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

Last change on this file was 431, checked in by Sanahuja Guillaume, 17 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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