// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/04/03
//  filename:   X8.h
//
//  author:     Majd Saied, Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe definissant un X8
//
/*********************************************************************/

#ifndef X8_H
#define X8_H

#include <Model.h>
#include <stdint.h>

namespace flair
{
    namespace core
    {
        class Mutex;
    }
    namespace gui
    {
        class DoubleSpinBox;
    }
    namespace actuator
    {
        class SimuBldc;
    }
}

#ifdef GL
namespace irr
{
    namespace scene
    {
        class IMesh;
    }
}
#endif

namespace flair
{
namespace simulator
{
    class Simulator;
    class Blade;
    class MeshSceneNode;

    class X8 : public Model
    {
        public:
            X8(const Simulator* parent,std::string name, int dev_id);
            ~X8();
            virtual void Draw(void);
			virtual void ExtraDraw(void){};
        protected:
#ifdef GL
            irr::scene::IMesh *red_arm,*black_arm,*motor;
			MeshSceneNode *fl_arm,*fr_arm,*rl_arm,*rr_arm;
			MeshSceneNode *tfl_motor,*tfr_motor,*trl_motor,*trr_motor;
			MeshSceneNode *bfl_motor,*bfr_motor,*brl_motor,*brr_motor;
			Blade *tfl_blade,*tfr_blade,*trl_blade,*trr_blade;
			Blade *bfl_blade,*bfr_blade,*brl_blade,*brr_blade;
#endif
        private:
            void CalcModel(void);
    #ifdef GL
            bool OnEvent(const irr::SEvent& event){};
            void AnimateModel(void);
            size_t dbtSize(void) const;
            void WritedbtBuf(char* dbtbuf);
            void ReaddbtBuf(char* dbtbuf);
            core::Mutex *motor_speed_mutex;
    #endif

            actuator::SimuBldc *motors;
            float motor_speed[8];
            gui::DoubleSpinBox *m,*arm_length,*l_cg;
            gui::DoubleSpinBox *k_mot,*c_mot;
            gui::DoubleSpinBox *f_air_vert,*f_air_lat;
            gui::DoubleSpinBox *j_roll,*j_pitch,*j_yaw;
            gui::DoubleSpinBox *j_r,*sigma,*S;
    };
} // end namespace simulator
} // end namespace flair
#endif // X8_H