source: flair-dev/trunk/include/FlairMeta/Uav.h @ 55

Last change on this file since 55 was 55, checked in by Sanahuja Guillaume, 3 years ago

modifs gps

File size: 2.7 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 Uav.h
7 * \brief Base class to construct sensors/actuators depending on uav type
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/22
10 * \version 3.4
11 */
12
13#ifndef HDSUAV_H
14#define HDSUAV_H
15
16#include <Object.h>
17#include <UsRangeFinder.h>
18
19namespace flair {
20        namespace filter {
21                class Ahrs;
22                class UavMultiplex;
23        }
24        namespace actuator {
25                class Bldc;
26        }
27        namespace sensor {
28                class UsRangeFinder;
29                class BatteryMonitor;
30                class Imu;
31                class Camera;
32                class NmeaGps;
33        }
34}
35
36namespace flair {
37namespace meta {
38class MetaUsRangeFinder;
39
40/*! \class Uav
41*
42* \brief Base class to construct sensors/actuators depending on uav type.
43* The Object is created with
44*  the FrameworkManager as parent. FrameworkManager must be created before.
45* Only one instance of this class is allowed by program.
46*/
47class Uav : public core::Object {
48public:
49
50  Uav(std::string name,
51      filter::UavMultiplex *multiplex = NULL);
52  ~Uav();
53
54  virtual void StartSensors(void)=0;
55  void UseDefaultPlot(void);
56  actuator::Bldc *GetBldc(void) const;
57  filter::UavMultiplex *GetUavMultiplex(void) const;
58  sensor::Imu *GetImu(void) const;
59  filter::Ahrs *GetAhrs(void) const;
60  MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
61  sensor::UsRangeFinder *GetUsRangeFinder(void) const;
62  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
63  sensor::Camera *GetVerticalCamera(void) const;
64  sensor::Camera *GetHorizontalCamera(void) const;
65  sensor::NmeaGps *GetGps(void) const;
66        virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
67  virtual bool isReadyToFly(void) const { return true;}
68  virtual std::string GetType(void) const=0;
69
70protected:
71  void SetBldc(const actuator::Bldc *bldc);
72  void SetMultiplex(const filter::UavMultiplex *multiplex);
73  void SetAhrs(const filter::Ahrs *ahrs);//also sets imu (retrieved from the ahrs)
74  void SetUsRangeFinder(const sensor::UsRangeFinder *us);
75  void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
76  void SetVerticalCamera(const sensor::Camera *verticalCamera);
77  void SetHorizontalCamera(const sensor::Camera *verticalCamera);
78  void SetGps(const sensor::NmeaGps *gps);
79
80private:
81  sensor::Imu *imu;
82  sensor::NmeaGps *gps;
83  filter::Ahrs *ahrs;
84  actuator::Bldc *bldc;
85  filter::UavMultiplex *multiplex;
86  sensor::UsRangeFinder *us;
87  MetaUsRangeFinder *meta_us;
88  sensor::BatteryMonitor *battery;
89  sensor::Camera *verticalCamera,*horizontalCamera;
90};
91
92/*!
93* \brief get Uav
94*
95* \return the Uav
96*/
97Uav *GetUav(void);
98
99} // end namespace meta
100} // end namespace flair
101#endif // HDSUAV_H
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