//  created:    2015/02/08
//  filename:   HdsX8.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class defining an HDS X8 uav
//
//
/*********************************************************************/

#include "HdsX8.h"
#include <FrameworkManager.h>
#include <RTDM_I2cPort.h>
#include <RTDM_SerialPort.h>
#include <Srf08.h>
#include <Gx3_25_ahrs.h>
#include <BlCtrlV2.h>
#include <X4X8Multiplex.h>
#include <Ps3Eye.h>

using std::string;
using namespace flair::core;
using namespace flair::sensor;
using namespace flair::filter;
using namespace flair::actuator;

namespace flair { namespace meta {

HdsX8::HdsX8(FrameworkManager* parent,string uav_name,filter::UavMultiplex *multiplex) : Uav(parent,uav_name,multiplex) {
    RTDM_I2cPort* i2cport=new RTDM_I2cPort(parent,"rtdm_i2c","rti2c3");
    RTDM_SerialPort* imu_port=new RTDM_SerialPort(parent,"imu_port","rtser1");

    if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X8));

    SetBldc(new BlCtrlV2(GetUavMultiplex(),GetUavMultiplex()->GetLayout(),"motors",GetUavMultiplex()->MotorsCount(),i2cport));
    SetUsRangeFinder(new Srf08(parent,"SRF08",i2cport,0x70,60));
    SetAhrs(new Gx3_25_ahrs(parent,"imu",imu_port,Gx3_25_imu::EulerAnglesAndAngularRates,70));
    SetBatteryMonitor(((BlCtrlV2*)GetBldc())->GetBatteryMonitor());

/*
        if(VRPNType==Auto || VRPNType==AutoSerialPort)
        {
            RTDM_SerialPort* vrpn_port=new RTDM_SerialPort(parent,"vrpn_port","rtser3");

            vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
            uav_vrpn=new MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
        }
*/
    SetVerticalCamera(new Ps3Eye(parent,"camv",0,50));
}

HdsX8::~HdsX8() {

}

void HdsX8::StartSensors(void) {
    ((Gx3_25_ahrs*)GetAhrs())->Start();
    ((Srf08*)GetUsRangeFinder())->Start();
    ((Ps3Eye *)GetVerticalCamera())->Start();
    Uav::StartSensors();
}

} // end namespace meta
} // end namespace flair