source: flair-src/trunk/lib/FlairIpc/src/IpcX4.cpp@ 456

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2021/03/03

//  filename:   IpcX4.cpp

//

//  author:     Sébastien Ambroziak

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class defining an x4 uav using ipc data

//

//

/*********************************************************************/



#include <IpcX4.h>

#include <IpcBldc.h>

#include <IpcUs.h>

#include <PassthroughAhrs.h>

#include <IpcImu.h>

#include <BatteryMonitor.h>

#include <FrameworkManager.h>

#include <X4X8Multiplex.h>

#include <Tab.h>

//#include <FindArgument.h>





using std::string;

using namespace flair::core;

using namespace flair::gui;

using namespace flair::sensor;

using namespace flair::filter;

using namespace flair::actuator;



namespace flair {

namespace meta {



IpcX4::IpcX4(string name,string options,

               filter::UavMultiplex *multiplex)

    : Uav(name, multiplex) {



  if (multiplex == NULL)

    SetMultiplex(new X4X8Multiplex("motors", X4X8Multiplex::X4));



  SetBldc(new IpcBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),"motors", GetUavMultiplex()->MotorsCount(),"motors",65));

  

  SetUsRangeFinder(new IpcUs("us", 70, "altitude", 65));

 

  SetAhrs(new PassthroughAhrs(new IpcImu("imu",70,"imu",65),"ahrs"));



  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");

  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));

  GetBatteryMonitor()->SetBatteryValue(12);

  

}



IpcX4::~IpcX4() {}



void IpcX4::StartSensors(void) {

  ((IpcImu *)(GetAhrs()->GetImu()))->Start();

  ((IpcUs *)GetUsRangeFinder())->Start();

  

}





} // end namespace meta

} // end namespace flair