| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file PlaneMultiplex.h
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| 7 | * \brief Class defining plane multiplexing
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2022/01/05
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef PLANEMULTIPLEX_H
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| 14 | #define PLANEMULTIPLEX_H
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| 15 |
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| 16 | #include <UavMultiplex.h>
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| 17 |
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| 18 | namespace flair {
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| 19 |
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| 20 | namespace gui {
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| 21 | class ComboBox;
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| 22 | class DataPlot1D;
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| 23 | class DoubleSpinBox;
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| 24 | }
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| 25 | namespace core {
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| 26 | class Matrix;
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| 27 | }
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| 28 |
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| 29 | }
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| 30 |
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| 31 | namespace flair {
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| 32 | namespace filter {
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| 33 | /*! \class PlaneMultiplex
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| 34 | *
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| 35 | * \brief Class defining plane multiplexing
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| 36 | *
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| 37 | * The output order of the motors can be changed through ground station.
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| 38 | */
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| 39 | class PlaneMultiplex : public UavMultiplex {
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| 40 |
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| 41 | public:
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| 42 |
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| 43 | /*!
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| 44 | \enum MotorNames_t
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| 45 | \brief Motor names
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| 46 | */
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| 47 | typedef enum {
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| 48 | FrontMotor = 0,
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| 49 | AileronRight = 1,
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| 50 | AileronLeft = 2,
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| 51 | } MotorNames_t;
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| 52 |
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| 53 | /*!
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| 54 | * \brief Constructor
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| 55 | *
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| 56 | * Construct a autogyre multiplexing. It will be child of the FrameworkManager.
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| 57 | *
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| 58 | * \param name name
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| 59 | * \param type type
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| 60 | */
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| 61 | PlaneMultiplex(std::string name);
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| 62 |
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| 63 | /*!
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| 64 | * \brief Destructor
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| 65 | *
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| 66 | */
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| 67 | ~PlaneMultiplex();
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| 68 |
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| 69 | /*!
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| 70 | * \brief Use default plot
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| 71 | *
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| 72 | * Plot the output values.
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| 73 | *
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| 74 | */
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| 75 | void UseDefaultPlot(void);
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| 76 |
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| 77 | /*!
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| 78 | * \brief Motors count
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| 79 | *
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| 80 | * Reimplemented from UavMultiplex.
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| 81 | *
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| 82 | * \return motors count
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| 83 | */
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| 84 | uint8_t MotorsCount(void) const;
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| 85 |
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| 86 | core::IODevice* GetBldcMultiplex(void) const;
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| 87 | core::IODevice* GetServosMultiplex(void) const;
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| 88 |
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| 89 | private:
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| 90 | /*!
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| 91 | * \brief Update using provided datas
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| 92 | *
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| 93 | * Reimplemented from IODevice.
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| 94 | *
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| 95 | * \param data data from the parent to process
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| 96 | */
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| 97 | void UpdateFrom(const core::io_data *data);
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| 98 |
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| 99 | std::string ActuatorName(int index);
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| 100 |
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| 101 | core::Matrix *output;
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| 102 | gui::DataPlot1D *plots[3];
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| 103 | core::IODevice *bldc,*servos;
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| 104 |
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| 105 | };
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| 106 | } // end namespace filter
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| 107 | } // end namespace flair
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| 108 | #endif // PLANEMULTIPLEX_H
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