source: flair-src/trunk/lib/FlairFilter/src/X4X8Multiplex.h@ 167

Last change on this file since 167 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 2.4 KB
Line 
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 X4X8Multiplex.h
7 * \brief Class defining X4 and X8 multiplexing
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/04/10
10 * \version 4.0
11 */
12
13#ifndef X4X8MULTIPLEX_H
14#define X4X8MULTIPLEX_H
15
16#include <UavMultiplex.h>
17
18class X4X8Multiplex_impl;
19
20namespace flair {
21namespace filter {
22/*! \class X4X8Multiplex
23*
24* \brief Class defining X4 and X8 multiplexing
25*
26* The output order of the motors can be changed through ground station.
27*/
28class X4X8Multiplex : public UavMultiplex {
29 friend class ::X4X8Multiplex_impl;
30
31public:
32 /*!
33 \enum UavType_t
34 \brief type of UAV
35 */
36 typedef enum {
37 X4, /*!< 4 motors: front left, front right, rear left, rear right */
38 X8 /*!< 8 motors: top front left, top front right, top rear left, top rear
39 right, bottom front left, bottom front right, bottom rear left, bottom
40 rear right */
41 } UavType_t;
42
43 /*!
44 \enum MotorNames_t
45 \brief Motor names
46 */
47 typedef enum {
48 TopFrontLeft = 0, /*!< Top front left, X4 or X8 */
49 TopFrontRight = 1, /*!< Top front right, X4 or X8 */
50 TopRearLeft = 2, /*!< Top rear left, X4 or X8 */
51 TopRearRight = 3, /*!< Top rear right, X4 or X8 */
52 BottomFrontLeft = 4, /*!< Bottom front left, X8 */
53 BottomFrontRight = 5, /*!< Bottom front right, X8 */
54 BottomRearLeft = 6, /*!< Bottom rear left, X8 */
55 BottomRearRight = 7, /*!< Bottom rear right, X8 */
56 } MotorNames_t;
57
58 /*!
59 * \brief Constructor
60 *
61 * Construct a X4 and X8 multiplexing. It will be child of the FrameworkManager.
62 *
63 * \param name name
64 * \param type type
65 */
66 X4X8Multiplex(std::string name, UavType_t type);
67
68 /*!
69 * \brief Destructor
70 *
71 */
72 ~X4X8Multiplex();
73
74 /*!
75 * \brief Use default plot
76 *
77 * Plot the output values.
78 *
79 */
80 void UseDefaultPlot(void);
81
82 /*!
83 * \brief Motors count
84 *
85 * Reimplemented from UavMultiplex.
86 *
87 * \return motors count
88 */
89 uint8_t MotorsCount(void) const;
90
91private:
92 /*!
93 * \brief Update using provided datas
94 *
95 * Reimplemented from IODevice.
96 *
97 * \param data data from the parent to process
98 */
99 void UpdateFrom(const core::io_data *data);
100
101 X4X8Multiplex_impl *pimpl_;
102};
103} // end namespace filter
104} // end namespace flair
105#endif // X4X8MULTIPLEX_H
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