source: flair-src/branches/mavlink/lib/FlairMeta/src/UavFactory.cpp @ 98

Last change on this file since 98 was 41, checked in by Sanahuja Guillaume, 5 years ago

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File size: 2.3 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2016/02/05
6//  filename:   UavFactory.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:   construct a Uav based on the type name
14//
15//
16/*********************************************************************/
17
18#include "UavFactory.h"
19#include "FrameworkManager.h"
20//#include "ArDrone2.h"
21#include "SimuX4.h"
22#include "SimuX8.h"
23#include "HdsX8.h"
24#include "XAir.h"
25
26using namespace std;
27using namespace flair::core;
28using namespace flair::filter;
29using namespace flair::meta;
30
31namespace { // anonymous
32     vector<flair::meta::Uav* (*)(FrameworkManager*,string,string,UavMultiplex*)> vectoroffunctions;
33}
34
35Uav *CreateUav(FrameworkManager *parent, string uav_name, string uav_type,
36               UavMultiplex *multiplex) {
37
38  Uav *uav;
39  for(int i=0;i<vectoroffunctions.size();i++) {
40    uav=vectoroffunctions.at(i)(parent, uav_name, uav_type,multiplex);
41    if(uav!=NULL) return uav;
42  }
43
44  if (uav_type == "hds_x4") {
45    parent->Err("UAV type %s not yet implemented\n", uav_type.c_str());
46    return NULL;
47  } else if (uav_type == "hds_x8") {
48    return new HdsX8(parent, uav_name, multiplex);
49  } else if (uav_type == "xair") {
50    return new XAir(parent, uav_name, multiplex);
51  } else if (uav_type == "hds_xufo") {
52    parent->Err("UAV type %s not yet implemented\n", uav_type.c_str());
53    return NULL;
54  } else if (uav_type.compare(0, 7, "x4_simu") == 0) {
55    int simu_id = 0;
56    if (uav_type.size() > 7) {
57      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
58    }
59    return new SimuX4(parent, uav_name, simu_id, multiplex);
60  } else if (uav_type.compare(0, 7, "x8_simu") == 0) {
61    int simu_id = 0;
62    if (uav_type.size() > 7) {
63      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
64    }
65    return new SimuX8(parent, uav_name, simu_id, multiplex);
66  } else {
67    parent->Err("UAV type %s unknown\n", uav_type.c_str());
68    return NULL;
69  }
70}
71
72void RegisterUavCreator(flair::meta::Uav*(*func)(FrameworkManager *parent, string uav_name, string uav_type,
73               UavMultiplex *multiplex)) {
74                 vectoroffunctions.push_back(func);
75
76}
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