IGoalInput without IUpdatable

Kjell-K · Aug 3, 2017 · 52c3200 · 52c3200
1 parent e3c9472
commit 52c3200
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Showing 8 changed files with 26 additions and 8 deletions.
diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -97,6 +97,7 @@
     <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IBoardSensors.hpp" />
     <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\ICommLink.hpp" />
     <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IController.hpp" />
+    <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IFirmware.hpp" />
     <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IGoalInput.hpp" />
     <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IStateEstimator.hpp" />
     <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IUpdatable.hpp" />

diff --git a/AirLib/AirLib.vcxproj.filters b/AirLib/AirLib.vcxproj.filters
@@ -420,6 +420,9 @@
     <ClInclude Include="include\firmwares\simple_flight\SimpleFlightDroneController.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\firmwares\simple_flight\firmware\interfaces\IFirmware.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

diff --git a/AirLib/include/firmwares/simple_flight/firmware/AngleLevelController.hpp b/AirLib/include/firmwares/simple_flight/firmware/AngleLevelController.hpp
@@ -45,7 +45,6 @@ class AngleLevelController :
     virtual void reset() override
     {
         IAxisController::reset();
-        IGoalInput::reset();
 
         pid_->reset();
         rate_controller_->reset();
@@ -56,7 +55,6 @@ class AngleLevelController :
     virtual void update() override
     {
         IAxisController::update();
-        IGoalInput::update();
 
         //get response of level PID
         const auto& level_goal = goal_input_->getGoal();

diff --git a/AirLib/include/firmwares/simple_flight/firmware/Firmware.hpp b/AirLib/include/firmwares/simple_flight/firmware/Firmware.hpp
@@ -5,6 +5,7 @@
 #include "interfaces/IBoard.hpp"
 #include "interfaces/ICommLink.hpp"
 #include "interfaces/IStateEstimator.hpp"
+#include "interfaces/IFirmware.hpp"
 #include "Params.hpp"
 #include "RemoteControl.hpp"
 #include "Mixer.hpp"
@@ -13,7 +14,7 @@
 
 namespace simple_flight {
 
-class Firmware {
+class Firmware : public IFirmware {
 public:
     Firmware(const Params* params, IBoard* board, ICommLink* comm_link, IStateEstimator* state_estimator)
         : params_(params), board_(board), comm_link_(comm_link),

diff --git a/AirLib/include/firmwares/simple_flight/firmware/RemoteControl.hpp b/AirLib/include/firmwares/simple_flight/firmware/RemoteControl.hpp
@@ -9,7 +9,9 @@
 
 namespace simple_flight {
 
-class RemoteControl : public IGoalInput {
+class RemoteControl : 
+    public IGoalInput,
+    public IUpdatable {
 public:
     RemoteControl(const Params* params, const IBoardClock* clock, const IBoardInputPins* board_inputs, ICommLink* comm_link)
         : params_(params), clock_(clock), board_inputs_(board_inputs), comm_link_(comm_link)
@@ -18,7 +20,7 @@ class RemoteControl : public IGoalInput {
 
     virtual void reset() override
     {
-        IGoalInput::reset();
+        IUpdatable::reset();
 
         goal_ = Axis4r::zero();
         goal_mode_ = params_->default_goal_mode;
@@ -32,8 +34,8 @@ class RemoteControl : public IGoalInput {
 
     virtual void update() override
     {
-        IGoalInput::update();
-
+        IUpdatable::update();
+        
         uint64_t time = clock_->millis();
 
         //don't keep reading if not updated

diff --git a/AirLib/include/firmwares/simple_flight/firmware/interfaces/ICommLink.hpp b/AirLib/include/firmwares/simple_flight/firmware/interfaces/ICommLink.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "IUpdatable.hpp"
 #include <cstdint>
 
 namespace simple_flight {

diff --git a/AirLib/include/firmwares/simple_flight/firmware/interfaces/IFirmware.hpp b/AirLib/include/firmwares/simple_flight/firmware/interfaces/IFirmware.hpp
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "IUpdatable.hpp"
+
+namespace simple_flight {
+
+class IFirmware : public IUpdatable {
+public:
+
+};
+
+} //namespace
diff --git a/AirLib/include/firmwares/simple_flight/firmware/interfaces/IGoalInput.hpp b/AirLib/include/firmwares/simple_flight/firmware/interfaces/IGoalInput.hpp
@@ -5,7 +5,7 @@
 
 namespace simple_flight {
 
-class IGoalInput : public IUpdatable {
+class IGoalInput {
 public:
     virtual const Axis4r& getGoal() const = 0;
     virtual const GoalMode& getGoalMode() const = 0;