flight/modules/PathFollower/inc/pathfollowercontrol.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower CONTROL interface class
   6  * @brief CONTROL interface class for pathfollower goal implementations
   7  * @{
   8  *
   9  * @file       pathfollowercontrol.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Interface class for controllers
  12  *
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31 #ifndef PATHFOLLOWERCONTROL_H
  32 #define PATHFOLLOWERCONTROL_H
  33 class PathFollowerControl {
  34 public:
  35     virtual void Activate(void)   = 0;
  36     virtual void Deactivate(void) = 0;
  37     virtual void SettingsUpdated(void)  = 0;
  38     virtual void UpdateAutoPilot(void)  = 0;
  39     virtual void ObjectiveUpdated(void) = 0;
  40     virtual uint8_t Mode(void) = 0;
  41     static int32_t Initialize(PathDesiredData *ptr_pathDesired,
  42                               FlightStatusData *ptr_flightStatus,
  43                               PathStatusData *ptr_pathStatus);
  44 protected:
  45     static PathDesiredData *pathDesired;
  46     static FlightStatusData *flightStatus;
  47     static PathStatusData *pathStatus;
  48 };
  49
  50 #endif // PATHFOLLOWERCONTROL_H