Go to the documentation of this file.00001 #ifndef _SONARCONT_H
00002 #define _SONARCONT_H
00003
00004 #include "sonar.h"
00005
00013 class CSonarController
00014 {
00015 public:
00019 CSonarController();
00020
00033 CSonarController(unsigned int numSonar, CSonar *sonarArray[], unsigned int fireIntervalMs);
00034
00035 ~CSonarController();
00036
00049 int SetFiring(unsigned int numSonar, CSonar *sonarArray[], unsigned int fireIntervalMs);
00050
00055 int EndFiring();
00056
00063 int GetVals(int vals[]);
00064
00065 private:
00066 void SetSignal(bool set);
00067 void SetAlarm(int intervalMs);
00068
00069 static void SigHandler(int signum);
00070
00071 static unsigned int m_currentIndex;
00072 static unsigned int m_numSonar;
00073 static CSonar *m_sonarArray[QEG_NUM_IO];
00074 };
00075
00076 #endif
