LoBumps.h

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/**
   \file  Robots/LoBot/irccm/LoBumps.h
   \brief Low-level reactions for bump sensors.

   This file defines an API for examining the iRobot Create's bump sensor
   states and taking appropriate action to avoid whatever lobot has
   bumped into. Additionally, this module provides an API for sending the
   bump sensor acknowledgement to the high level.
*/

/*
 ************************************************************************
 * The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   *
 * by the University of Southern California (USC) and the iLab at USC.  *
 * See http:  iLab.usc.edu for information about this project.          *
 *                                                                      *
 * Major portions of the iLab Neuromorphic Vision Toolkit are protected *
 * under the U.S. patent ``Computation of Intrinsic Perceptual Saliency *
 * in Visual Environments, and Applications'' by Christof Koch and      *
 * Laurent Itti, California Institute of Technology, 2001 (patent       *
 * pending; application number 09/912,225 filed July 23, 2001; see      *
 * http:  pair.uspto.gov/cgi-bin/final/home.pl for current status).     *
 ************************************************************************
 * This file is part of the iLab Neuromorphic Vision C++ Toolkit.       *
 *                                                                      *
 * The iLab Neuromorphic Vision C++ Toolkit is free software; you can   *
 * redistribute it and/or modify it under the terms of the GNU General  *
 * Public License as published by the Free Software Foundation; either  *
 * version 2 of the License, or (at your option) any later version.     *
 *                                                                      *
 * The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  *
 * that it will be useful, but WITHOUT ANY WARRANTY; without even the   *
 * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      *
 * PURPOSE.  See the GNU General Public License for more details.       *
 *                                                                      *
 * You should have received a copy of the GNU General Public License    *
 * along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   *
 * to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   *
 * Boston, MA 02111-1307 USA.                                           *
 ************************************************************************
*/

/*
   Primary maintainer for this file: Manu Viswanathan mviswana usc edu
   $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/irccm/LoBumps.h $
   $Id: LoBumps.h 12641 2010-01-24 18:45:03Z mviswana $
*/

#ifndef LOBOT_IRCCM_BUMPS_DOT_H
#define LOBOT_IRCCM_BUMPS_DOT_H

/*------------------------- LOW-LEVEL ACTIONS -------------------------*/

/// This function reacts to the iRobot Create's bump sensors. If the bump
/// sensors are indeed active, it sets a flag to indicate to the main
/// program that a bumps acknowledgement needs to be sent to the high
/// level.
void lo_bumps(void) ;

/*------------------- BUMP SENSOR ACKNOWLEDGEMENTS --------------------*/

/// This function returns true if Robolocust's low-level Command Module
/// control program reacted to the bump sensors and needs to send an
/// acknowledgement to the high level letting it know what the low level
/// did.
char lo_bumps_pending(void) ;

/// Send pending bumps acknowledgement to the high level.
void lo_send_bumps(void) ;

/*---------------------------------------------------------------------*/

#endif