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

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/*******************************************************************************
 * \file manual_control.hpp
 *
 * \author MAV'RIC Team
 *
 * \brief This module takes care of taking the correct input for the control
 * (i.e. the remote or the joystick)
 *
 ******************************************************************************/


#ifndef MANUAL_CONTROL_HPP_
#define MANUAL_CONTROL_HPP_

#include "manual_control/remote.hpp"
#include "manual_control/joystick.hpp"
#include "status/state.hpp"


/* forward declaration for friend function */
class Onboard_parameters;

class Manual_control
{
public:
    enum mode_source_t : int32_t
    {
        MODE_SOURCE_REMOTE      = 0,
        MODE_SOURCE_GND_STATION = 1,
        MODE_SOURCE_JOYSTICK    = 2,
    };


    enum control_source_t : int32_t
    {
        CONTROL_SOURCE_REMOTE       = 0,
        CONTROL_SOURCE_NONE         = 1,
        CONTROL_SOURCE_JOYSTICK     = 2,
    };

    struct conf_t
    {
        Joystick::conf_t    joystick_config;    
        mode_source_t       mode_source;        
        control_source_t    control_source;     
    };


    Manual_control(Satellite* sat, conf_t config, remote_conf_t remote_config);


    float throttle() const;


    float roll() const;


    float pitch() const;


    float yaw() const;


    void get_torque_command(torque_command_t& command,
                            float scale_roll = 1.0f,
                            float scale_pitch = 1.0f,
                            float scale_yaw = 1.0f) const;


    void get_rate_command(rate_command_t& command,
                          float scale_roll = 1.0f,
                          float scale_pitch = 1.0f,
                          float scale_yaw = 1.0f) const;


    void get_thrust_command_copter(thrust_command_t& command, float scale = 1.0f) const;


    void get_thrust_command_wing(thrust_command_t& command, float scale = 1.0f) const;


    void get_attitude_command_absolute_yaw( attitude_command_t& command,
                                            float scale_roll = 1.0f,
                                            float scale_pitch = 1.0f,
                                            float scale_yaw = 1.0f) const;


    void get_attitude_command(  attitude_command_t& command,
                                const quat_t& current_attitude,
                                float scale_roll = 1.0f,
                                float scale_pitch = 1.0f,
                                float scale_yaw = 0.5f) const;


    void get_attitude_command_vtol( attitude_command_t& command,
                                    const quat_t& current_attitude,
                                    float reference_pitch,
                                    float scale_roll = 1.0f,
                                    float scale_pitch = 1.0f,
                                    float scale_yaw = 0.25f) const;


    void get_velocity_command_copter(velocity_command_t& command,
                                    const quat_t& current_attitude,
                                    const velocity_command_t& current_velocity_command,
                                    float scale_x = 10.0f,
                                    float scale_y = 10.0f,
                                    float scale_z = 1.5f,
                                    float scale_heading = 0.25f) const;


    Mav_mode get_mode_from_source(Mav_mode mode_current);


    void set_mode_of_source(Mav_mode mode_current);

    signal_quality_t get_signal_strength();

    inline void set_mode_source(mode_source_t mode_source) {mode_source_ = mode_source;};

    inline mode_source_t mode_source() const {return mode_source_;};

    inline void set_control_source(control_source_t control_source) {control_source_ = control_source;};

    inline control_source_t control_source() const {return control_source_;};


    static inline conf_t default_config();


    remote_t                remote;             
    Joystick                joystick;           
    mode_source_t           mode_source_;        
    control_source_t        control_source_;     
};

Manual_control::conf_t Manual_control::default_config()
{
    conf_t conf = {};

    conf.joystick_config = Joystick::default_config();
    conf.mode_source = MODE_SOURCE_REMOTE;
    conf.control_source = CONTROL_SOURCE_REMOTE;

    return conf;
};





#endif /* MANUAL_CONTROL_HPP_ */