source: flair-src/trunk/lib/FlairSensorActuator/src/Servos.h@ 340

Last change on this file since 340 was 340, checked in by Sanahuja Guillaume, 2 years ago

add servos

File size: 2.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file Servos.h
7 * \brief Base class for servos
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2019/11/28
10 * \version 4.0
11 */
12
13#ifndef SERVOS_H
14#define SERVOS_H
15
16#include <IODevice.h>
17#include <stdint.h>
18
19namespace flair {
20namespace gui {
21class Layout;
22class TabWidget;
23}
24}
25
26class Servos_impl;
27
28namespace flair {
29namespace actuator {
30/*! \class Servos
31*
32* \brief Base class for brushless motors drivers
33*/
34class Servos : public core::IODevice {
35 friend class ::Servos_impl;
36
37public:
38 /*!
39 * \brief Constructor
40 *
41 * Construct a Servos.
42 *
43 * \param parent parent
44 * \param layout layout
45 * \param name name
46 * \param servos_count number of servos
47 */
48 Servos(const core::IODevice *parent, gui::Layout *layout, std::string name,
49 uint8_t servos_count);
50
51 /*!
52 * \brief Destructor
53 *
54 */
55 ~Servos();
56
57 /*!
58 * \brief Lock user interface
59 *
60 */
61 void LockUserInterface(void) const;
62
63 /*!
64 * \brief Unlock user interface
65 *
66 */
67 void UnlockUserInterface(void) const;
68
69 /*!
70 * \brief Use default plot
71 *
72 * \param tabwidget TabWidget to draw plots
73 */
74 void UseDefaultPlot(gui::TabWidget *tabwidget);
75
76
77 /*!
78 * \brief Servos count
79 *
80 * \return number of servos
81 */
82 uint8_t ServosCount(void) const;
83
84 /*!
85 * \brief Enable servos
86 *
87 * \param true to enable all servos
88 */
89 void SetEnabled(bool status);
90
91 /*!
92 * \brief Are servos enabled?
93 *
94 * \return true if servos are enabled
95 */
96 bool AreEnabled(void) const;
97
98 /*!
99 * \brief Layout
100 *
101 * This the same Layout as passed to the constructor
102 *
103 * \return a Layout
104 */
105 gui::Layout *GetLayout(void) const;
106
107
108protected:
109
110
111private:
112 /*!
113 * \brief Update using provided datas
114 *
115 * Reimplemented from IODevice.
116 *
117 * \param data data from the parent to process
118 */
119 void UpdateFrom(const core::io_data *data);
120
121 /*!
122 * \brief Set servos position
123 *
124 * values size must be the same as ServosCount()
125 *
126 * \param position set servos position
127 */
128 virtual void SetServos(float *position) = 0;
129
130 class Servos_impl *pimpl_;
131};
132} // end namespace actuator
133} // end namespace flair
134#endif // SERVOS_H
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