| [10] | 1 | // %flair:license{
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| [15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [10] | 4 | // %flair:license}
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| [7] | 5 | // created: 2015/02/08
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| 6 | // filename: HdsX8.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class defining an HDS X8 uav
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "HdsX8.h"
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| 19 | #include <FrameworkManager.h>
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| 20 | #include <RTDM_I2cPort.h>
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| 21 | #include <RTDM_SerialPort.h>
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| 22 | #include <Srf08.h>
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| 23 | #include <Gx3_25_ahrs.h>
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| 24 | #include <BlCtrlV2.h>
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| 25 | #include <X4X8Multiplex.h>
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| 26 | #include <Ps3Eye.h>
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::sensor;
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| 31 | using namespace flair::filter;
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| 32 | using namespace flair::actuator;
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| 33 |
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| [15] | 34 | namespace flair {
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| 35 | namespace meta {
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| [7] | 36 |
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| [15] | 37 | HdsX8::HdsX8(FrameworkManager *parent, string uav_name,
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| 38 | filter::UavMultiplex *multiplex)
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| 39 | : Uav(parent, uav_name, multiplex) {
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| 40 | RTDM_I2cPort *i2cport = new RTDM_I2cPort(parent, "rtdm_i2c", "rti2c3");
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| 41 | RTDM_SerialPort *imu_port = new RTDM_SerialPort(parent, "imu_port", "rtser1");
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| [7] | 42 |
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| [15] | 43 | if (multiplex == NULL)
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| 44 | SetMultiplex(new X4X8Multiplex(parent, "motors", X4X8Multiplex::X8));
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| [7] | 45 |
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| [15] | 46 | SetBldc(new BlCtrlV2(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
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| 47 | "motors", GetUavMultiplex()->MotorsCount(), i2cport));
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| 48 | SetUsRangeFinder(new Srf08(parent, "SRF08", i2cport, 0x70, 60));
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| 49 | SetAhrs(new Gx3_25_ahrs(parent, "imu", imu_port,
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| 50 | Gx3_25_imu::EulerAnglesAndAngularRates, 70));
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| 51 | SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
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| [7] | 52 |
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| [15] | 53 | /*
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| 54 | if(VRPNType==Auto || VRPNType==AutoSerialPort)
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| 55 | {
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| 56 | RTDM_SerialPort* vrpn_port=new
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| 57 | RTDM_SerialPort(parent,"vrpn_port","rtser3");
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| [7] | 58 |
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| [15] | 59 | vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
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| 60 | uav_vrpn=new
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| 61 | MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
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| 62 | }
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| 63 | */
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| 64 | SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50));
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| [7] | 65 | }
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| 66 |
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| [15] | 67 | HdsX8::~HdsX8() {}
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| [7] | 68 |
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| 69 | void HdsX8::StartSensors(void) {
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| [15] | 70 | ((Gx3_25_ahrs *)GetAhrs())->Start();
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| 71 | ((Srf08 *)GetUsRangeFinder())->Start();
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| 72 | ((Ps3Eye *)GetVerticalCamera())->Start();
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| 73 | Uav::StartSensors();
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| [7] | 74 | }
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| 75 |
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| 76 | } // end namespace meta
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| 77 | } // end namespace flair
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