mrm-action.h

#pragma once
#include <Arduino.h>
#include <mrm-board.h>
#include <mrm-ref-can.h>
 
class Robot;
class ActionBase {
protected:
    BoardId _boardsId;
    bool _preprocessing = true;
    Robot* _robot;
 
public:
    char _shortcut[4];
    char _text[19];
    uint8_t _menuLevel;
 
    ActionBase(Robot* robot, const char shortcut[4], const char text[20], uint8_t menuLevel = 1, BoardId boardsId = ID_ANY);
 
    BoardId boardsId() { return _boardsId; }
 
    bool preprocessing() { return _preprocessing; }
 
    void preprocessingEnd() { _preprocessing = false; }
 
    void preprocessingStart() { _preprocessing = true; }
 
    virtual void performAfter() {}; // todo, not implemented.
 
    virtual void performBefore() {};
 
    virtual void perform() = 0;
};
 
class Action8x8Test : public ActionBase {
    void perform();
public:
    Action8x8Test(Robot* robot) : ActionBase(robot, "led", "Test 8x8", 1, ID_MRM_8x8A) {}
};
 
class ActionBluetoothTest : public ActionBase {
    void perform();
public:
    ActionBluetoothTest(Robot* robot) : ActionBase(robot, "blt", "Test Bluetooth", 16) {}
};
 
class ActionCANBusScan : public ActionBase {
    void perform();
public:
    ActionCANBusScan(Robot* robot) : ActionBase(robot, "can", "Report devices", 1) {}
};
 
class ActionCANBusSniff : public ActionBase {
    void perform();
public:
    ActionCANBusSniff(Robot* robot) : ActionBase(robot, "sni", "Sniff bus toggle", 16) {}
};
 
class ActionCANBusStress : public ActionBase {
    void perform();
public:
    ActionCANBusStress(Robot* robot) : ActionBase(robot, "all", "CAN Bus stress", 16) {}//1 | 2 | 4 | 8 | 16 | 32 | 64 | 128-> in all menus. 0 - in no menu.
};
 
class ActionColorBTest6Colors : public ActionBase {
    void perform();
public:
    ActionColorBTest6Colors(Robot* robot) : ActionBase(robot, "10c", "Test 10 colors", 4, ID_MRM_COL_B) {}
};
 
class ActionColorBTestHSV : public ActionBase {
    void perform();
public:
    ActionColorBTestHSV(Robot* robot) : ActionBase(robot, "hsv", "Test HSV", 4, ID_MRM_COL_B) {}
};
 
class ActionColorIlluminationOff : public ActionBase {
    void perform();
public:
    ActionColorIlluminationOff(Robot* robot) : ActionBase(robot, "lof", "Light off", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorIlluminationOn : public ActionBase {
    void perform();
public:
    ActionColorIlluminationOn(Robot* robot) : ActionBase(robot, "lon", "Light on", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorPatternErase : public ActionBase {
    void perform();
public:
    ActionColorPatternErase(Robot* robot) : ActionBase(robot, "per", "Erase patterns", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorPatternPrint : public ActionBase {
    void perform();
public:
    ActionColorPatternPrint(Robot* robot) : ActionBase(robot, "ppr", "Print patterns", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorPatternRecognize : public ActionBase {
    void perform();
public:
    ActionColorPatternRecognize(Robot* robot) : ActionBase(robot, "pre", "Recognize pattern", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorPatternRecord : public ActionBase {
    void perform();
public:
    ActionColorPatternRecord(Robot* robot) : ActionBase(robot, "par", "Record patterns", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorTest6Colors : public ActionBase {
    void perform();
public:
    ActionColorTest6Colors(Robot* robot) : ActionBase(robot, "6co", "Test 6 colors", 4, ID_MRM_COL_CAN) {}
};
 
class ActionColorTestHSV : public ActionBase {
    void perform();
public:
    ActionColorTestHSV(Robot* robot) : ActionBase(robot, "hsv", "Test HSV", 4, ID_MRM_COL_CAN) {}
};
 
class ActionDeviceIdChange : public ActionBase {
    void perform();
public:
    ActionDeviceIdChange(Robot* robot) : ActionBase(robot, "idc", "Device's id change", 1) {}
};
 
class ActionDoNothing : public ActionBase {
    void perform() {}
public:
    ActionDoNothing(Robot* robot) : ActionBase(robot, "", "No action", 0) {}
};
 
class ActionFirmware : public ActionBase {
    void perform();
public:
    ActionFirmware(Robot* robot) : ActionBase(robot, "fir", "Firmware", 16) {}
};
 
class ActionFPS : public ActionBase {
    void perform();
public:
    ActionFPS(Robot* robot) : ActionBase(robot, "fps", "FPS", 16) {}
};
 
class ActionGoAhead : public ActionBase {
    void perform();
public:
    ActionGoAhead(Robot* robot) : ActionBase(robot, "ahe", "Go ahead", 1) {}
};
 
class ActionI2CTest : public ActionBase {
    void perform();
public:
    ActionI2CTest(Robot* robot) : ActionBase(robot, "i2c", "Test I2C", 16) {}
};
 
class ActionIMUTest : public ActionBase {
    void perform();
public:
    ActionIMUTest(Robot* robot) : ActionBase(robot, "imu", "Test IMU", 1) {}
};
 
class ActionInfo : public ActionBase {
    void perform();
public:
    ActionInfo(Robot* robot) : ActionBase(robot, "inf", "Info", 1) {}
};
 
class ActionIRFinderTest : public ActionBase {
    void perform();
public:
    ActionIRFinderTest(Robot* robot) : ActionBase(robot, "irf", "Test ball analog", 1) {}
};
 
class ActionIRFinderCanTest : public ActionBase {
    void perform();
public:
    ActionIRFinderCanTest(Robot* robot) : ActionBase(robot, "irs", "Test ball every", 1, ID_MRM_IR_FINDER3) {}
};
 
class ActionIRFinderCanTestCalculated : public ActionBase {
    void perform();
public:
    ActionIRFinderCanTestCalculated(Robot* robot) : ActionBase(robot, "irc", "Test ball calcul.", 1, ID_MRM_IR_FINDER3) {}
};
 
class ActionLidar2mTest : public ActionBase {
    void perform();
public:
    ActionLidar2mTest(Robot* robot) : ActionBase(robot, "li2", "Test li. 2m", 1, ID_MRM_LID_CAN_B) {}
};
 
class ActionLidar4mTest : public ActionBase {
    void perform();
public:
    ActionLidar4mTest(Robot* robot) : ActionBase(robot, "li4", "Test li. 4m", 1, ID_MRM_LID_CAN_B2){}   
};
 
class ActionLidarCalibrate : public ActionBase {
    void perform();
public:
    ActionLidarCalibrate(Robot* robot) : ActionBase(robot, "lic", "Cal. lidar", 1) {}
};
 
class ActionLoop : public ActionBase {
    void perform();
public:
    ActionLoop(Robot* robot) : ActionBase(robot, "loo", "Loop test", 1) {}
};
 
class ActionMenuColor : public ActionBase {
    void perform();
public:
    ActionMenuColor(Robot* robot) : ActionBase(robot, "col", "Color (menu)", 1, ID_MRM_COL_CAN) {}
};
 
class ActionMenuColorB : public ActionBase {
    void perform();
public:
    ActionMenuColorB(Robot* robot) : ActionBase(robot, "col", "Color (menu)", 1, ID_MRM_COL_B) {}
};
 
class ActionMenuMain : public ActionBase {
    void perform();
public:
    ActionMenuMain(Robot* robot) : ActionBase(robot, "x", "Escape", 2 | 4 | 8 | 16 | 32 | 64 | 128) {}//2 | 4 | 8 | 16 -> in all menus except 1. 0 - in no menu.
};
 
class ActionMenuReflectance : public ActionBase {
    void perform();
public:
    ActionMenuReflectance(Robot* robot) : ActionBase(robot, "ref", "Reflectance (menu)", 1, ID_MRM_REF_CAN) {}
};
 
class ActionMenuSystem : public ActionBase {
    void perform();
public:
    ActionMenuSystem(Robot* robot) : ActionBase(robot, "sys", "System (menu)", 1) {}
};
 
class ActionMotorTest : public ActionBase {
    void perform();
public:
    ActionMotorTest(Robot* robot) : ActionBase(robot, "mot", "Test motors", 1) {}
};
 
class ActionNodeTest : public ActionBase {
    void perform();
public:
    ActionNodeTest(Robot* robot) : ActionBase(robot, "nod", "Test node", 1, ID_MRM_NODE) {}
};
 
class ActionNodeServoTest : public ActionBase {
    void perform();
public:
    ActionNodeServoTest(Robot* robot) : ActionBase(robot, "nos", "Test node servo", 1, ID_MRM_NODE) {}
};
 
//class ActionOscillatorTest : public ActionBase {
//  void perform();
//public:
//  ActionOscillatorTest(Robot* robot) : ActionBase(robot, "osc", "Oscillator test", 1, ID_ANY) {}
//};
 
class ActionStop : public ActionBase {
    void perform();
public:
    ActionStop(Robot* robot) : ActionBase(robot, "sto", "Stop", 1) {}
};
 
class ActionReflectanceArrayAnalogTest : public ActionBase {
    void perform();
public:
    ActionReflectanceArrayAnalogTest(Robot* robot) : ActionBase(robot, "anr", "Test refl. anal.", 2, ID_MRM_REF_CAN) {}
};
 
class ActionReflectanceArrayDigitalTest : public ActionBase {
    void perform();
public:
    ActionReflectanceArrayDigitalTest(Robot* robot) : ActionBase(robot, "dgr", "Test refl. digi.", 2, ID_MRM_REF_CAN) {}
};
 
class ActionReflectanceArrayCalibrate : public ActionBase {
    void perform();
public:
    ActionReflectanceArrayCalibrate(Robot* robot) : ActionBase(robot, "cal", "Calibrate refl.", 2, ID_MRM_REF_CAN) {}
};
 
class ActionReflectanceArrayCalibrationPrint : public ActionBase {
    void perform();
public:
    ActionReflectanceArrayCalibrationPrint(Robot* robot) : ActionBase(robot, "pri", "Calibration print", 2, ID_MRM_REF_CAN) {}
};
 
class ActionServoTest : public ActionBase {
    void perform();
public:
    ActionServoTest(Robot* robot) : ActionBase(robot, "ser", "Test servo", 1) {}
};
 
class ActionServoInteractive : public ActionBase {
    void perform();
public:
    ActionServoInteractive(Robot* robot) : ActionBase(robot, "ses", "Set servo", 1) {}
};
 
class ActionThermoTest : public ActionBase {
    void perform();
public:
    ActionThermoTest(Robot* robot) : ActionBase(robot, "the", "Test thermo", 1, ID_MRM_THERM_B_CAN) {}
};
 
class ActionUS_BTest : public ActionBase {
    void perform();
public:
    ActionUS_BTest(Robot* robot) : ActionBase(robot, "uls", "Test ultras.", 1, ID_MRM_US_B) {}
};
 
class ActionUS1Test : public ActionBase {
    void perform();
public:
    ActionUS1Test(Robot* robot) : ActionBase(robot, "ult", "Test ultras.", 1, ID_MRM_US1) {}
};