source: flair-src/trunk/lib/FlairMeta/src/HdsX8.cpp @ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 5 years ago

filter and meta

File size: 2.0 KB
Line 
1//  created:    2015/02/08
2//  filename:   HdsX8.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    Class defining an HDS X8 uav
10//
11//
12/*********************************************************************/
13
14#include "HdsX8.h"
15#include <FrameworkManager.h>
16#include <RTDM_I2cPort.h>
17#include <RTDM_SerialPort.h>
18#include <Srf08.h>
19#include <Gx3_25_ahrs.h>
20#include <BlCtrlV2.h>
21#include <X4X8Multiplex.h>
22#include <Ps3Eye.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::sensor;
27using namespace flair::filter;
28using namespace flair::actuator;
29
30namespace flair { namespace meta {
31
32HdsX8::HdsX8(FrameworkManager* parent,string uav_name,filter::UavMultiplex *multiplex) : Uav(parent,uav_name,multiplex) {
33    RTDM_I2cPort* i2cport=new RTDM_I2cPort(parent,"rtdm_i2c","rti2c3");
34    RTDM_SerialPort* imu_port=new RTDM_SerialPort(parent,"imu_port","rtser1");
35
36    if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X8));
37
38    SetBldc(new BlCtrlV2(GetUavMultiplex(),GetUavMultiplex()->GetLayout(),"motors",GetUavMultiplex()->MotorsCount(),i2cport));
39    SetUsRangeFinder(new Srf08(parent,"SRF08",i2cport,0x70,60));
40    SetAhrs(new Gx3_25_ahrs(parent,"imu",imu_port,Gx3_25_imu::EulerAnglesAndAngularRates,70));
41    SetBatteryMonitor(((BlCtrlV2*)GetBldc())->GetBatteryMonitor());
42
43/*
44        if(VRPNType==Auto || VRPNType==AutoSerialPort)
45        {
46            RTDM_SerialPort* vrpn_port=new RTDM_SerialPort(parent,"vrpn_port","rtser3");
47
48            vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
49            uav_vrpn=new MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
50        }
51*/
52    SetVerticalCamera(new Ps3Eye(parent,"camv",0,50));
53}
54
55HdsX8::~HdsX8() {
56
57}
58
59void HdsX8::StartSensors(void) {
60    ((Gx3_25_ahrs*)GetAhrs())->Start();
61    ((Srf08*)GetUsRangeFinder())->Start();
62    ((Ps3Eye *)GetVerticalCamera())->Start();
63    Uav::StartSensors();
64}
65
66} // end namespace meta
67} // end namespace flair
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