Cloche.h

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// ----------------------------------------------------------------------------
//
// $Id$
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



// #define ARM



#ifndef __CLOCHE_H_
#define __CLOCHE_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <Task.h>
#include <Uav.h>
// #include <PositionDetector3D.h>
#include <Keyboard.h>
#ifndef MIP_PLATFORM_ARM
 #include <DraWin.h>
#endif

#include <CommonOptions.h>
#include <SharedMem.h>
#include <S3.h>

#define LINVEL_STEP 0.02
#define ANGVEL_STEP 0.05

using namespace MipResources;

namespace MipTasks{
 
 
 /* @{ */
 
 class ClocheOptions : public Options {
  public:
   DecimalOption* angle_step;
   DecimalOption* pos_step;
   DecimalOption* max_angle;
   DecimalOption* trimRoll;
   DecimalOption* trimPitch;
   DecimalOption* trimYaw;
   BoolOption*   continuosCtrl;
   IntOption*    controlType;


   ClocheOptions() {
    angle_step   = createDecimalOption("clocheAngleStep" , "Incremental step for angles (degree)", 1);
    max_angle   = createDecimalOption("clocheMaxAngle" , "Maximum angle for control (degree). Default: 30", 30);
    trimRoll    = createDecimalOption("clocheTrimRoll" , "Base Roll control input. Default: 0", 0);
    trimPitch   = createDecimalOption("clocheTrimPitch" , "Base Pitch control input. Default: 0", 0);
    trimYaw    = createDecimalOption("clocheTrimYaw"  , "Base yaw control input. Default: 0", 0);
    continuosCtrl = createBoolOption("clocheContCtrl"   , "Whether perform continous control or not. Default: true", true);
    // TODO complete the selection
    controlType  = createIntOption("clocheCtrlType"   , "Type of control: 0 = attitude, 1 = pose, 2 = full. Default: 0", 0);
    
    pos_step = createDecimalOption("clochePositionStep", "Incremental step for position (meters)", 0.1);
    
    updateValues();

   }

   string getObjectName() const {
    return "ClocheOptions";
   }
 };

 class Cloche : public Task{
 
  private:
   static const TaskPlate _plate = CLO_TASK;
   static const long int  _maxDurSec    = 0, _maxDurUsec    = 100000;
   static const long int  _maxSamplPeriodSec = 0, _maxSamplPeriodUsec  = 90000;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec  = 35000;
 
   Keyboard*  _keyboard;   
   Uav*   _uav;    
   Orientation3D uavOri;   
   Decimal   uavThr;   
   
   Orientation3D cmdOri;   
   Position3D cmdPos;
   Pose3D  cmdPose;
   Orientation3D cmdTrim;  
   bool contCtrl;
   
   Decimal   cmdThr;   
   Angle   *angle_step; 
   Angle   *max_angle;  
   Decimal   *pos_step;
   
   ClocheOptions options;
   
 #ifndef MIP_PLATFORM_ARM
   DraWin*   _draWin;
   unsigned int _drawList; 
   bool          dwOn;
 #endif
   
  public:
   Cloche(ResourcePointers resources,int argc, const char* argv[]);
   
   ~Cloche(){
    cout << "destr ClocheTask" << endl;
   }
   
   TaskPlate getPlate() const {
    return _plate;
   }  
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   
   void draw();
   
   void executeCmd(char &c);
   
   TaskOutputs run();
 };
};// end namespace MipTasks

#endif


/* @} */