Processes/CMD/Debug.h

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/** 
* @file Processes/CMD/Debug.h
* 
* Declaration of class Debug.
*
* @author Martin Lötzsch
*/

#ifndef __Debug_h_
#define __Debug_h_

#include "Tools/Process.h"
#include "Platform/TCPHandler.h"
#include "Platform/Sensors.h"
//#include "Platform/Aperios1.3.2/TCPEndpoint.h"
#include "Tools/Debugging/QueueFillRequest.h"

/**
* @class Debug
* 
* A process for collection and distribution of debug messages.
*
* All messages from the processes to the PC are collected here and all messages from the 
* PC to the processes are distributed by the Debug process.
*
* @author Martin Lötzsch
*/
class Debug : public Process
{
private:
  //DEBUGGING;
  EXTERNAL_DEBUGGING;
  RECEIVER(SensorDataBuffer);
  DEBUG_RECEIVER(Cognition);
  DEBUG_RECEIVER(Motion);
  DEBUG_SENDER(Cognition);
  DEBUG_SENDER(Motion);

public:
  
  /** Constructor */
  Debug();

  /** Destructor */
  ~Debug();
  
  /** The main function of the process */
  int main();

  /** Is called before the first main() */
  virtual void init();

  /** 
  * Is called for every incoming debug message.
  * @param message the message to handle
  * @return if the message was handled
  */
  virtual bool handleMessage(InMessage& message);

  /**
  * The QueueFillMode for the outgoing Queue
  */
  QueueFillRequest::QueueFillMode mode;
  
  /**
  * The time when the outgoing queue is written to the stick or allowed to be accessed via wlan
  */
  unsigned long saveOrSendTime;

private:
  /** If true, a message was received from the WLan or OVirtualRobotComm */
  bool messageWasReceived;
};

#endif // __Debug_h_

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