source: flair-src/trunk/lib/FlairMeta/src/SimuX4.cpp@ 7

//  created:    2016/02/08

//  filename:   SimuX4.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class defining a simultation x4 uav

//

//

/*********************************************************************/



#include "SimuX4.h"

#include <FrameworkManager.h>

#include <X4X8Multiplex.h>

#include <SimuImu.h>

#include <SimuAhrs.h>

#include <SimuBldc.h>

#include <SimuUs.h>

#include <SimuCamera.h>

#include <BatteryMonitor.h>

#include <Tab.h>



using std::string;

using namespace flair::core;

using namespace flair::gui;

using namespace flair::sensor;

using namespace flair::filter;

using namespace flair::actuator;



namespace flair { namespace meta {



SimuX4::SimuX4(FrameworkManager* parent,string uav_name,int simu_id,filter::UavMultiplex *multiplex) : Uav(parent,uav_name,multiplex) {



    if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X4));



    SetBldc(new SimuBldc(GetUavMultiplex(),GetUavMultiplex()->GetLayout(),"motors",GetUavMultiplex()->MotorsCount(),simu_id));

    SetUsRangeFinder(new SimuUs(parent,"us",simu_id,60));

    SetAhrs(new SimuAhrs(parent,"imu",simu_id,70));

    Tab* bat_tab=new Tab(parent->GetTabWidget(),"battery");

    SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(),"battery"));

    GetBatteryMonitor()->SetBatteryValue(12);

    SetVerticalCamera(new SimuCamera(parent, "simu_cam_v", 320, 240, 3, simu_id, 10));

}



SimuX4::~SimuX4() {



}



void SimuX4::StartSensors(void) {

    ((SimuAhrs*)GetAhrs())->Start();

    ((SimuUs*)GetUsRangeFinder())->Start();

    ((SimuCamera *)GetVerticalCamera())->Start();

    Uav::StartSensors();

}



void SimuX4::SetupVRPNAutoIP(string name) {

    SetupVRPN("127.0.0.1:3883",name);

}



} // end namespace meta

} // end namespace flair