// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/04/29
//  filename:   BlCtrlV2_x4_speed.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant les moteurs i2c, controle en vitesse
//
//
/*********************************************************************/


#ifndef BLCTRLV2_X4_SPEED_H
#define BLCTRLV2_X4_SPEED_H

#include <IODevice.h>
#include <Thread.h>

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class FrameworkManager;
        class I2cPort;

    }
    namespace gui
    {
        class TabWidget;
        class Tab;
        class SpinBox;
        class DoubleSpinBox;
        class ComboBox;
        class PushButton;
        class GroupBox;
    }
}

namespace flair
{
namespace actuator
{
    class BlCtrlV2_x4_speed : public core::Thread,public core::IODevice
    {

        public:
            BlCtrlV2_x4_speed(core::FrameworkManager* parent,std::string name,core::I2cPort* i2cport,uint8_t base_address,uint8_t priority);
            ~BlCtrlV2_x4_speed();
            void UseDefaultPlot(void);
            void LockUserInterface(void);
            void UnlockUserInterface(void);
            void SetEnabled(bool status);
            void SetUroll(float value);
            void SetUpitch(float value);
            void SetUyaw(float value);
            void SetUgaz(float value);
            void SetRollTrim(float value);
            void SetPitchTrim(float value);
            void SetYawTrim(float value);
            void SetGazTrim(float value);
            float TrimValue(void);
            int StartValue(void);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(core::io_data *data){};
            void WriteValue(uint16_t value);
            float GetSpeed(void);
            void StartTest(void);
            void StopTest(void);
            /*!
            * \brief Run function
            *
            * Reimplemented from Thread.
            *
            */
            void Run(void);
            void Update(void);
            gui::Tab* main_tab;
            gui::TabWidget* tab;
            gui::GroupBox* reglages_groupbox;
            gui::SpinBox *min,*max,*test;
            gui::PushButton *button_avg,*button_avd,*button_arg,*button_ard;
            gui::ComboBox *av_g,*av_d,*ar_g,*ar_d,*pas;
            gui::DoubleSpinBox *trim,*kp,*ki;
            gui::SpinBox *start_value,*poles;
            core::Time start_time,flight_start_time;
            int time_sec;
            float speed_av_g,speed_av_d,speed_ar_g,speed_ar_d;
            float int_av_g,int_av_d,int_ar_g,int_ar_d;

            //matrix
            core::cvmatrix *input;
            core::cvmatrix *output;

            int tested_motor;
            core::I2cPort* i2cport;
            uint8_t slave_address;

            bool enabled;

            uint16_t SatPWM(float vel_cons,uint16_t min,uint16_t max);
    };
} // end namespace actuator
} // end namespace flair
#endif // BLCTRLV2_X4_SPEED_H