// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file MetaDualShock3.h
 * \brief Classe intégrant la manette DualShock3 et les consignes joystick
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/01/14
 * \version 3.4
 */

#ifndef METADUALSHOCK3_H
#define METADUALSHOCK3_H

#include <TargetEthController.h>

namespace flair {
    namespace core {
        class AhrsData;
        class Quaternion;
    }
    namespace filter {
        class Ahrs;
    }
}

class MetaDualShock3_impl;

namespace flair {
namespace meta {

    /*! \class MetaDualShock3
    *
    * \brief Classe intégrant la manette MetaDualShock3
    */
    class MetaDualShock3 : public sensor::TargetEthController {
        friend class ::MetaDualShock3_impl;

        public:
            MetaDualShock3(core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority);
            ~MetaDualShock3();
            core::AhrsData* GetReferenceOrientation(void) const;
            float ZRef(void) const;
            float DzRef(void) const;
            void SetYawRef(float value);
            /*!
            * \brief Set yaw reference
            *
            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
            * This method reset the yaw.
            *
            * \param value value, only the yaw part of the quaternion is used
            */
            void SetYawRef(core::Quaternion const &value);
            void SetZRef(float value);
            float RollTrim(void) const;
            float PitchTrim(void) const;
            void ErrorNotify(void);
            void Rumble(uint8_t left_force,uint8_t left_timeout=20,uint8_t right_force=0,uint8_t right_timeout=0);
            void SetLedON(unsigned int ledId);
            void SetLedOFF(unsigned int ledId);
            void FlashLed(unsigned int ledId,uint8_t on_timeout,uint8_t off_timeout);

        private:
            class MetaDualShock3_impl* pimpl_;

    };
} // end namespace meta
} // end namespace flair
#endif // METADUALSHOCK3_H