source: flair-src/trunk/lib/FlairMeta/src/SimuX8.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 2.0 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
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//
13//  purpose:    Class defining a simultation x4 uav
14//
15//
16/*********************************************************************/
17
18#include "SimuX8.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>
28
29using std::string;
30using namespace flair::core;
31using namespace flair::gui;
32using namespace flair::sensor;
33using namespace flair::filter;
34using namespace flair::actuator;
35
36namespace flair {
37namespace meta {
38
39SimuX8::SimuX8(FrameworkManager *parent, string uav_name, int simu_id,
40               filter::UavMultiplex *multiplex)
41    : Uav(parent, uav_name, multiplex) {
42
43  if (multiplex == NULL)
44    SetMultiplex(new X4X8Multiplex(parent, "motors", X4X8Multiplex::X8));
45
46  SetBldc(new SimuBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
47                       "motors", GetUavMultiplex()->MotorsCount(), simu_id));
48  SetUsRangeFinder(new SimuUs(parent, "us", simu_id, 60));
49  SetAhrs(new SimuAhrs(parent, "imu", simu_id, 70));
50  Tab *bat_tab = new Tab(parent->GetTabWidget(), "battery");
51  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
52  GetBatteryMonitor()->SetBatteryValue(12);
53  SetVerticalCamera(
54      new SimuCamera(parent, "simu_cam_v", 320, 240, 3, simu_id, 10));
55}
56
57SimuX8::~SimuX8() {}
58
59void SimuX8::StartSensors(void) {
60  ((SimuAhrs *)GetAhrs())->Start();
61  ((SimuUs *)GetUsRangeFinder())->Start();
62  ((SimuCamera *)GetVerticalCamera())->Start();
63  Uav::StartSensors();
64}
65
66void SimuX8::SetupVRPNAutoIP(string name) { SetupVRPN("127.0.0.1:3883", name); }
67
68} // end namespace meta
69} // end namespace flair
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