device/NxtColorSensor.h

//
// NxtColorSensor.h
//
// Copyright 2009 by Takashi Chikamasa, Jon C. Martin, Robert W. Kramer, Marcel Hein and Benjamin Bode
//

#ifndef NXTCOLORSENSOR_H_
#define NXTCOLORSENSOR_H_

#include "Port.h"

extern "C"
{
        #include "ecrobot_interface.h"
        #include "rtoscalls.h"
};

namespace ecrobot
{
class NxtColorSensor
{
public:
        enum eSensorMode
        {
                _COLORSENSOR = 0,   
                _LIGHTSENSOR_RED,   
                _LIGHTSENSOR_GREEN, 
                _LIGHTSENSOR_BLUE,  
                _LIGHTSENSOR_WHITE, 
                _LIGHTSENSOR_NONE,  
                _DEACTIVATE         
        };
        
        enum eColorNumber
        {
                _BLACK = 0,     
                _BLUE,          
                _GREEN,         
                _YELLOW,        
                _ORANGE,        
                _RED,           
                _WHITE,         
                _UNKNOWN = 99   
        };

        explicit NxtColorSensor(ePortS port, eSensorMode mode=_COLORSENSOR);

        virtual ~NxtColorSensor(void);

        void processBackground(void);

        void setSensorMode(eSensorMode mode);

        inline eSensorMode getSensorMode(void) const { return mSensorMode; }

        S16 get(void) const;

        S16 getBrightness(void) const;

        eColorNumber getColorNumber(void) const;

        void getRawColor(S16 rgb[3]) const;

private:
        ePortS mPort;
        eSensorMode mSensorMode;
};
}

#endif