source: flair-src/trunk/lib/FlairMeta/src/Uav.h

Last change on this file was 431, checked in by Sanahuja Guillaume, 3 months ago

add vrpn connection type per uav

File size: 3.0 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 Uav.h
7 * \brief Base class to construct sensors/actuators depending on uav type
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/22
10 * \version 3.4
11 */
12
13#ifndef UAV_H
14#define UAV_H
15
16#include <Object.h>
17#include <VrpnClient.h>
18
19namespace flair {
20        namespace filter {
21                class Ahrs;
22                class UavMultiplex;
23        }
24        namespace actuator {
25                class Bldc;
26        }
27        namespace sensor {
28                class UsRangeFinder;
29                class BatteryMonitor;
30                class Imu;
31                class Camera;
32                class NmeaGps;
33                class PressureSensor;
34        }
35}
36
37namespace flair {
38namespace meta {
39class MetaUsRangeFinder;
40
41/*! \class Uav
42*
43* \brief Base class to construct sensors/actuators depending on uav type.
44* The Object is created with
45*  the FrameworkManager as parent. FrameworkManager must be created before.
46* Only one instance of this class is allowed by program.
47*/
48class Uav : public core::Object {
49public:
50
51  Uav(std::string name,
52      filter::UavMultiplex *multiplex = NULL);
53  ~Uav();
54
55  virtual void StartSensors(void)=0;
56  void UseDefaultPlot(void);
57  actuator::Bldc *GetBldc(void) const;
58  filter::UavMultiplex *GetUavMultiplex(void) const;
59  sensor::Imu *GetImu(void) const;
60  filter::Ahrs *GetAhrs(void) const;
61  MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
62  sensor::UsRangeFinder *GetUsRangeFinder(void) const;
63  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
64  sensor::Camera *GetVerticalCamera(void) const;
65  sensor::Camera *GetHorizontalCamera(void) const;
66  sensor::NmeaGps *GetGps(void) const;
67  sensor::PressureSensor *GetPressureSensor(void) const;
68        virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
69        virtual sensor::VrpnClient::ConnectionType_t GetDefaultVrpnConnectionType(void) const{return sensor::VrpnClient::ConnectionType_t::Vrpn;}
70  virtual bool isReadyToFly(void) const { return true;}
71  virtual std::string GetType(void) const=0;
72
73protected:
74  void SetBldc(const actuator::Bldc *bldc);
75  void SetMultiplex(const filter::UavMultiplex *multiplex);
76  void SetAhrs(const filter::Ahrs *ahrs);//also sets imu (retrieved from the ahrs)
77  void SetUsRangeFinder(const sensor::UsRangeFinder *us);
78  void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
79  void SetVerticalCamera(const sensor::Camera *verticalCamera);
80  void SetHorizontalCamera(const sensor::Camera *verticalCamera);
81  void SetGps(const sensor::NmeaGps *gps);
82  void SetPressureSensor(const sensor::PressureSensor *pressureSensor);
83
84private:
85  sensor::Imu *imu;
86  sensor::NmeaGps *gps;
87  filter::Ahrs *ahrs;
88  actuator::Bldc *bldc;
89  filter::UavMultiplex *multiplex;
90  sensor::UsRangeFinder *us;
91  MetaUsRangeFinder *meta_us;
92  sensor::BatteryMonitor *battery;
93  sensor::Camera *verticalCamera,*horizontalCamera;
94  sensor::PressureSensor *pressureSensor;
95};
96
97/*!
98* \brief get Uav
99*
100* \return the Uav
101*/
102Uav *GetUav(void);
103
104} // end namespace meta
105} // end namespace flair
106#endif // UAV_H
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