// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file SimuBldc.h
 * \brief Class for a simulation bldc
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/02/07
 * \version 4.0
 */

#ifndef SIMUBLDC_H
#define SIMUBLDC_H

#include <Bldc.h>

namespace flair
{
    namespace core
    {
        class SharedMem;
        class IODevice;
        class cvmatrix;
    }
    namespace gui
    {
        class DoubleSpinBox;
        class Layout;
    }
}

namespace flair
{
namespace actuator
{
    /*! \class SimuBldc
    *
    * \brief Class for a simulation bldc
    *
    */
    class SimuBldc : public Bldc
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a SimuBldc. Control part.
            *
            * \param parent parent
            * \param layout layout
            * \param name name
            * \param motors_count number of motors
            * \param dev_id device id
            */
            SimuBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,uint32_t dev_id);

            /*!
            * \brief Constructor
            *
            * Construct a SimuBldc. Simulation part.
            *
            * \param parent parent
            * \param name name
            * \param motors_count number of motors
            * \param dev_id device id
            */
            SimuBldc(const core::Object* parent,std::string name,uint8_t motors_count,uint32_t dev_id);

            /*!
            * \brief Destructor
            *
            */
            ~SimuBldc();

            /*!
            * \brief Get motors speeds.
            *
            * This function should only be used for the simulation part.
            *
            * \param value array to store motors speeds
            */
            void GetSpeeds(float* value) const;

            /*!
            * \brief Has speed measurement
            *
            * Reimplemented from Bldc. \n
            *
            * \return true if it has speed measurement
            */
            bool HasSpeedMeasurement(void) const{return false;};

            /*!
            * \brief Has current measurement
            *
            * Reimplemented from Bldc. \n
            *
            * \return true if it has current measurement
            */
            bool HasCurrentMeasurement(void) const{return false;};

        private:
            /*!
            * \brief Set motors values
            *
            * Reimplemented from Bldc. \n
            * Values size must be the same as MotorsCount()
            *
            * \param values motor values
            */
            void SetMotors(float* value);

            core::SharedMem *shmem;
            gui::DoubleSpinBox *k;
    };
} // end namespace actuator
} // end namespace flair
#endif // SIMUBLDC_H