Uav.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 UAV_H
#define UAV_H

#include <Object.h>
#include <VrpnClient.h>

namespace flair {
        namespace filter {
                class Ahrs;
                class UavMultiplex;
        }
        namespace actuator {
                class Bldc;
        }
        namespace sensor {
                class UsRangeFinder;
                class BatteryMonitor;
                class Imu;
                class Camera;
                class NEDPosition;
                class PressureSensor;
        }
}

namespace flair {
namespace meta {
class MetaUsRangeFinder;

class Uav : public core::Object {
public:

  Uav(std::string name,
      filter::UavMultiplex *multiplex = NULL);
  ~Uav();

  virtual void StartSensors(void)=0;
  void UseDefaultPlot(void);
  actuator::Bldc *GetBldc(void) const;
  filter::UavMultiplex *GetUavMultiplex(void) const;
  sensor::Imu *GetImu(void) const;
  filter::Ahrs *GetAhrs(void) const;
  MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
  sensor::UsRangeFinder *GetUsRangeFinder(void) const;
  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
  sensor::Camera *GetVerticalCamera(void) const;
  sensor::Camera *GetHorizontalCamera(void) const;
  sensor::NEDPosition *GetExteriorNEDPosition(void) const;
  sensor::NEDPosition *GetInteriorNEDPosition(void) const;
  void SetInteriorNEDPosition(const sensor::NEDPosition *nedPosition);//TODO: should be protected as the others
  sensor::PressureSensor *GetPressureSensor(void) const;
        virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
        virtual sensor::VrpnClient::ConnectionType_t GetDefaultVrpnConnectionType(void) const{return sensor::VrpnClient::ConnectionType_t::Vrpn;}
  virtual bool isReadyToFly(void) const { return true;}
  virtual std::string GetType(void) const=0;

protected:
  void SetBldc(const actuator::Bldc *bldc);
  void SetMultiplex(const filter::UavMultiplex *multiplex);
  void SetAhrs(const filter::Ahrs *ahrs);//also sets imu (retrieved from the ahrs)
  void SetUsRangeFinder(const sensor::UsRangeFinder *us);
  void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
  void SetVerticalCamera(const sensor::Camera *verticalCamera);
  void SetHorizontalCamera(const sensor::Camera *verticalCamera);
  void SetExteriorNEDPosition(const sensor::NEDPosition *nedPosition);
  void SetPressureSensor(const sensor::PressureSensor *pressureSensor);

private:
  sensor::Imu *imu;
  sensor::NEDPosition *extNEDPosition,*intNEDPosition;
  filter::Ahrs *ahrs;
  actuator::Bldc *bldc;
  filter::UavMultiplex *multiplex;
  sensor::UsRangeFinder *us;
  MetaUsRangeFinder *meta_us;
  sensor::BatteryMonitor *battery;
  sensor::Camera *verticalCamera,*horizontalCamera;
  sensor::PressureSensor *pressureSensor;
};

Uav *GetUav(void);

} // end namespace meta
} // end namespace flair
#endif // UAV_H