1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file UavMultiplex.h
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7 | * \brief Class defining uav multiplexing
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2014/04/11
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef UAVMULTIPLEX_H
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14 | #define UAVMULTIPLEX_H
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15 |
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16 | #include <IODevice.h>
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17 | #include <stdint.h>
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18 |
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19 | namespace flair
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20 | {
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21 | namespace core
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22 | {
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23 | class FrameworkManager;
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24 | class io_data;
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25 | }
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26 | namespace gui
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27 | {
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28 | class TabWidget;
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29 | class Layout;
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30 | }
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31 | }
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32 |
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33 | class UavMultiplex_impl;
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34 |
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35 | namespace flair
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36 | {
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37 | namespace filter
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38 | {
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39 | /*! \class UavMultiplex
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40 | *
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41 | * \brief Class defining uav multiplexing
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42 | */
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43 | class UavMultiplex : public core::IODevice
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44 | {
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45 | public:
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46 | /*!
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47 | * \brief Constructor
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48 | *
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49 | * Construct a uav multiplexing
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50 | *
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51 | * \param parent parent
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52 | * \param name name
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53 | */
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54 | UavMultiplex(const core::FrameworkManager* parent,std::string name);
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55 |
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56 | /*!
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57 | * \brief Destructor
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58 | *
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59 | */
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60 | ~UavMultiplex();
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61 |
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62 | /*!
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63 | * \brief Set roll torque
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64 | *
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65 | * roll torque is placed in input(0,0)
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66 | *
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67 | * \param value value between -1 and 1
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68 | */
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69 | void SetRoll(float value);
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70 |
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71 | /*!
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72 | * \brief Set pitch torque
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73 | *
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74 | * pitch torque is placed in input(1,0)
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75 | *
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76 | * \param value value between -1 and 1
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77 | */
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78 | void SetPitch(float value);
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79 |
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80 | /*!
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81 | * \brief Set yaw torque
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82 | *
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83 | * yaw torque is placed in input(2,0)
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84 | *
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85 | * \param value value between -1 and 1
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86 | */
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87 | void SetYaw(float value);
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88 |
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89 | /*!
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90 | * \brief Set thrust
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91 | *
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92 | * thrust is placed in input(3,0)
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93 | *
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94 | * \param value value between 0 and 1
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95 | */
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96 | void SetThrust(float value);
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97 |
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98 | /*!
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99 | * \brief Set roll trim
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100 | *
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101 | * trim is placed in input(4,0)
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102 | *
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103 | * \param value value
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104 | */
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105 | void SetRollTrim(float value);
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106 |
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107 | /*!
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108 | * \brief Set pitch trim
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109 | *
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110 | * trim is placed in input(5,0)
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111 | *
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112 | * \param value value
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113 | */
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114 | void SetPitchTrim(float value);
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115 |
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116 | /*!
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117 | * \brief Set yaw trim
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118 | *
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119 | * trim is placed in input(6,0)
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120 | *
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121 | * \param value value
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122 | */
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123 | void SetYawTrim(float value);
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124 |
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125 | /*!
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126 | * \brief Update using provided datas
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127 | *
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128 | * Uses values specified by Set*().
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129 | *
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130 | * \param time time of the update
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131 | */
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132 | void Update(core::Time time);
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133 |
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134 | /*!
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135 | * \brief Lock user interface
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136 | *
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137 | * User interface will be grayed out.\n
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138 | * Use it do disallow changes when flying.
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139 | *
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140 | */
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141 | void LockUserInterface(void) const;
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142 |
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143 | /*!
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144 | * \brief Unlock user interface
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145 | *
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146 | * User interface will be enabled.\n
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147 | *
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148 | */
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149 | void UnlockUserInterface(void) const;
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150 |
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151 | /*!
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152 | * \brief Layout
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153 | *
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154 | * Layout to place custom widgets.\n
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155 | *
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156 | * \return the layout
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157 | */
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158 | gui::Layout* GetLayout(void) const;
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159 |
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160 | /*!
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161 | * \brief Use default plot
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162 | *
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163 | * Derived class can implement this function do draw default plot.
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164 | *
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165 | */
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166 | virtual void UseDefaultPlot(void){};
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167 |
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168 | /*!
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169 | * \brief Motors count
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170 | *
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171 | * This function must be reimplemented, in order to get the number of motors.
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172 | *
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173 | * \return motors count
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174 | */
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175 | virtual uint8_t MotorsCount(void) const=0;
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176 |
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177 | /*!
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178 | * \brief Multiplex value
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179 | *
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180 | * Get the mutliplexed value of a motor, if SetMultiplexComboBox() was used.\n
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181 | *
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182 | * \param index index of the motor, from 0 to MotorsCount()
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183 | * \return multiplexed index of the motor
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184 | */
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185 | int MultiplexValue(int index) const;
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186 |
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187 | /*!
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188 | * \brief Get TabWidget
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189 | *
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190 | * Usefull to add tabs.\n
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191 | *
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192 | * \return the TabWidget
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193 | */
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194 | gui::TabWidget* GetTabWidget(void) const;
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195 |
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196 | protected:
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197 | /*!
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198 | * \brief Set multiplex ComboBox
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199 | *
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200 | * Draws a ComboBox to define motor multiplexing. \n
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201 | * This is used to change the order of the output motors.
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202 | *
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203 | * \param name description of the motor (ex front left)
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204 | * \param index index of the motor, from 0 to MotorsCount()
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205 | */
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206 | void SetMultiplexComboBox(std::string name,int index);
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207 |
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208 | private:
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209 | /*!
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210 | * \brief Update using provided datas
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211 | *
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212 | * This function is automatically called by ProcessUpdate()
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213 | * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
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214 | * This function must be reimplemented, in order to process the data from the parent.
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215 | *
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216 | * \param data data from the parent to process
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217 | */
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218 | virtual void UpdateFrom(const core::io_data *data)=0;
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219 |
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220 | UavMultiplex_impl *pimpl_;
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221 | };
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222 | } // end namespace filter
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223 | } // end namespace flair
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224 | #endif // UAVMULTIPLEX_H
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