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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