| 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 X4X8Multiplex.h
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| 7 | * \brief Class defining X4 and X8 multiplexing
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/04/10
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef X4X8MULTIPLEX_H
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| 14 | #define X4X8MULTIPLEX_H
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| 15 |
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| 16 | #include <UavMultiplex.h>
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| 17 |
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| 18 | class X4X8Multiplex_impl;
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| 19 |
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| 20 | namespace flair {
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| 21 | namespace filter {
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| 22 | /*! \class X4X8Multiplex
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| 23 | *
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| 24 | * \brief Class defining X4 and X8 multiplexing
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| 25 | *
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| 26 | * The output order of the motors can be changed through ground station.
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| 27 | */
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| 28 | class X4X8Multiplex : public UavMultiplex {
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| 29 | friend class ::X4X8Multiplex_impl;
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| 30 |
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| 31 | public:
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| 32 | /*!
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| 33 | \enum UavType_t
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| 34 | \brief type of UAV
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| 35 | */
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| 36 | typedef enum {
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| 37 | X4, /*!< 4 motors: front left, front right, rear left, rear right */
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| 38 | X8 /*!< 8 motors: top front left, top front right, top rear left, top rear
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| 39 | right, bottom front left, bottom front right, bottom rear left, bottom
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| 40 | rear right */
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| 41 | } UavType_t;
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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 | TopFrontLeft = 0, /*!< Top front left, X4 or X8 */
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| 49 | TopFrontRight = 1, /*!< Top front right, X4 or X8 */
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| 50 | TopRearLeft = 2, /*!< Top rear left, X4 or X8 */
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| 51 | TopRearRight = 3, /*!< Top rear right, X4 or X8 */
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| 52 | BottomFrontLeft = 4, /*!< Bottom front left, X8 */
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| 53 | BottomFrontRight = 5, /*!< Bottom front right, X8 */
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| 54 | BottomRearLeft = 6, /*!< Bottom rear left, X8 */
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| 55 | BottomRearRight = 7, /*!< Bottom rear right, X8 */
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| 56 | } MotorNames_t;
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| 57 |
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| 58 | /*!
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| 59 | * \brief Constructor
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| 60 | *
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| 61 | * Construct a X4 and X8 multiplexing. It will be child of the FrameworkManager.
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| 62 | *
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| 63 | * \param name name
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| 64 | * \param type type
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| 65 | */
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| 66 | X4X8Multiplex(std::string name, UavType_t type);
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| 67 |
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| 68 | /*!
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| 69 | * \brief Destructor
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| 70 | *
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| 71 | */
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| 72 | ~X4X8Multiplex();
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| 73 |
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| 74 | /*!
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| 75 | * \brief Use default plot
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| 76 | *
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| 77 | * Plot the output values.
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| 78 | *
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| 79 | */
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| 80 | void UseDefaultPlot(void);
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| 81 |
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| 82 | /*!
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| 83 | * \brief Motors count
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| 84 | *
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| 85 | * Reimplemented from UavMultiplex.
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| 86 | *
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| 87 | * \return motors count
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| 88 | */
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| 89 | uint8_t MotorsCount(void) const;
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| 90 |
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| 91 | private:
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| 92 | /*!
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| 93 | * \brief Update using provided datas
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| 94 | *
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| 95 | * Reimplemented from IODevice.
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| 96 | *
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| 97 | * \param data data from the parent to process
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| 98 | */
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| 99 | void UpdateFrom(const core::io_data *data);
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| 100 |
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| 101 | X4X8Multiplex_impl *pimpl_;
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| 102 | };
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| 103 | } // end namespace filter
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| 104 | } // end namespace flair
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| 105 | #endif // X4X8MULTIPLEX_H
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