// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file BlCtrlV2.h
 * \brief Class for Mikrokopter's blctrlv2
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/09/13
 * \version 4.0
 */

#ifndef BLCTRLV2_H
#define BLCTRLV2_H

#include "Bldc.h"

namespace flair
{
    namespace core
    {
        class FrameworkManager;
        class I2cPort;
    }
    namespace sensor
    {
        class BatteryMonitor;
    }
}

class BlCtrlV2_impl;

namespace flair
{
namespace actuator
{
    /*! \class BlCtrlV2
    *
    * \brief Class for Mikrokopter's blctrlv2
    *
    * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
    */
    class BlCtrlV2 : public Bldc
    {
        friend class ::BlCtrlV2_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct a BlCtrlV2.
            *
            * \param parent parent
            * \param layout layout
            * \param name name
            * \param motors_count number of motors
            * \param i2cport I2cPort
            */
            BlCtrlV2(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport);

            /*!
            * \brief Destructor
            *
            */
            ~BlCtrlV2();

            /*!
            * \brief Get battery monitor
            *
            * \return BatteryMonitor
            */
            sensor::BatteryMonitor* GetBatteryMonitor(void) const;

            /*!
            * \brief Has speed measurement
            *
            * Reimplemented from Bldc. \n
            *
            * \return true if it has speed measurement
            */
            bool HasSpeedMeasurement(void) const{return true;};

            /*!
            * \brief Has current measurement
            *
            * Reimplemented from Bldc. \n
            *
            * \return true if it has current measurement
            */
            bool HasCurrentMeasurement(void) const{return true;};

        private:
            /*!
            * \brief Set motors values
            *
            * Reimplemented from Bldc. \n
            * Values size must be the same as MotorsCount()
            *
            * \param values motor values
            */
            void SetMotors(float* values);

            class BlCtrlV2_impl* pimpl_;
    };
} // end namespace actuator
} // end namespace flair
#endif // BLCTRLV2_H