Logger.h

#ifndef LOGGER_H
#define LOGGER_H

#define kLineLength DriverStationLCD::kLineLength
#include "Kicker.h"
#include "Climber.h"
#include "DriveTrain.h"
#include "RobotCamera.h"
#include "CodeLevel.h"
#include "DashboardDataSender.h"
#include "Vacuum.h"
#include "WPIlib.h"
#include "DashboardDataFormat.h"
#include "Autonomous.h"
#include "GoggleLight.h"
#include "AutonomousKicker.h"

#include <fstream>
using std::ios;
using std::ofstream;

#define ROBOT_MOTORS 8
#define ROBOT_JOYSTICKS 3

class Logger {
	public:
		Logger();
		void Process(); // gets data from robot and sends it to the drivestation and dashboard
		void SetKicker(Kicker * k); // sets kicker pointer
		void SetClimber(Climber * c); // sets climber pointer
		void SetDriveTrain(DriveTrain * dt); // sets drive train pointer
		void SetCamera(RoboCam * cam); // sets camera pointer
		void SetDashboard(DashboardDataSender * db); // sets dashboard pointer
		void SetInput(Input *in);
		void SetDriverStationLCD(DriverStationLCD * lcd); // sets driverstation pointer
		void SetVacuum(Vacuum *v);
		void GetData(); // gets data from robot and assigns that data to variables
		void SendDataDashboard(); // sends data to the dashboard
		void CodeLevelZero(); // runs when CodeLevel is equal to 0
		void CodeLevelOne(); // runs when CodeLevel is equal to 1
		void CodeLevelTwo(); // runs when CodeLevel is equal to 2
		void CodeLevelThree(); // runs when CodeLevel is equal to 3
		void SendToDS(); // sends data to drive station
		void SetDashboardDataFormat(DashboardDataFormat * ddf);
		void SetGoggleLight(GoggleLight * light);
		void SetAutoKicker(AutonomousKicker * the_auto_kicker);
		
		void SetRobot(IterativeRobot * robot);
		void SetAutonomous(Autonomous * das_auto);
		//void SendDashboardDataFormat();
		void PackAndSend(void);
	private:
		Kicker    			* kicker;
		AutonomousKicker    * autokicker;
		Climber   			* climber;
		DriveTrain			* drivetrain;
		RoboCam   			* camera;
		DashboardDataSender * dash;
		DashboardDataFormat * dataSender;
		DriverStationLCD	* dsLCD;
		DriverStation       * m_ds;
		Vacuum              * vacuum;
		Input               * input;
		Autonomous          * the_auto;
		GoggleLight         * the_light;
		
		CANJaguar	        * motors[ROBOT_MOTORS];
		Joystick            * sticks[ROBOT_JOYSTICKS];
		
		IterativeRobot      * the_robot; // the_robot
		
		ofstream 			  outfile;
		
		int since_last;
		// camera
		float targetLoc;
		float targetDistance;
		
		unsigned int packet_counter_check;
		
		// jaguars
		//front left, front right, rear left, rear right
		//         0,           1,         2,          3
		float  FrontRightVoltage; 
		float  FrontLeftVoltage;
		float  RearRightVoltage;
		float  RearLeftVoltage;
		
		float  FrontRightCurrent;
		float  FrontLeftCurrent;
		float  RearRightCurrent;
		float  RearLeftCurrent;
		
		float  FrontRightTemp;
		float  FrontLeftTemp;
		float  RearRightTemp;
		float  RearLeftTemp;
		
		double FrontRightSpeed;
		double FrontLeftSpeed;
		double RearLeftSpeed;
		double RearRightSpeed;
		
		int jagnum;
		
		double frontleftp;
		double frontlefti;
		double frontleftd;
		float frontleftbusvolt;
		float frontleftoutvolt;
		float frontleftoutcur;
		float frontlefttemp;
		double frontleftpos;
		double frontleftspeed;
		bool frontleftFlimitok;
		bool frontleftBlimitok;
		UINT16 frontleftfault;
		bool frontleftpowercycle;
		UINT32 frontleftFirmVer;
		UINT8 frontleftHardVer;
		
		double frontrightp;
		double frontrighti;
		double frontrightd;
		float frontrightbusvolt;
		float frontrightoutvolt;
		float frontrightoutcur;
		float frontrighttemp;
		double frontrightpos;
		double frontrightspeed;
		bool frontrightFlimitok;
		bool frontrightBlimitok;
		UINT16 frontrightfault;
		bool frontrightpowercycle;
		UINT32 frontrightFirmVer;
		UINT8 frontrightHardVer;
		
		double rearleftp;
		double rearlefti;
		double rearleftd;
		float rearleftbusvolt;
		float rearleftoutvolt;
		float rearleftoutcur;
		float rearlefttemp;
		double rearleftpos;
		double rearleftspeed;
		bool rearleftFlimitok;
		bool rearleftBlimitok;
		UINT16 rearleftfault;
		bool rearleftpowercycle;
		UINT32 rearleftFirmVer;
		UINT8 rearleftHardVer;
		
		double rearrightp;
		double rearrighti;
		double rearrightd;
		float rearrightbusvolt;
		float rearrightoutvolt;
		float rearrightoutcur;
		float rearrighttemp;
		double rearrightpos;
		double rearrightspeed;
		bool rearrightFlimitok;
		bool rearrightBlimitok;
		UINT16 rearrightfault;
		bool rearrightpowercycle;
		UINT32 rearrightFirmVer;
		UINT8 rearrightHardVer;
		
		//Kicker
		float position;
		float setPosition;
		float jagVacVolt;
		float jagVacCurrent;
		bool  triggerPulled;
		bool  ballPossesed;
		
};
#endif