/*!
 * \file X4X8Multiplex.h
 * \brief Class defining X4 and X8 multiplexing
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/04/10
 * \version 4.0
 */

#ifndef X4X8MULTIPLEX_H
#define X4X8MULTIPLEX_H

#include <UavMultiplex.h>

class X4X8Multiplex_impl;

namespace flair
{
namespace filter
{
    /*! \class X4X8Multiplex
    *
    * \brief Class defining X4 and X8 multiplexing
    *
    * The output order of the motors can be changed through ground station.
    */
    class X4X8Multiplex : public UavMultiplex
    {
        friend class ::X4X8Multiplex_impl;

        public:
             /*!
            \enum UavType_t
            \brief type of UAV
            */
            typedef enum {
                X4,/*!< 4 motors: front left, front right, rear left, rear right */
                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 */
                } UavType_t;

            /*!
            \enum MotorNames_t
            \brief Motor names
            */
            typedef enum {
                TopFrontLeft=0,/*!< Top front left, X4 or X8 */
                TopFrontRight=1,/*!< Top front right, X4 or X8 */
                TopRearLeft=2,/*!< Top rear left, X4 or X8 */
                TopRearRight=3,/*!< Top rear right, X4 or X8 */
                BottomFrontLeft=4,/*!< Bottom front left, X8 */
                BottomFrontRight=5,/*!< Bottom front right, X8 */
                BottomRearLeft=6,/*!< Bottom rear left, X8 */
                BottomRearRight=7,/*!< Bottom rear right, X8 */
                } MotorNames_t;

            /*!
            * \brief Constructor
            *
            * Construct a X4 and X8 multiplexing
            *
            * \param parent parent
            * \param name name
            * \param type type
            */
            X4X8Multiplex(const core::FrameworkManager* parent,std::string name,UavType_t type);

            /*!
            * \brief Destructor
            *
            */
            ~X4X8Multiplex();

            /*!
            * \brief Use default plot
            *
            * Plot the output values.
            *
            */
            void UseDefaultPlot(void);

            /*!
            * \brief Motors count
            *
            * Reimplemented from UavMultiplex.
            *
            * \return motors count
            */
            uint8_t MotorsCount(void) const;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);

            X4X8Multiplex_impl *pimpl_;

    };
} // end namespace filter
} // end namespace flair
#endif // X4X8MULTIPLEX_H