source: flair-src/trunk/lib/FlairMeta/src/SimuX4.cpp@ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 5 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 2.1 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5// created: 2016/02/08
6// filename: SimuX4.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
[22]13// purpose: Class defining a simulation x4 uav
[7]14//
15//
16/*********************************************************************/
17
18#include "SimuX4.h"
19#include <FrameworkManager.h>
20#include <X4X8Multiplex.h>
21#include <SimuImu.h>
22#include <SimuAhrs.h>
23#include <SimuBldc.h>
24#include <SimuUs.h>
25#include <SimuCamera.h>
26#include <BatteryMonitor.h>
27#include <Tab.h>
[157]28#include <FindArgument.h>
[7]29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33using namespace flair::sensor;
34using namespace flair::filter;
35using namespace flair::actuator;
36
[15]37namespace flair {
38namespace meta {
[7]39
[157]40SimuX4::SimuX4(string name, int simu_id,string options,
[15]41 filter::UavMultiplex *multiplex)
[122]42 : Uav(name, multiplex) {
[7]43
[15]44 if (multiplex == NULL)
[137]45 SetMultiplex(new X4X8Multiplex("motors", X4X8Multiplex::X4));
[7]46
[15]47 SetBldc(new SimuBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
48 "motors", GetUavMultiplex()->MotorsCount(), simu_id));
[137]49 SetUsRangeFinder(new SimuUs("us", simu_id, 60));
50 SetAhrs(new SimuAhrs("imu", simu_id, 70));
[122]51 Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
[15]52 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
53 GetBatteryMonitor()->SetBatteryValue(12);
[157]54
55 string camvOpts=FindArgument(options,"camv=",false);
56 uint16_t camvWidth=320,camvHeight=240;
57 if(camvOpts=="") {
58 Info("using default vertical camera resolution: %ix%i\n",camvWidth, camvHeight);
59 }
60
[15]61 SetVerticalCamera(
[157]62 new SimuCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id, 10));
[7]63}
64
[15]65SimuX4::~SimuX4() {}
[7]66
67void SimuX4::StartSensors(void) {
[157]68 ((SimuImu *)(GetAhrs()->GetImu()))->Start();
[15]69 ((SimuUs *)GetUsRangeFinder())->Start();
70 ((SimuCamera *)GetVerticalCamera())->Start();
[7]71}
72
[157]73
[7]74} // end namespace meta
75} // end namespace flair
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