source: flair-src/branches/mavlink/lib/FlairMeta/src/XAir.cpp @ 46

Last change on this file since 46 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 2.4 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:    2015/02/08
6//  filename:   XAir.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a Xair uav
14//
15//
16/*********************************************************************/
17
18#include "XAir.h"
19#include <FrameworkManager.h>
20#include <RTDM_I2cPort.h>
21#include <RTDM_SerialPort.h>
22#include <Srf08.h>
23#include <Gx3_25_ahrs.h>
24#include <AfroBldc.h>
25#include <X4X8Multiplex.h>
26#include <Ps3Eye.h>
27#include <BatteryMonitor.h>
28#include <Tab.h>
29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33using namespace flair::sensor;
34using namespace flair::filter;
35using namespace flair::actuator;
36
37namespace flair {
38namespace meta {
39
40XAir::XAir(FrameworkManager *parent, string uav_name,
41           filter::UavMultiplex *multiplex)
42    : Uav(parent, uav_name, multiplex) {
43  RTDM_I2cPort *i2cport = new RTDM_I2cPort(parent, "rtdm_i2c", "rti2c3");
44  RTDM_SerialPort *imu_port = new RTDM_SerialPort(parent, "imu_port", "rtser1");
45
46  if (multiplex == NULL)
47    SetMultiplex(new X4X8Multiplex(parent, "motors", X4X8Multiplex::X8));
48
49  SetBldc(new AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
50                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
51  SetUsRangeFinder(new Srf08(parent, "SRF08", i2cport, 0x70, 60));
52  SetAhrs(new Gx3_25_ahrs(parent, "imu", imu_port,
53                          Gx3_25_imu::EulerAnglesAndAngularRates, 70));
54  Tab *bat_tab = new Tab(parent->GetTabWidget(), "battery");
55  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
56  GetBatteryMonitor()->SetBatteryValue(12);
57
58  /*
59          if(VRPNType==Auto || VRPNType==AutoSerialPort)
60          {
61              RTDM_SerialPort* vrpn_port=new
62     RTDM_SerialPort(parent,"vrpn_port","rtser3");
63
64              vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
65              uav_vrpn=new
66     MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
67          }
68  */
69  SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50));
70}
71
72XAir::~XAir() {}
73
74void XAir::StartSensors(void) {
75  ((Gx3_25_ahrs *)GetAhrs())->Start();
76  ((Srf08 *)GetUsRangeFinder())->Start();
77  ((Ps3Eye *)GetVerticalCamera())->Start();
78  Uav::StartSensors();
79}
80
81} // end namespace meta
82} // end namespace flair
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