Status.h

00001 #include "mbed.h"
00002 #include "Global.h"
00003 #include "StatusLights.h"
00004 
00005 #ifndef Status_H
00006 #define Status_H
00007 
00008 class Status                  
00009 {
00010   public:                    
00011     Status();    
00012     ~Status();                  
00013     
00014     enum State
00015     {
00016         PREFLIGHT,
00017         STANDBY,
00018         GROUND_READY,
00019         MANUAL,
00020         STABILISED,
00021         AUTO,
00022         ERROR  
00023     };
00024     
00025     enum FlightMode
00026     {
00027         RATE,
00028         STAB
00029     };
00030     
00031     enum NavigationMode
00032     {
00033         NONE,
00034         ALTITUDE_HOLD,
00035         POSITION_HOLD
00036     };
00037     
00038     enum BaseStationMode
00039     {
00040         MOTOR_POWER,
00041         PID_OUTPUTS,
00042         IMU_OUTPUTS,
00043         STATUS,
00044         RC,
00045         PID_TUNING,
00046         GPS,
00047         ZERO,
00048         RATE_TUNING,
00049         STAB_TUNING,
00050         ALTITUDE,
00051         VELOCITY,
00052         ALTITUDE_STATUS,
00053         LIDAR
00054     };
00055     
00056     bool update();
00057     State getState();
00058     bool setFlightMode(FlightMode flightMode);
00059     FlightMode getFlightMode();
00060     bool setNavigationMode(NavigationMode navigationMode);
00061     NavigationMode getNavigationMode();
00062     bool setBaseStationMode(BaseStationMode baseStationMode);
00063     BaseStationMode getBaseStationMode();
00064     bool setBatteryLevel(double batteryLevel);
00065     double getBatteryLevel();
00066     bool setArmed(bool armed);
00067     bool getArmed();
00068     bool setInitialised(bool initialised);
00069     bool getInitialised();
00070     bool setRcConnected(bool rcConnected);
00071     bool getRcConnected();
00072     bool setMotorsSpinning(bool flying);
00073     bool getMotorsSpinning();
00074     bool setDeadZone(bool flying);
00075     bool getDeadZone();
00076     
00077   private:             
00078     State _state; 
00079     FlightMode _flightMode;
00080     NavigationMode _navigationMode;          
00081     BaseStationMode _baseStationMode;
00082     StatusLights _statusLights;
00083     bool setState(State state);
00084     void flash();
00085     double _batteryLevel;
00086     bool _armed;
00087     bool _initialised;
00088     bool _rcConnected;
00089     bool _flying;
00090     bool _deadZone;
00091 };
00092 
00093 #endif