/home/travis/build/lis-epfl/MAVRIC_Library/control/controller.hpp

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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/*******************************************************************************
 * \file controller.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Interfaces for controllers
 *
 ******************************************************************************/

#ifndef CONTROLLER_HPP_
#define CONTROLLER_HPP_

#include "control/control_command.hpp"

template<typename in_command_T, typename out_command_T = empty_command_t>
class Controller
{
public:
    typedef in_command_T in_command_t;
    typedef out_command_T out_command_t;

    virtual bool update(void) = 0;


    virtual bool set_command(const in_command_t& command) = 0;


    virtual bool get_command(in_command_t& command) const = 0;


    virtual bool get_output(out_command_t& command) const = 0;
};


template<typename in_command_T, typename out_command_a_T, typename out_command_b_T>
class Controller_1_to_2: public virtual Controller<in_command_T, out_command_a_T>,
                         public virtual Controller<in_command_T, out_command_b_T>
{
public:
    typedef in_command_T in_command_t;
    typedef out_command_a_T out_command_a_t;
    typedef out_command_b_T out_command_b_t;

    virtual bool update(void) = 0;


    virtual bool set_command(const in_command_t& command) = 0;


    virtual bool get_command(in_command_t& command) const = 0;


    virtual bool get_output(out_command_a_t& command) const = 0;


    virtual bool get_output(out_command_b_t& command) const = 0;
};


template<typename in_command_a_T, typename in_command_b_T, typename out_command_T>
class Controller_2_to_1: public virtual Controller<in_command_a_T, out_command_T>,
                         public virtual Controller<in_command_b_T, out_command_T>
{
public:
    typedef in_command_a_T in_command_a_t;
    typedef in_command_b_T in_command_b_t;
    typedef out_command_T out_command_t;


    virtual bool update(void) = 0;


    virtual bool set_command(const in_command_a_t& command) = 0;


    virtual bool get_command(in_command_a_t& command) const = 0;


    virtual bool set_command(const in_command_b_t& command) = 0;


    virtual bool get_command(in_command_b_t& command) const = 0;


    virtual bool get_output(out_command_t& command) const = 0;
};

#endif  // CONTROLLER_HPP_