config_types.h

Go to the documentation of this file.

 
 
#pragma once
 
#include <string_view>
 
namespace argos_lib {
  enum struct RobotInstance {
    Competition,  
    Practice      
  };
 
  RobotInstance GetRobotInstance();
 
  struct CANAddress {
    int address;
    std::string_view busName;
 
    CANAddress() = delete;
    constexpr CANAddress(int address, const std::string_view& busName = "rio") : address(address), busName(busName) {}
  };
 
  static inline int GetCANAddr(const argos_lib::CANAddress& compAddress,
                               const argos_lib::CANAddress& practiceAddress,
                               argos_lib::RobotInstance instance) {
    return instance == argos_lib::RobotInstance::Competition ? compAddress.address : practiceAddress.address;
  }
 
  static inline std::string_view GetCANBus(const argos_lib::CANAddress& compAddress,
                                           const argos_lib::CANAddress& practiceAddress,
                                           argos_lib::RobotInstance instance) {
    return instance == argos_lib::RobotInstance::Competition ? compAddress.busName : practiceAddress.busName;
  }
 
}  // namespace argos_lib