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BasicFunktions.hpp
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BasicFunktions.hpp
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#ifndef BASICFUNKTIONS_HPP
#define BASICFUNKTIONS_HPP
#include "Timer.hpp"
#include "Network.hpp"
#include "Singleton.hpp"
#include "KnowledgeBase.hpp"
#include "Seriell.hpp"
#include "BasicCalculations.hpp"
#include "NetworkProtocol.hpp"
#include "MotorController.hpp"
#include "TiM551Driver.hpp"
#include "Tracer.hpp"
#include "Localisation.hpp"
#include <iostream>
#define g_pCBasicFunktions CBasicFunktions::Get()
class CBasicFunktions : public TSingleton<CBasicFunktions>
{
public:
CBasicFunktions ();
void UpdatePhotoSensors ();
void CountLoopTicks ();
void UpdateLaserScanner ();
void ManageNetwork ();
void UpdateBatteryVoltage ();
void MatchScans ();
private:
double m_nTimeStampSinceLastCallPhotoSensorsUpdate;
double m_nTimeStampSinceLastCallLoopTicks;
double m_nTimeStampSinceLastCallSensorUpdateOdometry;
double m_nTimeStampSinceLastCallSensorUpdateLaserScanner;
double m_nTimeStampSinceLastCallNetwork;
double m_nTimeStampSinceLastBatteryvoltage;
double m_nTimeStampSinceLastScanMatching;
int m_nLoopTicks;
CTiM551Driver *LaserScanner;
CNetworkProtocol NetworkProtocol;
CLocalisation Localisation;
};
#endif