| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file Uav.h
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| 7 | * \brief Base class to construct sensors/actuators depending on uav type
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/01/22
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| 10 | * \version 3.4
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| 11 | */
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| 12 |
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| 13 | #ifndef HDSUAV_H
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| 14 | #define HDSUAV_H
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| 15 |
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| 16 | #include <Object.h>
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| 17 | #include <UsRangeFinder.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace filter {
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| 21 | class Ahrs;
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| 22 | class UavMultiplex;
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| 23 | }
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| 24 | namespace actuator {
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| 25 | class Bldc;
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| 26 | }
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| 27 | namespace sensor {
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| 28 | class UsRangeFinder;
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| 29 | class BatteryMonitor;
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| 30 | class Imu;
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| 31 | class Camera;
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| 32 | }
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| 33 | }
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| 34 |
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| 35 | namespace flair {
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| 36 | namespace meta {
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| 37 | class MetaUsRangeFinder;
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| 38 |
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| 39 | /*! \class Uav
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| 40 | *
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| 41 | * \brief Base class to construct sensors/actuators depending on uav type.
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| 42 | * The Object is created with
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| 43 | * the FrameworkManager as parent. FrameworkManager must be created before.
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| 44 | * Only one instance of this class is allowed by program.
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| 45 | */
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| 46 | class Uav : public core::Object {
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| 47 | public:
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| 48 |
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| 49 | Uav(std::string name,
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| 50 | filter::UavMultiplex *multiplex = NULL);
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| 51 | ~Uav();
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| 52 |
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| 53 | virtual void StartSensors(void)=0;
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| 54 | void UseDefaultPlot(void);
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| 55 | actuator::Bldc *GetBldc(void) const;
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| 56 | filter::UavMultiplex *GetUavMultiplex(void) const;
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| 57 | sensor::Imu *GetImu(void) const;
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| 58 | filter::Ahrs *GetAhrs(void) const;
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| 59 | MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
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| 60 | sensor::UsRangeFinder *GetUsRangeFinder(void) const;
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| 61 | sensor::BatteryMonitor *GetBatteryMonitor(void) const;
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| 62 | sensor::Camera *GetVerticalCamera(void) const;
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| 63 | sensor::Camera *GetHorizontalCamera(void) const;
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| 64 | virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
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| 65 | virtual bool isReadyToFly(void) const { return true;}
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| 66 | virtual std::string GetType(void) const=0;
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| 67 |
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| 68 | protected:
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| 69 | void SetBldc(const actuator::Bldc *bldc);
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| 70 | void SetMultiplex(const filter::UavMultiplex *multiplex);
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| 71 | void SetAhrs(const filter::Ahrs *ahrs);//also sets imu (retrieved from the ahrs)
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| 72 | void SetUsRangeFinder(const sensor::UsRangeFinder *us);
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| 73 | void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
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| 74 | void SetVerticalCamera(const sensor::Camera *verticalCamera);
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| 75 | void SetHorizontalCamera(const sensor::Camera *verticalCamera);
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| 76 |
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| 77 | private:
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| 78 | sensor::Imu *imu;
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| 79 | filter::Ahrs *ahrs;
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| 80 | actuator::Bldc *bldc;
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| 81 | filter::UavMultiplex *multiplex;
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| 82 | sensor::UsRangeFinder *us;
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| 83 | MetaUsRangeFinder *meta_us;
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| 84 | sensor::BatteryMonitor *battery;
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| 85 | sensor::Camera *verticalCamera,*horizontalCamera;
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| 86 | };
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| 87 |
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| 88 | /*!
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| 89 | * \brief get Uav
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| 90 | *
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| 91 | * \return the Uav
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| 92 | */
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| 93 | Uav *GetUav(void);
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| 94 |
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| 95 | } // end namespace meta
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| 96 | } // end namespace flair
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| 97 | #endif // HDSUAV_H
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