Platform/Aperios1.3.2/SystemCall.h

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/** 
* @file  Platform/Aperios1.3.2/SystemCall.h
* @brief static class for system calls from the non NDA classes
*
* @author <A href="mailto:brunn@sim.informatik.tu-darmstadt.de">Ronnie Brunn</A>
* @author <A href="mailto:risler@sim.informatik.tu-darmstadt.de">Max Risler</A>
*/

#ifndef _SYSTEMCALL_H_
#define _SYSTEMCALL_H_

class RobotDesign
{
public:
  /**
  * The design of the robot.
  */
  enum Design 
  {
    UNKNOWN,
    ERS210, 
    ERS7
  };

  /**
  * Returns name for robot design.
  */
  static const char* getRobotDesignName(Design design)
  {
    switch(design)
    {
      case ERS210: return "ers210";
      case ERS7: return "ers7";
      default: return "unknown";
    }
  }
};

/**
* static class for system calls
* @attention the implementation is system specific!
*/
class SystemCall
{
public:
  /** returns the current system time in milliseconds
  */
  static unsigned long getCurrentSystemTime ();
  
  /** returns the time since aTime
  */
  static unsigned long getTimeSince (unsigned long aTime) {
    return (getCurrentSystemTime() - aTime);
  }

  /** returns the amount of free memory
    */
  static unsigned long getFreeMem();

  /** returns the amount of remaining battery power in percent
    * or 100 if the robot is attached to powerline
    */
  static unsigned char getRemainingPower();

  /** reboots the robot */
  static void reboot();

  /** shuts the robot down */
  static void shutdown();

  /** returns the robot's mac address */
  static void getMacAddress(unsigned char address[6]);

  /** returns the robot's design */
  static RobotDesign::Design getRobotDesign();
};


#endif // _SYSTEMCALL_H_

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