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source: flair-src/trunk/lib/FlairFilter/src/UavMultiplex.h@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 8 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file UavMultiplex.h
7 * \brief Class defining uav multiplexing
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/04/11
10 * \version 4.0
11 */
12
13#ifndef UAVMULTIPLEX_H
14#define UAVMULTIPLEX_H
15
16#include <IODevice.h>
17#include <stdint.h>
18
19namespace flair
20{
21 namespace core
22 {
23 class FrameworkManager;
24 class io_data;
25 }
26 namespace gui
27 {
28 class TabWidget;
29 class Layout;
30 }
31}
32
33class UavMultiplex_impl;
34
35namespace flair
36{
37namespace filter
38{
39 /*! \class UavMultiplex
40 *
41 * \brief Class defining uav multiplexing
42 */
43 class UavMultiplex : public core::IODevice
44 {
45 public:
46 /*!
47 * \brief Constructor
48 *
49 * Construct a uav multiplexing
50 *
51 * \param parent parent
52 * \param name name
53 */
54 UavMultiplex(const core::FrameworkManager* parent,std::string name);
55
56 /*!
57 * \brief Destructor
58 *
59 */
60 ~UavMultiplex();
61
62 /*!
63 * \brief Set roll torque
64 *
65 * roll torque is placed in input(0,0)
66 *
67 * \param value value between -1 and 1
68 */
69 void SetRoll(float value);
70
71 /*!
72 * \brief Set pitch torque
73 *
74 * pitch torque is placed in input(1,0)
75 *
76 * \param value value between -1 and 1
77 */
78 void SetPitch(float value);
79
80 /*!
81 * \brief Set yaw torque
82 *
83 * yaw torque is placed in input(2,0)
84 *
85 * \param value value between -1 and 1
86 */
87 void SetYaw(float value);
88
89 /*!
90 * \brief Set thrust
91 *
92 * thrust is placed in input(3,0)
93 *
94 * \param value value between 0 and 1
95 */
96 void SetThrust(float value);
97
98 /*!
99 * \brief Set roll trim
100 *
101 * trim is placed in input(4,0)
102 *
103 * \param value value
104 */
105 void SetRollTrim(float value);
106
107 /*!
108 * \brief Set pitch trim
109 *
110 * trim is placed in input(5,0)
111 *
112 * \param value value
113 */
114 void SetPitchTrim(float value);
115
116 /*!
117 * \brief Set yaw trim
118 *
119 * trim is placed in input(6,0)
120 *
121 * \param value value
122 */
123 void SetYawTrim(float value);
124
125 /*!
126 * \brief Update using provided datas
127 *
128 * Uses values specified by Set*().
129 *
130 * \param time time of the update
131 */
132 void Update(core::Time time);
133
134 /*!
135 * \brief Lock user interface
136 *
137 * User interface will be grayed out.\n
138 * Use it do disallow changes when flying.
139 *
140 */
141 void LockUserInterface(void) const;
142
143 /*!
144 * \brief Unlock user interface
145 *
146 * User interface will be enabled.\n
147 *
148 */
149 void UnlockUserInterface(void) const;
150
151 /*!
152 * \brief Layout
153 *
154 * Layout to place custom widgets.\n
155 *
156 * \return the layout
157 */
158 gui::Layout* GetLayout(void) const;
159
160 /*!
161 * \brief Use default plot
162 *
163 * Derived class can implement this function do draw default plot.
164 *
165 */
166 virtual void UseDefaultPlot(void){};
167
168 /*!
169 * \brief Motors count
170 *
171 * This function must be reimplemented, in order to get the number of motors.
172 *
173 * \return motors count
174 */
175 virtual uint8_t MotorsCount(void) const=0;
176
177 /*!
178 * \brief Multiplex value
179 *
180 * Get the mutliplexed value of a motor, if SetMultiplexComboBox() was used.\n
181 *
182 * \param index index of the motor, from 0 to MotorsCount()
183 * \return multiplexed index of the motor
184 */
185 int MultiplexValue(int index) const;
186
187 /*!
188 * \brief Get TabWidget
189 *
190 * Usefull to add tabs.\n
191 *
192 * \return the TabWidget
193 */
194 gui::TabWidget* GetTabWidget(void) const;
195
196 protected:
197 /*!
198 * \brief Set multiplex ComboBox
199 *
200 * Draws a ComboBox to define motor multiplexing. \n
201 * This is used to change the order of the output motors.
202 *
203 * \param name description of the motor (ex front left)
204 * \param index index of the motor, from 0 to MotorsCount()
205 */
206 void SetMultiplexComboBox(std::string name,int index);
207
208 private:
209 /*!
210 * \brief Update using provided datas
211 *
212 * This function is automatically called by ProcessUpdate()
213 * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
214 * This function must be reimplemented, in order to process the data from the parent.
215 *
216 * \param data data from the parent to process
217 */
218 virtual void UpdateFrom(const core::io_data *data)=0;
219
220 UavMultiplex_impl *pimpl_;
221 };
222} // end namespace filter
223} // end namespace flair
224#endif // UAVMULTIPLEX_H
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