source: flair-dev/trunk/include/FlairFilter/X4X8Multiplex.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 2.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file X4X8Multiplex.h
7 * \brief Class defining X4 and X8 multiplexing
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/04/10
10 * \version 4.0
11 */
12
13#ifndef X4X8MULTIPLEX_H
14#define X4X8MULTIPLEX_H
15
16#include <UavMultiplex.h>
17
18class X4X8Multiplex_impl;
19
20namespace flair {
21namespace filter {
22/*! \class X4X8Multiplex
23*
24* \brief Class defining X4 and X8 multiplexing
25*
26* The output order of the motors can be changed through ground station.
27*/
28class X4X8Multiplex : public UavMultiplex {
29  friend class ::X4X8Multiplex_impl;
30
31public:
32  /*!
33 \enum UavType_t
34 \brief type of UAV
35 */
36  typedef enum {
37    X4, /*!< 4 motors: front left, front right, rear left, rear right */
38    X8  /*!< 8 motors: top front left, top front right, top rear left, top rear
39           right, bottom front left, bottom front right, bottom rear left, bottom
40           rear right */
41  } UavType_t;
42
43  /*!
44  \enum MotorNames_t
45  \brief Motor names
46  */
47  typedef enum {
48    TopFrontLeft = 0,     /*!< Top front left, X4 or X8 */
49    TopFrontRight = 1,    /*!< Top front right, X4 or X8 */
50    TopRearLeft = 2,      /*!< Top rear left, X4 or X8 */
51    TopRearRight = 3,     /*!< Top rear right, X4 or X8 */
52    BottomFrontLeft = 4,  /*!< Bottom front left, X8 */
53    BottomFrontRight = 5, /*!< Bottom front right, X8 */
54    BottomRearLeft = 6,   /*!< Bottom rear left, X8 */
55    BottomRearRight = 7,  /*!< Bottom rear right, X8 */
56  } MotorNames_t;
57
58  /*!
59  * \brief Constructor
60  *
61  * Construct a X4 and X8 multiplexing
62  *
63  * \param parent parent
64  * \param name name
65  * \param type type
66  */
67  X4X8Multiplex(const core::FrameworkManager *parent, std::string name,
68                UavType_t type);
69
70  /*!
71  * \brief Destructor
72  *
73  */
74  ~X4X8Multiplex();
75
76  /*!
77  * \brief Use default plot
78  *
79  * Plot the output values.
80  *
81  */
82  void UseDefaultPlot(void);
83
84  /*!
85  * \brief Motors count
86  *
87  * Reimplemented from UavMultiplex.
88  *
89  * \return motors count
90  */
91  uint8_t MotorsCount(void) const;
92
93private:
94  /*!
95  * \brief Update using provided datas
96  *
97  * Reimplemented from IODevice.
98  *
99  * \param data data from the parent to process
100  */
101  void UpdateFrom(const core::io_data *data);
102
103  X4X8Multiplex_impl *pimpl_;
104};
105} // end namespace filter
106} // end namespace flair
107#endif // X4X8MULTIPLEX_H
Note: See TracBrowser for help on using the repository browser.