source: flair-src/trunk/lib/FlairFilter/src/X4X8Multiplex.h@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 6 years ago

filter and meta

File size: 2.9 KB
Line 
1/*!
2 * \file X4X8Multiplex.h
3 * \brief Class defining X4 and X8 multiplexing
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2014/04/10
6 * \version 4.0
7 */
8
9#ifndef X4X8MULTIPLEX_H
10#define X4X8MULTIPLEX_H
11
12#include <UavMultiplex.h>
13
14class X4X8Multiplex_impl;
15
16namespace flair
17{
18namespace filter
19{
20 /*! \class X4X8Multiplex
21 *
22 * \brief Class defining X4 and X8 multiplexing
23 *
24 * The output order of the motors can be changed through ground station.
25 */
26 class X4X8Multiplex : public UavMultiplex
27 {
28 friend class ::X4X8Multiplex_impl;
29
30 public:
31 /*!
32 \enum UavType_t
33 \brief type of UAV
34 */
35 typedef enum {
36 X4,/*!< 4 motors: front left, front right, rear left, rear right */
37 X8/*!< 8 motors: top front left, top front right, top rear left, top rear right, bottom front left, bottom front right, bottom rear left, bottom rear right */
38 } UavType_t;
39
40 /*!
41 \enum MotorNames_t
42 \brief Motor names
43 */
44 typedef enum {
45 TopFrontLeft=0,/*!< Top front left, X4 or X8 */
46 TopFrontRight=1,/*!< Top front right, X4 or X8 */
47 TopRearLeft=2,/*!< Top rear left, X4 or X8 */
48 TopRearRight=3,/*!< Top rear right, X4 or X8 */
49 BottomFrontLeft=4,/*!< Bottom front left, X8 */
50 BottomFrontRight=5,/*!< Bottom front right, X8 */
51 BottomRearLeft=6,/*!< Bottom rear left, X8 */
52 BottomRearRight=7,/*!< Bottom rear right, X8 */
53 } MotorNames_t;
54
55 /*!
56 * \brief Constructor
57 *
58 * Construct a X4 and X8 multiplexing
59 *
60 * \param parent parent
61 * \param name name
62 * \param type type
63 */
64 X4X8Multiplex(const core::FrameworkManager* parent,std::string name,UavType_t type);
65
66 /*!
67 * \brief Destructor
68 *
69 */
70 ~X4X8Multiplex();
71
72 /*!
73 * \brief Use default plot
74 *
75 * Plot the output values.
76 *
77 */
78 void UseDefaultPlot(void);
79
80 /*!
81 * \brief Motors count
82 *
83 * Reimplemented from UavMultiplex.
84 *
85 * \return motors count
86 */
87 uint8_t MotorsCount(void) const;
88
89 private:
90 /*!
91 * \brief Update using provided datas
92 *
93 * Reimplemented from IODevice.
94 *
95 * \param data data from the parent to process
96 */
97 void UpdateFrom(const core::io_data *data);
98
99 X4X8Multiplex_impl *pimpl_;
100
101 };
102} // end namespace filter
103} // end namespace flair
104#endif // X4X8MULTIPLEX_H
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