vex_device.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2017, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_device.h                                                */
/*    Author:     James Pearman                                               */
/*    Created:    21 Nov 2016                                                 */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_DEVICE_CLASS_H
#define   VEX_DEVICE_CLASS_H
 
/*-----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
 
/*-----------------------------------------------------------------------------*/
/*-----------------------------------------------------------------------------*/
namespace vex {
  class device  {
    private:
      int32_t         _lastpolltime;
      int16_t         _pollinterval;
 
    protected:
      int16_t         _index;
      void            setPollInterval( int32_t value );
      bool            pollValid( bool bSave );
    
    public:
      device();
      device( int32_t index );  
      ~device();
      
      IQ_DeviceType   type();
      int32_t         index();
      void            init( int32_t index );
      virtual bool    installed();
      virtual int32_t value();
      
      int32_t         readDigitalPin();
      int32_t         readAnalogPin();
  };
};
 
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// This version of safearray now returns element 0 for out of bounds access
// The only place we actually use this on IQ is in vision class
// need to save memory !
namespace vex {
  template <class T, int len> class safearray {
    private:
      int length;
  
    protected:
      T arr[len];
  
    public:
      safearray(){ length = len;
      };
      ~safearray(){};
  
      T &operator[]( int i );
      int getLength() { return length; };
  };
 
  template <class T, int len> T &safearray<T, len>::operator[](int i)
  {
    // bounds check the array index
    if( i < 0 || i > (length-1) ) {
      return( arr[0] );
    }
    else {
      return( arr[i] );
    }
  }
};
 
/*-----------------------------------------------------------------------------*/
/*-----------------------------------------------------------------------------*/
namespace vex {
  class devices {
    private:
      //safearray<device, IQ_MAX_DEVICE_PORTS> data;
 
    public:
      devices();  
      ~devices();
 
      //device &operator[]( int i ) {
      //  return( data[i] );
      //}
      IQ_DeviceType   type( int32_t index );
 
      int32_t         number();
 
      int32_t         numberOf( IQ_DeviceType type );
  };
};
 
#endif // VEX_DEVICE_CLASS_H