// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2012/08/29
//  filename:   JoyReference.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    generation de consignes a partir joystick
//
//
/*********************************************************************/

#include "JoyReference.h"
#include "JoyReference_impl.h"
#include <Layout.h>
#include <LayoutPosition.h>
#include <cvmatrix.h>
#include <AhrsData.h>
#include <Euler.h>
#include <Quaternion.h>

using std::string;
using namespace flair::core;
using namespace flair::gui;

namespace flair { namespace filter {

JoyReference::JoyReference(const LayoutPosition* position,string name) : IODevice(position->getLayout(),name) {
    pimpl_=new JoyReference_impl(this,position,name);
    AddDataToLog(pimpl_->output);
    AddDataToLog(pimpl_->ahrsData);
}

JoyReference::~JoyReference(void) {
    delete pimpl_;
}

AhrsData* JoyReference::GetReferenceOrientation(void) const{
    return pimpl_->ahrsData;
}

void JoyReference::SetRollAxis(float value) {
    pimpl_->SetRollAxis(value);
}

void JoyReference::SetPitchAxis(float value) {
    pimpl_->SetPitchAxis(value);
}

void JoyReference::SetYawAxis(float value) {
    pimpl_->SetYawAxis(value);
}

void JoyReference::SetAltitudeAxis(float value) {
    pimpl_->SetAltitudeAxis(value);
}

void JoyReference::RollTrimUp(void) {
    pimpl_->RollTrimUp();
}

void JoyReference::RollTrimDown(void) {
    pimpl_->RollTrimDown();
}

void JoyReference::PitchTrimUp(void) {
    pimpl_->PitchTrimUp();
}

void JoyReference::PitchTrimDown(void) {
    pimpl_->PitchTrimDown();
}

void JoyReference::SetYawRef(float value) {
    pimpl_->SetYawRef(value);
}

void JoyReference::SetYawRef(core::Quaternion const &value) {
    Euler euler;
    value.ToEuler(euler);
    pimpl_->SetYawRef(euler.yaw);
}
void JoyReference::SetZRef(float value) {
    pimpl_->SetZRef(value);
}

float JoyReference::ZRef(void) const {
    return pimpl_->ZRef();
}

float JoyReference::DzRef(void) const {
    return pimpl_->dZRef();
}

float JoyReference::RollTrim(void) const {
    return pimpl_->RollTrim();
}

float JoyReference::PitchTrim(void) const {
    return pimpl_->PitchTrim();
}

void JoyReference::Update(Time time) {
    pimpl_->Update(time);
    ProcessUpdate(pimpl_->output);
}

void JoyReference::UpdateFrom(const io_data *data) {
    pimpl_->UpdateFrom(data);
    ProcessUpdate(pimpl_->output);
}

} // end namespace sensor
} // end namespace flair