source: flair-dev/trunk/include/FlairSimulator/X4.h @ 8

//  created:    2012/08/21
//  filename:   X4.h
//
//  author:     Osamah Saif, Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe definissant un x4
//
/*********************************************************************/

#ifndef X4_H
#define X4_H

#include <Model.h>
#include <stdint.h>
#include <stdio.h>

namespace flair
{
    namespace core
    {
        class Mutex;
    }
    namespace gui
    {
        class DoubleSpinBox;
    }
    namespace actuator
    {
        class SimuBldc;
    }
}

#ifdef GL
namespace irr
{
    namespace scene
    {
        class IMesh;
    }
}
#endif

namespace flair
{
namespace simulator
{
    class Simulator;
    class Blade;
    class MeshSceneNode;

    class X4 : public Model
    {
        public:
            X4(const Simulator* parent,std::string name, int dev_id);
            ~X4();
#ifdef GL
            virtual void Draw(void);
            virtual void ExtraDraw(void){};

        protected:
                    irr::scene::IMesh *red_arm,*black_arm,*motor;
                    MeshSceneNode *fl_arm,*fr_arm,*rl_arm,*rr_arm;
                    MeshSceneNode *fl_motor,*fr_motor,*rl_motor,*rr_motor;
                    Blade *fl_blade,*fr_blade,*rl_blade,*rr_blade;
                    core::Mutex *motor_speed_mutex;
#endif
        private:
            void CalcModel(void);
    #ifdef GL
            bool OnEvent(const irr::SEvent& event){};
            void AnimateModel(void);
            size_t dbtSize(void) const;
            void WritedbtBuf(char* dbtbuf);
            void ReaddbtBuf(char* dbtbuf);
    #endif

            actuator::SimuBldc *motors;
            float motor_speed[4];
            gui::DoubleSpinBox *m,*arm_length,*l_cg;
            gui::DoubleSpinBox *k_mot,*c_mot;
            gui::DoubleSpinBox *f_air_vert,*f_air_lat;
            gui::DoubleSpinBox *j_roll,*j_pitch,*j_yaw;
    };
} // end namespace simulator
} // end namespace flair
#endif // X4_H