source: flair-src/trunk/lib/FlairFilter/src/UavMultiplex.h@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 7 years ago

filter and meta

File size: 5.6 KB
Line 
1/*!
2 * \file UavMultiplex.h
3 * \brief Class defining uav multiplexing
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2014/04/11
6 * \version 4.0
7 */
8
9#ifndef UAVMULTIPLEX_H
10#define UAVMULTIPLEX_H
11
12#include <IODevice.h>
13#include <stdint.h>
14
15namespace flair
16{
17 namespace core
18 {
19 class FrameworkManager;
20 class io_data;
21 }
22 namespace gui
23 {
24 class TabWidget;
25 class Layout;
26 }
27}
28
29class UavMultiplex_impl;
30
31namespace flair
32{
33namespace filter
34{
35 /*! \class UavMultiplex
36 *
37 * \brief Class defining uav multiplexing
38 */
39 class UavMultiplex : public core::IODevice
40 {
41 public:
42 /*!
43 * \brief Constructor
44 *
45 * Construct a uav multiplexing
46 *
47 * \param parent parent
48 * \param name name
49 */
50 UavMultiplex(const core::FrameworkManager* parent,std::string name);
51
52 /*!
53 * \brief Destructor
54 *
55 */
56 ~UavMultiplex();
57
58 /*!
59 * \brief Set roll torque
60 *
61 * roll torque is placed in input(0,0)
62 *
63 * \param value value between -1 and 1
64 */
65 void SetRoll(float value);
66
67 /*!
68 * \brief Set pitch torque
69 *
70 * pitch torque is placed in input(1,0)
71 *
72 * \param value value between -1 and 1
73 */
74 void SetPitch(float value);
75
76 /*!
77 * \brief Set yaw torque
78 *
79 * yaw torque is placed in input(2,0)
80 *
81 * \param value value between -1 and 1
82 */
83 void SetYaw(float value);
84
85 /*!
86 * \brief Set thrust
87 *
88 * thrust is placed in input(3,0)
89 *
90 * \param value value between 0 and 1
91 */
92 void SetThrust(float value);
93
94 /*!
95 * \brief Set roll trim
96 *
97 * trim is placed in input(4,0)
98 *
99 * \param value value
100 */
101 void SetRollTrim(float value);
102
103 /*!
104 * \brief Set pitch trim
105 *
106 * trim is placed in input(5,0)
107 *
108 * \param value value
109 */
110 void SetPitchTrim(float value);
111
112 /*!
113 * \brief Set yaw trim
114 *
115 * trim is placed in input(6,0)
116 *
117 * \param value value
118 */
119 void SetYawTrim(float value);
120
121 /*!
122 * \brief Update using provided datas
123 *
124 * Uses values specified by Set*().
125 *
126 * \param time time of the update
127 */
128 void Update(core::Time time);
129
130 /*!
131 * \brief Lock user interface
132 *
133 * User interface will be grayed out.\n
134 * Use it do disallow changes when flying.
135 *
136 */
137 void LockUserInterface(void) const;
138
139 /*!
140 * \brief Unlock user interface
141 *
142 * User interface will be enabled.\n
143 *
144 */
145 void UnlockUserInterface(void) const;
146
147 /*!
148 * \brief Layout
149 *
150 * Layout to place custom widgets.\n
151 *
152 * \return the layout
153 */
154 gui::Layout* GetLayout(void) const;
155
156 /*!
157 * \brief Use default plot
158 *
159 * Derived class can implement this function do draw default plot.
160 *
161 */
162 virtual void UseDefaultPlot(void){};
163
164 /*!
165 * \brief Motors count
166 *
167 * This function must be reimplemented, in order to get the number of motors.
168 *
169 * \return motors count
170 */
171 virtual uint8_t MotorsCount(void) const=0;
172
173 /*!
174 * \brief Multiplex value
175 *
176 * Get the mutliplexed value of a motor, if SetMultiplexComboBox() was used.\n
177 *
178 * \param index index of the motor, from 0 to MotorsCount()
179 * \return multiplexed index of the motor
180 */
181 int MultiplexValue(int index) const;
182
183 /*!
184 * \brief Get TabWidget
185 *
186 * Usefull to add tabs.\n
187 *
188 * \return the TabWidget
189 */
190 gui::TabWidget* GetTabWidget(void) const;
191
192 protected:
193 /*!
194 * \brief Set multiplex ComboBox
195 *
196 * Draws a ComboBox to define motor multiplexing. \n
197 * This is used to change the order of the output motors.
198 *
199 * \param name description of the motor (ex front left)
200 * \param index index of the motor, from 0 to MotorsCount()
201 */
202 void SetMultiplexComboBox(std::string name,int index);
203
204 private:
205 /*!
206 * \brief Update using provided datas
207 *
208 * This function is automatically called by ProcessUpdate()
209 * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
210 * This function must be reimplemented, in order to process the data from the parent.
211 *
212 * \param data data from the parent to process
213 */
214 virtual void UpdateFrom(const core::io_data *data)=0;
215
216 UavMultiplex_impl *pimpl_;
217 };
218} // end namespace filter
219} // end namespace flair
220#endif // UAVMULTIPLEX_H
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