source: flair-src/trunk/lib/FlairMeta/src/Uav.h@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 6 years ago

filter and meta

File size: 3.1 KB
Line 
1/*!
2 * \file Uav.h
3 * \brief Base class to construct sensors/actuators depending on uav type
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2014/01/22
6 * \version 3.4
7 */
8
9#ifndef HDSUAV_H
10#define HDSUAV_H
11
12#include <Object.h>
13
14namespace flair {
15 namespace core {
16 class FrameworkManager;
17 }
18 namespace filter {
19 class Ahrs;
20 class UavMultiplex;
21 }
22 namespace actuator {
23 class Bldc;
24 }
25 namespace sensor {
26 class UsRangeFinder;
27 class BatteryMonitor;
28 class VrpnClient;
29 class Imu;
30 class Camera;
31 }
32}
33
34namespace flair {
35namespace meta {
36 class MetaUsRangeFinder;
37 class MetaVrpnObject;
38
39 /*! \class Uav
40 *
41 * \brief Base class to construct sensors/actuators depending on uav type
42 */
43 class Uav: public core::Object {
44 public:
45 /*
46 typedef enum {
47 None,
48 Auto,//rt serial if hds x4 ou x8, auto ip sinon
49 AutoIP,
50 UserDefinedIP,
51 AutoSerialPort,
52 } VRPNType_t;
53*/
54 //uav_name: for optitrack
55 Uav(core::FrameworkManager* parent,std::string name,filter::UavMultiplex *multiplex=NULL);
56 ~Uav();
57 void SetupVRPN(std::string optitrack_address,std::string name);
58 //vrpn serial: broken, need to add serial port in uav specific code
59 //void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int VRPNSerialObjectId);
60 virtual void SetupVRPNAutoIP(std::string name);
61
62 virtual void StartSensors(void);
63 void UseDefaultPlot(void);
64 actuator::Bldc* GetBldc(void) const;
65 filter::UavMultiplex* GetUavMultiplex(void) const;
66 sensor::Imu* GetImu(void) const;
67 filter::Ahrs* GetAhrs(void) const;
68 MetaUsRangeFinder* GetMetaUsRangeFinder(void) const;
69 sensor::UsRangeFinder* GetUsRangeFinder(void) const;
70 sensor::BatteryMonitor* GetBatteryMonitor(void) const;
71 sensor::VrpnClient* GetVrpnClient(void) const;
72 meta::MetaVrpnObject* GetVrpnObject(void) const;
73 sensor::Camera* GetVerticalCamera(void) const;
74
75 protected:
76 void SetBldc(const actuator::Bldc *bldc);
77 void SetMultiplex(const filter::UavMultiplex *multiplex);
78 void SetAhrs(const filter::Ahrs *ahrs);
79 void SetUsRangeFinder(const sensor::UsRangeFinder *us);
80 void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
81 void SetVerticalCamera(const sensor::Camera *verticalCamera);
82
83 private:
84 sensor::Imu* imu;
85 filter::Ahrs* ahrs;
86 actuator::Bldc* bldc;
87 filter::UavMultiplex *multiplex;
88 sensor::UsRangeFinder* us;
89 MetaUsRangeFinder* meta_us;
90 sensor::VrpnClient *vrpnclient;
91 MetaVrpnObject* uav_vrpn;
92 sensor::BatteryMonitor* battery;
93 sensor::Camera* verticalCamera;
94 };
95} // end namespace meta
96} // end namespace flair
97#endif // HDSUAV_H
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