MKSafeMod.hpp

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/*
 * MKSafeMod.hpp
 *
 *  Created on: Dec 7, 2011
 *      Author: mriedel
 */

#ifndef MKSAFEMOD_HPP_
#define MKSAFEMOD_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/Time.hpp>

#include <telekyb_base/Options.hpp>

#include <boost/thread.hpp>

#include <tk_mkinterface/MKInterfaceConnection.hpp>

namespace TELEKYB_NAMESPACE {

class MKSafeModOptions : public OptionContainer
{
public:
        Option<int>* tCmdTimeoutUs;
        Option<int>* tEmergLandThrust;
        Option<double>* tEmergLandDuration;
        Option<int>* tEmergLandFreq;

//      Option<int>* tThreadSleepTimeUs;
        MKSafeModOptions();
};

class MKSafeModDeleagte
{
public:
        virtual ~MKSafeModDeleagte() {}
        virtual void safeModDidBecomeActive() = 0;
        virtual void safeModFinished() = 0;
        virtual void handleCommand(double estMass, double roll, double pitch, double thrust, double yaw) = 0;
};

class MKSafeMod {
protected:
        MKSafeModOptions options;
        Timer cmdTimer; // Reset with each command;
        MKInterfaceConnection* connection;

        bool active;

        MKSafeModDeleagte* delegate;

        // generates Cmds.
        void safeModFcn();

        // Independent Threading
        boost::thread* mkSafeModThread;

        bool threadStopRequest;
        bool emergencyLandingRequest;
        //void initReadingThread();
        void threadFcn();
        void startThread();
        void stopThread();

public:
        MKSafeMod(MKSafeModDeleagte* delegate_, MKInterfaceConnection* connection_);
        virtual ~MKSafeMod();

        void start();
        void stop();

        // returns true if SafeMod has Taken Over
        bool isActive() const;
        bool isRunning() const;

        void resetCmdTimer();

        void setEmergency();
};

} /* namespace telekyb */
#endif /* MKSAFEMOD_HPP_ */