mbase/motorpacket.h

/*
 * $Id: motorpacket.h 4308 2007-12-13 20:23:08Z gerkey $
 *
 * part of the P2OS parser.  methods for filling and parsing server
 * information packets (mbasedriverMotorPackets)
 */

#ifndef _mbasedriverMotorPacket_H
#define _mbasedriverMotorPacket_H

#include <limits.h>

#include "mbasedriver.h"


class mbasedriverMotorPacket 
{
        private:
                int param_idx; // index of our robot's data in the parameter table

        public:
                // these values are returned in every standard mbasedriverMotorPacket
                bool lwstall, rwstall;
                int battery;
                short angle, lvel, rvel;
                int xpos, ypos;

                bool Parse( unsigned char *buffer, int length );
                void Print();
                void Fill(player_mbasedriver_data_t* data);

                mbasedriverMotorPacket(int idx) 
                {
                        param_idx = idx;
                        
                        xpos = INT_MAX;
                        ypos = INT_MAX;
                }
};

#endif