/home/travis/build/lis-epfl/MAVRIC_Library/flight_controller/flight_controller.hpp

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

#ifndef FLIGHT_CONTROLLER_HPP_
#define FLIGHT_CONTROLLER_HPP_

#include "control/controller.hpp"
#include "manual_control/manual_control.hpp"
#include "flight_controller/flight_command_source.hpp"

class Flight_controller: public Controller<position_command_t>,
                         public Controller<velocity_command_t>,
                         public Controller<attitude_command_t>,
                         public Controller<rate_command_t>,
                         public Controller<torque_command_t>,
                         public Controller<thrust_command_t>
{
public:
    virtual bool update(void) = 0;

    virtual bool failsafe(void) = 0;

    virtual bool set_command(const position_command_t& command) = 0;
    virtual bool set_command(const velocity_command_t& command) = 0;
    virtual bool set_command(const attitude_command_t& command) = 0;
    virtual bool set_command(const rate_command_t& command) = 0;
    virtual bool set_command(const torque_command_t& command) = 0;
    virtual bool set_command(const thrust_command_t& command) = 0;

    virtual bool set_manual_rate_command(const Manual_control& manual_control) = 0;


    virtual bool set_manual_attitude_command(const Manual_control& manual_control) = 0;


    virtual bool set_manual_velocity_command(const Manual_control& manual_control) = 0;


    virtual bool set_flight_command(const Flight_command_source& command_source)
    {
        return command_source.write_flight_command(*this);
    };


    const command_t& command(void) const
    {
        return command_;
    }

protected:
    command_t command_;
};



#endif  // FLIGHT_CONTROLLER_HPP_