MKInterface.hpp

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/*
 * MKInterface.hpp
 *
 *  Created on: Nov 23, 2011
 *      Author: mriedel
 */

#ifndef MKINTERFACE_HPP_
#define MKINTERFACE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <tk_mkinterface/MKInterfaceOptions.hpp>
#include <tk_mkinterface/MKData.hpp>

#include <tk_mkinterface/MKInterfaceConnection.hpp>

#include <tk_mkinterface/MKROSInterface.hpp>

#include <tk_mkinterface/MKSafeMod.hpp>

namespace TELEKYB_NAMESPACE {

class MKInterface : public MKSafeModDeleagte {
protected:
        MKInterfaceOptions options;

        // MKSafeMod
        MKSafeMod* safeModule;

        // Connection
        MKInterfaceConnection* connection;

        // ROS Interface
        MKROSInterface* rosInterface;


public:
        MKInterface();
        virtual ~MKInterface();

        bool hasConnection() const;
        void handleCommand(double estMass, double pitch, double roll, double yawrate, double thrust);

        MKInterfaceConnection* getConnection() const;

        bool performDriftEstim();

        // MKSafeModListener
        void safeModDidBecomeActive();
        void safeModFinished();

        // Called by ROS Interface Timer. Emits Warning when Low. returns true if empty!
        bool checkBattery(MKInt& batteryValue, bool& landRequest);

        void setEmergency();

        const MKInterfaceOptions& getOptions() const;
};

}

#endif /* MKINTERFACE_HPP_ */