source: flair-dev/trunk/include/FlairMeta/Uav.h@ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Uav.h
 * \brief Base class to construct sensors/actuators depending on uav type
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/01/22
 * \version 3.4
 */

#ifndef HDSUAV_H
#define HDSUAV_H

#include <Object.h>

namespace flair {
    namespace core {
        class FrameworkManager;
    }
    namespace filter {
        class Ahrs;
        class UavMultiplex;
    }
    namespace actuator {
        class Bldc;
    }
    namespace sensor {
        class UsRangeFinder;
        class BatteryMonitor;
        class VrpnClient;
        class Imu;
        class Camera;
    }
}

namespace flair {
namespace meta {
    class MetaUsRangeFinder;
    class MetaVrpnObject;

    /*! \class Uav
    *
    * \brief Base class to construct sensors/actuators depending on uav type
    */
    class Uav: public core::Object {
        public:
        /*
            typedef enum {
                None,
                Auto,//rt serial if hds x4 ou x8, auto ip sinon
                AutoIP,
                UserDefinedIP,
                AutoSerialPort,
                } VRPNType_t;
*/
            //uav_name: for optitrack
            Uav(core::FrameworkManager* parent,std::string name,filter::UavMultiplex *multiplex=NULL);
            ~Uav();
            void SetupVRPN(std::string optitrack_address,std::string name);
            //vrpn serial: broken, need to add serial port in uav specific code
            //void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int VRPNSerialObjectId);
            virtual void SetupVRPNAutoIP(std::string name);

            virtual void StartSensors(void);
            void UseDefaultPlot(void);
            actuator::Bldc* GetBldc(void) const;
            filter::UavMultiplex* GetUavMultiplex(void) const;
            sensor::Imu* GetImu(void) const;
            filter::Ahrs* GetAhrs(void) const;
            MetaUsRangeFinder* GetMetaUsRangeFinder(void) const;
            sensor::UsRangeFinder* GetUsRangeFinder(void) const;
            sensor::BatteryMonitor* GetBatteryMonitor(void) const;
            sensor::VrpnClient* GetVrpnClient(void) const;
            meta::MetaVrpnObject* GetVrpnObject(void) const;
            sensor::Camera* GetVerticalCamera(void) const;

        protected:
            void SetBldc(const actuator::Bldc *bldc);
            void SetMultiplex(const filter::UavMultiplex *multiplex);
            void SetAhrs(const filter::Ahrs *ahrs);
            void SetUsRangeFinder(const sensor::UsRangeFinder *us);
            void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
            void SetVerticalCamera(const sensor::Camera *verticalCamera);

        private:
            sensor::Imu* imu;
            filter::Ahrs* ahrs;
            actuator::Bldc* bldc;
            filter::UavMultiplex *multiplex;
            sensor::UsRangeFinder* us;
            MetaUsRangeFinder* meta_us;
            sensor::VrpnClient *vrpnclient;
            MetaVrpnObject* uav_vrpn;
            sensor::BatteryMonitor* battery;
            sensor::Camera* verticalCamera;
    };
} // end namespace meta
} // end namespace flair
#endif // HDSUAV_H