor(const QString &port) override;

    QStringList motorPorts(MotorInterface::Type type) const override;

    QStringList pwmCapturePorts() const override;

    QStringList sensorPorts(SensorInterface::Type type) const override;

    QStringList encoderPorts() const override;

    VectorSensorInterface *accelerometer() override;

    GyroSensorInterface *gyroscope() override;

    LineSensorInterface *lineSensor(const QString &port) override;

    ColorSensorInterface *colorSensor(const QString &port) override;

    ObjectSensorInterface *objectSensor(const QString &port) override;

    I2cDeviceInterface *i2c(int bus, int address) override;

    QVector<uint8_t> getStillImage() override;

    SoundSensorInterface *soundSensor(const QString &port) override;

    EncoderInterface *encoder(const QString &port) override;

    BatteryInterface *battery() override;

    KeysInterface *keys() override;

    DisplayInterface *display() override;

    LedInterface *led() override;

    GamepadInterface *gamepad() override;

    FifoInterface *fifo(const QString &port) override;

    MarkerInterface *marker() override;

    EventDeviceInterface *eventDevice(const QString &deviceFile) override;

    void stopEventDevice(const QString &deviceFile) override;

private:
    Brick(const trikKernel::DifferentOwnerPointer<trikHal::HardwareAbstractionInterface> &hardwareAbstraction
            , const QString &systemConfig
            , const QString &modelConfig
            , const QString &mediaPath);

    void shutdownDevice(const QString &port);

    void createDevice(const QString &port);

    trikKernel::DifferentOwnerPointer<trikHal::HardwareAbstractionInterface> mHardwareAbstraction;

    QScopedPointer<MspCommunicatorInterface> mMspCommunicator;
    QScopedPointer<ModuleLoader> mModuleLoader;

    QScopedPointer<VectorSensor> mAccelerometer;
    QScopedPointer<GyroSensor> mGyroscope;
    QScopedPointer<Battery> mBattery;
    QScopedPointer<Keys> mKeys;
    QScopedPointer<Display> mDisplay;
    QScopedPointer<Led> mLed;
    QScopedPointer<Gamepad> mGamepad;
    QScopedPointer<TonePlayer> mTonePlayer;
    QScopedPointer<CameraDeviceInterface> mCamera;

    QHash<QString, ServoMotor *> mServoMotors;  // Has ownership.
    QHash<QString, PwmCapture *> mPwmCaptures;  // Has ownership.
    QHash<QString, PowerMotor *> mPowerMotors;  // Has ownership.
    QHash<QString, AnalogSensor *> mAnalogSensors;  // Has ownership.
    QHash<QString, Encoder *> mEncoders;  // Has ownership.
    QHash<QString, DigitalSensor *> mDigitalSensors;  // Has ownership.
    QHash<QString, RangeSensor *> mRangeSensors;  // Has ownership.
    QHash<QString, LineSensor *> mLineSensors;  // Has ownership.
    QHash<QString, ColorSensor *> mColorSensors;  // Has ownership.
    QHash<QString, ObjectSensor *> mObjectSensors;  // Has ownership.
    QHash<QString, SoundSensor *> mSoundSensors;  // Has ownership.
    QHash<QString, Fifo *> mFifos;  // Has ownership.
    QHash<QString, EventDeviceInterface *> mEventDevices;  // Has ownership.
    QHash<uint16_t, I2cDeviceInterface *> mI2cDevices;  // Has ownership.

    QString mPlayWavFileCommand;
    QString mPlayMp3FileCommand;
    QString mMediaPath;

    trikKernel::Configurer mConfigurer;
};

}