Changeset 25 in flair-dev for trunk/include/FlairMeta
- Timestamp:
- Jun 23, 2016, 10:18:10 AM (9 years ago)
- Location:
- trunk/include/FlairMeta
- Files:
-
- 2 edited
Legend:
- Unmodified
- Added
- Removed
-
trunk/include/FlairMeta/MetaDualShock3.h
r13 r25 14 14 #define METADUALSHOCK3_H 15 15 16 #include <TargetEthController.h> 16 #include <TargetController.h> 17 #include <IODevice.h> 17 18 18 19 namespace flair { … … 35 36 * \brief Classe intégrant la manette MetaDualShock3 36 37 */ 37 class MetaDualShock3 : public sensor::TargetEthController{38 class MetaDualShock3 : public core::IODevice { 38 39 friend class ::MetaDualShock3_impl; 39 40 40 41 public: 41 42 MetaDualShock3(core::FrameworkManager *parent, std::string name, 42 uint16_t port, uint8_t priority);43 sensor::TargetController *controller); 43 44 ~MetaDualShock3(); 44 45 core::AhrsData *GetReferenceOrientation(void) const; … … 66 67 void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout); 67 68 68 private: 69 class MetaDualShock3_impl *pimpl_; 70 }; 69 private: 70 class MetaDualShock3_impl* pimpl_; 71 void UpdateFrom(const flair::core::io_data *data); 72 sensor::TargetController *controller; 73 }; 71 74 } // end namespace meta 72 75 } // end namespace flair -
trunk/include/FlairMeta/UavStateMachine.h
r13 r25 101 101 }; 102 102 103 UavStateMachine(meta::Uav *uav, uint16_t ds3Port = 20000);104 ~UavStateMachine();103 UavStateMachine(meta::Uav* uav, sensor::TargetController* controller); 104 ~UavStateMachine(); 105 105 106 106 const core::Quaternion &GetCurrentQuaternion(void) const; … … 110 110 const meta::Uav *GetUav(void) const; 111 111 112 void Land(void); 113 void TakeOff(void); 114 void EmergencyStop(void); 115 //! Used to signal an event 116 /*! 117 \param event the event which occured 118 */ 119 virtual void SignalEvent(Event_t event); 112 void Land(void); 113 void EmergencyLand(void); 114 void TakeOff(void); 115 void EmergencyStop(void); 116 //! Used to signal an event 117 /*! 118 \param event the event which occured 119 */ 120 virtual void SignalEvent(Event_t event); 120 121 121 122 virtual const core::AhrsData *GetOrientation(void) const; … … 262 263 263 264 meta::Uav *uav; 265 sensor::TargetController *controller; 264 266 265 267 core::Quaternion currentQuaternion; … … 289 291 bool flagBatteryLow; 290 292 bool flagConnectionLost; 293 bool flagCriticalSensorLost; 291 294 bool flagZTrajectoryFinished; 295 bool safeToFly; 292 296 filter::NestedSat *uRoll, *uPitch; 293 297 filter::Pid *uYaw;
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