kilobotoverheadcontroller.h

#ifndef KILOBOTOVERHEADCONTROLLER_H
#define KILOBOTOVERHEADCONTROLLER_H
 
#include <QObject>
#include <assert.h>
#include <math.h>
#include "Kilobot/kilobot.h"
#include <QList>
#include <QPushButton>
#include<QTimer>
 
// Include for communication with the OHC
#include <stdint.h>
#include "ohc/serialwin.h"
#include "ohc/serialconn.h"
#include "ohc/calibrate.h"
 
 
 
class KilobotOverheadController : public QObject
{
    Q_OBJECT
public:
    explicit KilobotOverheadController(QObject *parent = 0);
    ~KilobotOverheadController();
 
signals:
    void errorMessage(QString);
    void setStopButton(bool);
    void SignalMsgsQueueState(bool);
 
public slots:
    void identifyKilobot(uint8_t id);
    void broadcastMessage(kilobot_broadcast);
    void signalKilobot(kilobot_message);
    void serialUpdateStatus(QString);
    void showError(QString);
    void SendMsgsQueueState(bool state){emit SignalMsgsQueueState(state);}
 
 
    void clearMsgQueue(){this->serial_conn->clearQueue();}
 
    // connect / disconnect
    void toggleConnection();
 
    // access the build in kilobot commands for all kilobots
    void resetKilobots();
    void sleepKilobots();
    void runKilobots();
    void stopSending();
    void checkVoltage();
 
    // program loading
    void chooseProgramFile();
    void uploadProgram();
 
    // timed messages
    void sendBatch();
 
    void sendDataMessagePub(uint8_t *payload, uint8_t type);
 
private:
 
    // PRIVATE MEMBERS
 
    int device;
    bool sending;
    bool connected;
 
    SerialConnection *serial_conn;
 
    QString serial_status;
 
    QString program_file;
 
    // PRIVATE METHODS
 
    void updateStatus();
 
    void sendMessage(int);
    void sendDataMessage(uint8_t *, uint8_t);
 
    QVector < kilobot_message > message_q;
 
    QTimer timer;
    QTime lastMsgTime;
 
};
 
 
#endif // KILOBOTOVERHEADCONTROLLER_H