Bldc.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef BLDC_H
#define BLDC_H

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

namespace flair {
namespace core {
class Matrix;
}
namespace gui {
class Layout;
class TabWidget;
}
}

class Bldc_impl;

namespace flair {
namespace actuator {
class Bldc : public core::IODevice {
  friend class ::Bldc_impl;

public:
  Bldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
       uint8_t motors_count);

  Bldc(const core::Object *parent, std::string name, uint8_t motors_count);

  ~Bldc();

  void LockUserInterface(void) const;

  void UnlockUserInterface(void) const;

  void UseDefaultPlot(gui::TabWidget *tabwidget);

  core::Matrix *Output(void) const;

  uint8_t MotorsCount(void) const;

  void SetEnabled(bool status);

  bool AreEnabled(void) const;

  void SetPower(int motor_id, float value);

  gui::Layout *GetLayout(void) const;

  virtual bool HasSpeedMeasurement(void) const = 0;

  virtual bool HasCurrentMeasurement(void) const = 0;

protected:
  core::Matrix *output;

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

  virtual void SetMotors(float *values) = 0;

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