source: flair-src/trunk/lib/FlairSensorActuator/src/Bldc.h@ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Bldc.h
 * \brief Base class for brushless motors drivers
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/11/14
 * \version 4.0
 */

#ifndef BLDC_H
#define BLDC_H

#include <IODevice.h>
#include <stdint.h>

namespace flair
{
    namespace core
    {
        class FrameworkManager;
        class cvmatrix;
    }
    namespace gui
    {
        class Layout;
        class TabWidget;
    }
}

class Bldc_impl;

namespace flair
{
namespace actuator
{
    /*! \class Bldc
    *
    * \brief Base class for brushless motors drivers
    */
    class Bldc : public core::IODevice
    {
        friend class ::Bldc_impl;

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

            /*!
            * \brief Constructor
            *
            * Construct a Bldc. \n
            * This contructor must only be called for a simulated device.
            *
            * \param parent parent
            * \param name name
            * \param motors_count number of motors
            */
            Bldc(const core::Object* parent,std::string name,uint8_t motors_count);

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

            /*!
            * \brief Lock user interface
            *
            */
            void LockUserInterface(void) const;

            /*!
            * \brief Unlock user interface
            *
            */
            void UnlockUserInterface(void) const;

            /*!
            * \brief Use default plot
            *
            * \param tabwidget TabWidget to draw plots
            */
            void UseDefaultPlot(gui::TabWidget* tabwidget);

            /*!
            * \brief Output from motors
            *
            * First column is real speed if available, secund column is current if available
            *
            */
            core::cvmatrix *Output(void) const;

            /*!
            * \brief Motors count
            *
            * \return number of motors
            */
            uint8_t MotorsCount(void) const;

            /*!
            * \brief Enable motors
            *
            * \param true to enable all motors
            */
            void SetEnabled(bool status);

            /*!
            * \brief Are motors enabled?
            *
            * \return true if motors are enabled
            */
            bool AreEnabled(void) const;

            /*!
            * \brief Set motor power
            *
            * Changes the power (from 0 to 1) of a specific motor. \n
            * By default power is set to 1 for each motor which has no effect. \n
            * A value <1 will decrease the power of a motor sent to the reimplemented Bldc class through SetMotors. \n
            * The power value is applied after applying saturation between min value and max value.
            * So the resulting value cannot be higher than max value
            * but it can be lower than min value.
            *
            * \param motor_id id of the motor
            * \param value power value (from 0 to 1)
            *
            */
            void SetPower(int motor_id,float value);

            /*!
            * \brief Layout
            *
            * This the same Layout as passed to the constructor
            *
            * \return a Layout
            */
            gui::Layout* GetLayout(void) const;

            /*!
            * \brief Has speed measurement
            *
            * \return true if it has speed measurement
            */
            virtual bool HasSpeedMeasurement(void) const=0;

            /*!
            * \brief Has current measurement
            *
            * \return true if it has current measurement
            */
            virtual bool HasCurrentMeasurement(void) const=0;

        protected:
            core::cvmatrix *output;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);

            /*!
            * \brief Set motors values
            *
            * values size must be the same as MotorsCount()
            *
            * \param values set motors values
            */
            virtual void SetMotors(float* values)=0;

            class Bldc_impl* pimpl_;
    };
} // end namespace actuator
} // end namespace framewor
#endif // BLDC_H