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 |
|
---|
18 | class X4X8Multiplex_impl;
|
---|
19 |
|
---|
20 | namespace flair
|
---|
21 | {
|
---|
22 | namespace filter
|
---|
23 | {
|
---|
24 | /*! \class X4X8Multiplex
|
---|
25 | *
|
---|
26 | * \brief Class defining X4 and X8 multiplexing
|
---|
27 | *
|
---|
28 | * The output order of the motors can be changed through ground station.
|
---|
29 | */
|
---|
30 | class X4X8Multiplex : public UavMultiplex
|
---|
31 | {
|
---|
32 | friend class ::X4X8Multiplex_impl;
|
---|
33 |
|
---|
34 | public:
|
---|
35 | /*!
|
---|
36 | \enum UavType_t
|
---|
37 | \brief type of UAV
|
---|
38 | */
|
---|
39 | typedef enum {
|
---|
40 | X4,/*!< 4 motors: front left, front right, rear left, rear right */
|
---|
41 | X8/*!< 8 motors: top front left, top front right, top rear left, top rear right, bottom front left, bottom front right, bottom rear left, bottom rear right */
|
---|
42 | } UavType_t;
|
---|
43 |
|
---|
44 | /*!
|
---|
45 | \enum MotorNames_t
|
---|
46 | \brief Motor names
|
---|
47 | */
|
---|
48 | typedef enum {
|
---|
49 | TopFrontLeft=0,/*!< Top front left, X4 or X8 */
|
---|
50 | TopFrontRight=1,/*!< Top front right, X4 or X8 */
|
---|
51 | TopRearLeft=2,/*!< Top rear left, X4 or X8 */
|
---|
52 | TopRearRight=3,/*!< Top rear right, X4 or X8 */
|
---|
53 | BottomFrontLeft=4,/*!< Bottom front left, X8 */
|
---|
54 | BottomFrontRight=5,/*!< Bottom front right, X8 */
|
---|
55 | BottomRearLeft=6,/*!< Bottom rear left, X8 */
|
---|
56 | BottomRearRight=7,/*!< Bottom rear right, X8 */
|
---|
57 | } MotorNames_t;
|
---|
58 |
|
---|
59 | /*!
|
---|
60 | * \brief Constructor
|
---|
61 | *
|
---|
62 | * Construct a X4 and X8 multiplexing
|
---|
63 | *
|
---|
64 | * \param parent parent
|
---|
65 | * \param name name
|
---|
66 | * \param type type
|
---|
67 | */
|
---|
68 | X4X8Multiplex(const core::FrameworkManager* parent,std::string name,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 |
|
---|
93 | private:
|
---|
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 | };
|
---|
106 | } // end namespace filter
|
---|
107 | } // end namespace flair
|
---|
108 | #endif // X4X8MULTIPLEX_H
|
---|