// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file UavMultiplex.h
 * \brief Class defining uav multiplexing
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/04/11
 * \version 4.0
 */

#ifndef UAVMULTIPLEX_H
#define UAVMULTIPLEX_H

#include <IODevice.h>
#include <stdint.h>

namespace flair
{
    namespace core
    {
        class FrameworkManager;
        class io_data;
    }
    namespace gui
    {
        class TabWidget;
        class Layout;
    }
}

class UavMultiplex_impl;

namespace flair
{
namespace filter
{
    /*! \class UavMultiplex
    *
    * \brief Class defining uav multiplexing
    */
    class UavMultiplex : public core::IODevice
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a uav multiplexing
            *
            * \param parent parent
            * \param name name
            */
            UavMultiplex(const core::FrameworkManager* parent,std::string name);

            /*!
            * \brief Destructor
            *
            */
            ~UavMultiplex();

            /*!
            * \brief Set roll torque
            *
            * roll torque is placed in input(0,0)
            *
            * \param value value between -1 and 1
            */
            void SetRoll(float value);

            /*!
            * \brief Set pitch torque
            *
            * pitch torque is placed in input(1,0)
            *
            * \param value value between -1 and 1
            */
            void SetPitch(float value);

            /*!
            * \brief Set yaw torque
            *
            * yaw torque is placed in input(2,0)
            *
            * \param value value between -1 and 1
            */
            void SetYaw(float value);

            /*!
            * \brief Set thrust
            *
            * thrust is placed in input(3,0)
            *
            * \param value value between 0 and 1
            */
            void SetThrust(float value);

            /*!
            * \brief Set roll trim
            *
            * trim is placed in input(4,0)
            *
            * \param value value
            */
            void SetRollTrim(float value);

            /*!
            * \brief Set pitch trim
            *
            * trim is placed in input(5,0)
            *
            * \param value value
            */
            void SetPitchTrim(float value);

            /*!
            * \brief Set yaw trim
            *
            * trim is placed in input(6,0)
            *
            * \param value value
            */
            void SetYawTrim(float value);

            /*!
            * \brief Update using provided datas
            *
            * Uses values specified by Set*().
            *
            * \param time time of the update
            */
            void Update(core::Time time);

            /*!
            * \brief Lock user interface
            *
            * User interface will be grayed out.\n
            * Use it do disallow changes when flying.
            *
            */
            void LockUserInterface(void) const;

            /*!
            * \brief Unlock user interface
            *
            * User interface will be enabled.\n
            *
            */
            void UnlockUserInterface(void) const;

            /*!
            * \brief Layout
            *
            * Layout to place custom widgets.\n
            *
            * \return the layout
            */
            gui::Layout* GetLayout(void) const;

            /*!
            * \brief Use default plot
            *
            * Derived class can implement this function do draw default plot.
            *
            */
            virtual void UseDefaultPlot(void){};

            /*!
            * \brief Motors count
            *
            * This function must be reimplemented, in order to get the number of motors.
            *
            * \return motors count
            */
            virtual uint8_t MotorsCount(void) const=0;

            /*!
            * \brief Multiplex value
            *
            * Get the mutliplexed value of a motor, if SetMultiplexComboBox() was used.\n
            *
            * \param index index of the motor, from 0 to MotorsCount()
            * \return multiplexed index of the motor
            */
            int MultiplexValue(int index) const;

            /*!
            * \brief Get TabWidget
            *
            * Usefull to add tabs.\n
            *
            * \return the TabWidget
            */
            gui::TabWidget* GetTabWidget(void) const;

        protected:
            /*!
            * \brief Set multiplex ComboBox
            *
            * Draws a ComboBox to define motor multiplexing. \n
            * This is used to change the order of the output motors.
            *
            * \param name description of the motor (ex front left)
            * \param index index of the motor, from 0 to MotorsCount()
            */
            void SetMultiplexComboBox(std::string name,int index);

        private:
            /*!
            * \brief Update using provided datas
            *
            * This function is automatically called by ProcessUpdate()
            * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
            * This function must be reimplemented, in order to process the data from the parent.
            *
            * \param data data from the parent to process
            */
            virtual void UpdateFrom(const core::io_data *data)=0;

            UavMultiplex_impl *pimpl_;
    };
} // end namespace filter
} // end namespace flair
#endif // UAVMULTIPLEX_H