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 |
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18 | namespace flair {
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19 | namespace core {
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20 | class FrameworkManager;
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21 | }
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22 | namespace filter {
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23 | class Ahrs;
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24 | class UavMultiplex;
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25 | }
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26 | namespace actuator {
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27 | class Bldc;
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28 | }
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29 | namespace sensor {
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30 | class UsRangeFinder;
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31 | class BatteryMonitor;
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32 | class VrpnClient;
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33 | class Imu;
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34 | class Camera;
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35 | }
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36 | }
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37 |
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38 | namespace flair {
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39 | namespace meta {
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40 | class MetaUsRangeFinder;
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41 | class MetaVrpnObject;
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42 |
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43 | /*! \class Uav
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44 | *
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45 | * \brief Base class to construct sensors/actuators depending on uav type
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46 | */
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47 | class Uav : public core::Object {
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48 | public:
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49 | /*
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50 | typedef enum {
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51 | None,
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52 | Auto,//rt serial if hds x4 ou x8, auto ip sinon
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53 | AutoIP,
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54 | UserDefinedIP,
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55 | AutoSerialPort,
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56 | } VRPNType_t;
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57 | */
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58 | // uav_name: for optitrack
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59 | Uav(core::FrameworkManager *parent, std::string name,
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60 | filter::UavMultiplex *multiplex = NULL);
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61 | ~Uav();
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62 | void SetupVRPN(std::string optitrack_address, std::string name);
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63 | // vrpn serial: broken, need to add serial port in uav specific code
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64 | // void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int
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65 | // VRPNSerialObjectId);
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66 | virtual void SetupVRPNAutoIP(std::string name);
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67 |
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68 | virtual void StartSensors(void);
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69 | void UseDefaultPlot(void);
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70 | actuator::Bldc *GetBldc(void) const;
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71 | filter::UavMultiplex *GetUavMultiplex(void) const;
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72 | sensor::Imu *GetImu(void) const;
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73 | filter::Ahrs *GetAhrs(void) const;
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74 | MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
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75 | sensor::UsRangeFinder *GetUsRangeFinder(void) const;
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76 | sensor::BatteryMonitor *GetBatteryMonitor(void) const;
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77 | sensor::VrpnClient *GetVrpnClient(void) const;
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78 | meta::MetaVrpnObject *GetVrpnObject(void) const;
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79 | sensor::Camera *GetVerticalCamera(void) const;
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80 |
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81 | protected:
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82 | void SetBldc(const actuator::Bldc *bldc);
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83 | void SetMultiplex(const filter::UavMultiplex *multiplex);
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84 | void SetAhrs(const filter::Ahrs *ahrs);
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85 | void SetUsRangeFinder(const sensor::UsRangeFinder *us);
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86 | void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
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87 | void SetVerticalCamera(const sensor::Camera *verticalCamera);
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88 |
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89 | private:
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90 | sensor::Imu *imu;
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91 | filter::Ahrs *ahrs;
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92 | actuator::Bldc *bldc;
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93 | filter::UavMultiplex *multiplex;
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94 | sensor::UsRangeFinder *us;
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95 | MetaUsRangeFinder *meta_us;
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96 | sensor::VrpnClient *vrpnclient;
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97 | MetaVrpnObject *uav_vrpn;
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98 | sensor::BatteryMonitor *battery;
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99 | sensor::Camera *verticalCamera;
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100 | };
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101 | } // end namespace meta
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102 | } // end namespace flair
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103 | #endif // HDSUAV_H
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