source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/Servos_impl.h

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2019/11/28

//  filename:   Servos_impl.h

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Virtual class for servos

//

//

/*********************************************************************/



#ifndef SERVOS_IMPL_H

#define SERVOS_IMPL_H



#include <IODevice.h>

#include <stdint.h>



namespace flair {

namespace gui {

class DoubleSpinBox;

class Layout;

class Label;

class DataPlot1D;

class TabWidget;

class PushButton;

}

namespace actuator {

class Servos;

}

}



class Servos_impl {

public:

  Servos_impl(flair::actuator::Servos *self, flair::gui::Layout *layout,

            std::string name, uint8_t servos_count);

  ~Servos_impl();

  void UpdateFrom(const flair::core::io_data *data);

  void LockUserInterface(void) const;

  void UnlockUserInterface(void) const;

  bool are_enabled;

  void UseDefaultPlot(flair::gui::TabWidget *tab);

  uint8_t servos_count;

  flair::gui::Layout *layout;



private:

  float *values;

  float Sat(float value);

  flair::actuator::Servos *self;

  flair::gui::DoubleSpinBox *min_value, *max_value, *test_value;

  flair::gui::DataPlot1D *plots;

  flair::gui::PushButton **button_test;

  flair::core::Time test_start_time;

  int tested_servo; //=-1 if no servo is tested

};



#endif // SERVOS_IMPL_H