/*!
 * \file PidThrust.h
 * \brief Class defining a Pid for Thrust
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/11/07
 * \version 4.0
 */

#ifndef PIDTHRUST_H
#define PIDTHRUST_H

#include <ControlLaw.h>

namespace flair
{
    namespace gui
    {
        class LayoutPosition;
    }
}

class PidThrust_impl;

namespace flair
{
namespace filter
{
    /*! \class PidThrust
    *
    * \brief Class defining a Pid for Thrust.\n
    * This Pid as an extra offset for compensating gravity.
    */
    class PidThrust : public ControlLaw
    {
        friend class ::PidThrust_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct a PidThrust at given position
            * The PidThrust will automatically be child of position->getLayout() Layout. After calling this function,
            * position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display settings
            * \param name name
            */
            PidThrust(const gui::LayoutPosition* position,std::string name);

            /*!
            * \brief Destructor
            *
            */
            ~PidThrust();

            /*!
            * \brief Reset integral and offset to 0
            *
            */
            void Reset(void);

            /*!
            * \brief Reset integral to 0
            *
            */
            void ResetI(void);

            /*!
            * \brief Reset offset to 0
            *
            */
            void ResetOffset(void);

            /*!
            * \brief Set offset to specified value in ground station
            *
            */
            void SetOffset(void);

            /*!
            * \brief Get offset
            *
            * \return current offset
            */
            float GetOffset(void);

            /*!
            * \brief Step up the offset according to specified value in ground station
            *
            * \return false if offset is at its maximum (1) value, true otherwise
            */
            bool OffsetStepUp(void);

            /*!
            * \brief Step down the offset according to specified value in ground station
            *
            * \return false if offset is at its minimum (specified in ground station) value, true otherwise
            */
            bool OffsetStepDown(void);

            /*!
            * \brief Set input values
            *
            * \param p proportional value
            * \param d derivative value
            */
            void SetValues(float p,float d);

            /*!
            * \brief Use default plot
            *
            * Plot the output values at position. \n
            * Plot consists of 4 curves: proportional part,
            * derivative part, integral part and
            * the sum of the three. \n
            * After calling this function, position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display plot
            */
            void UseDefaultPlot(const gui::LayoutPosition* position);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);

            PidThrust_impl* pimpl_;
    };
} // end namespace filter
} // end namespace flair
#endif // PIDTHRUST_H