source: flair-src/trunk/lib/FlairMeta/src/HdsX8.cpp @ 38

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