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

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 6 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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