d:/PlatformIO/RoboidControl/Thing.h

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#pragma once
 
#include "LinearAlgebra/Polar.h"
 
namespace Passer {
namespace RoboidControl {
 
class Thing {
public:
  Thing();
 
  unsigned int type;
 
  static const unsigned int SwitchType;
  static const unsigned int DistanceSensorType;
  static const unsigned int ControlledMotorType;
  static const unsigned int UncontrolledMotorType;
  static const unsigned int ServoType;
  static const unsigned int ExternalType;
 
  bool IsMotor();
  bool IsSensor();
 
  Polar position;
 
  void SetParent(Thing *parent);
  Thing *GetParent();
 
  void AddChild(Thing *child);
  Thing *GetChild(unsigned char childIx);
 
protected:
  static const unsigned int MotorType = 0x8000;
  static const unsigned int SensorType = 0x4000;
 
  enum class Type {
    Undetermined,
    // Sensor,
    Switch,
    DistanceSensor,
    // Motor,
    ControlledMotor,
    UncontrolledMotor,
    Servo,
    // Other
    ExternalSensor,
  };
 
  Thing *parent = nullptr;
  unsigned char childCount = 0;
  Thing **children = nullptr;
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;