source: flair-src/trunk/lib/FlairMeta/src/SimuX8.cpp@ 451

Last change on this file since 451 was 417, checked in by Sanahuja Guillaume, 10 months ago

define and use passthrough ahrs

File size: 3.6 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: SimuX8.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 x8 uav
[7]14//
15//
16/*********************************************************************/
[268]17#ifdef CORE2_64
[7]18
19#include "SimuX8.h"
20#include <FrameworkManager.h>
21#include <X4X8Multiplex.h>
[286]22#include <SimulatedImu.h>
[417]23#include <PassthroughAhrs.h>
[286]24#include <SimulatedBldc.h>
25#include <SimulatedUs.h>
26#include <SimulatedCamera.h>
27#include <SimulatedPressureSensor.h>
[7]28#include <BatteryMonitor.h>
[286]29#include <SimulatedGps.h>
[7]30#include <Tab.h>
[160]31#include <FindArgument.h>
[7]32
33using std::string;
34using namespace flair::core;
35using namespace flair::gui;
36using namespace flair::sensor;
37using namespace flair::filter;
38using namespace flair::actuator;
39
[15]40namespace flair {
41namespace meta {
[7]42
[158]43SimuX8::SimuX8(string name, uint32_t simu_id,string options,
[15]44 filter::UavMultiplex *multiplex)
[122]45 : Uav(name, multiplex) {
[7]46
[15]47 if (multiplex == NULL)
[137]48 SetMultiplex(new X4X8Multiplex("motors", X4X8Multiplex::X8));
[7]49
[286]50 SetBldc(new SimulatedBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
[158]51 "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
[286]52 SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
[417]53 SetAhrs(new PassthroughAhrs(new SimulatedImu("imu", simu_id,0, 70),"ahrs"));
[122]54 Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
[15]55 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
56 GetBatteryMonitor()->SetBatteryValue(12);
[160]57
58 uint16_t camvWidth=320,camvHeight=240;
59 ReadCameraResolutionOption(options,"camv",camvWidth,camvHeight);
60 Info("using vertical camera resolution: %ix%i\n",camvWidth, camvHeight);
[286]61 SetVerticalCamera(new SimulatedCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
[160]62
63 uint16_t camhWidth=320,camhHeight=240;
64 ReadCameraResolutionOption(options,"camh",camhWidth,camhHeight);
65 Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
[286]66 SetHorizontalCamera(new SimulatedCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
[185]67
68 string useGps=FindArgument(options,"use_gps=",false);
69 if(useGps=="true") {
[286]70 SetGps(new SimulatedGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
[185]71 }
[245]72
73 string usePressureSensor=FindArgument(options,"use_pressure_sensor=",false);
74 if(usePressureSensor=="true") {
[286]75 SetPressureSensor(new SimulatedPressureSensor("pressuresensor", 0,0, 10));
[245]76 }
[7]77}
78
[15]79SimuX8::~SimuX8() {}
[7]80
81void SimuX8::StartSensors(void) {
[286]82 ((SimulatedImu *)(GetAhrs()->GetImu()))->Start();
83 ((SimulatedUs *)GetUsRangeFinder())->Start();
84 ((SimulatedCamera *)GetVerticalCamera())->Start();
85 ((SimulatedCamera *)GetHorizontalCamera())->Start();
86 if(GetGps()) ((SimulatedGps *)GetGps())->Start();
87 if(GetPressureSensor()) ((SimulatedPressureSensor *)GetPressureSensor())->Start();
[7]88}
89
[160]90void SimuX8::ReadCameraResolutionOption(string options,string cameraName,uint16_t &camWidth,uint16_t &camHeight) const {
91 string camOpts=FindArgument(options,cameraName +"=",false);
92 if(camOpts!="") {
93 size_t position=camOpts.find("x");
94 if(position!=std::string::npos) {
95 camWidth=std::stoi(camOpts.substr(0,position));
96 camHeight=std::stoi(camOpts.substr(position+1,std::string::npos));
97 } else {
98 Warn("bad camera resolution parameter (%s) should be WIDTHxHEIGHT format\n",camOpts.c_str());
99 }
100 }
101}
102
[7]103} // end namespace meta
104} // end namespace flair
[268]105
106#endif
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