// %flair:license{ // This file is part of the Flair framework distributed under the // CECILL-C License, Version 1.0. // %flair:license} /*! * \file Uav.h * \brief Base class to construct sensors/actuators depending on uav type * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 * \date 2014/01/22 * \version 3.4 */ #ifndef UAV_H #define UAV_H #include #include namespace flair { namespace filter { class Ahrs; class UavMultiplex; } namespace actuator { class Bldc; } namespace sensor { class UsRangeFinder; class BatteryMonitor; class Imu; class Camera; class NmeaGps; class PressureSensor; } } namespace flair { namespace meta { class MetaUsRangeFinder; /*! \class Uav * * \brief Base class to construct sensors/actuators depending on uav type. * The Object is created with * the FrameworkManager as parent. FrameworkManager must be created before. * Only one instance of this class is allowed by program. */ class Uav : public core::Object { public: Uav(std::string name, filter::UavMultiplex *multiplex = NULL); ~Uav(); virtual void StartSensors(void)=0; void UseDefaultPlot(void); actuator::Bldc *GetBldc(void) const; filter::UavMultiplex *GetUavMultiplex(void) const; sensor::Imu *GetImu(void) const; filter::Ahrs *GetAhrs(void) const; MetaUsRangeFinder *GetMetaUsRangeFinder(void) const; sensor::UsRangeFinder *GetUsRangeFinder(void) const; sensor::BatteryMonitor *GetBatteryMonitor(void) const; sensor::Camera *GetVerticalCamera(void) const; sensor::Camera *GetHorizontalCamera(void) const; sensor::NmeaGps *GetGps(void) const; sensor::PressureSensor *GetPressureSensor(void) const; virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";} virtual sensor::VrpnClient::ConnectionType_t GetDefaultVrpnConnectionType(void) const{return sensor::VrpnClient::ConnectionType_t::Vrpn;} virtual bool isReadyToFly(void) const { return true;} virtual std::string GetType(void) const=0; protected: void SetBldc(const actuator::Bldc *bldc); void SetMultiplex(const filter::UavMultiplex *multiplex); void SetAhrs(const filter::Ahrs *ahrs);//also sets imu (retrieved from the ahrs) void SetUsRangeFinder(const sensor::UsRangeFinder *us); void SetBatteryMonitor(const sensor::BatteryMonitor *battery); void SetVerticalCamera(const sensor::Camera *verticalCamera); void SetHorizontalCamera(const sensor::Camera *verticalCamera); void SetGps(const sensor::NmeaGps *gps); void SetPressureSensor(const sensor::PressureSensor *pressureSensor); private: sensor::Imu *imu; sensor::NmeaGps *gps; filter::Ahrs *ahrs; actuator::Bldc *bldc; filter::UavMultiplex *multiplex; sensor::UsRangeFinder *us; MetaUsRangeFinder *meta_us; sensor::BatteryMonitor *battery; sensor::Camera *verticalCamera,*horizontalCamera; sensor::PressureSensor *pressureSensor; }; /*! * \brief get Uav * * \return the Uav */ Uav *GetUav(void); } // end namespace meta } // end namespace flair #endif // UAV_H