// %flair:license{ // This file is part of the Flair framework distributed under the // CECILL-C License, Version 1.0. // %flair:license} // created: 2016/02/08 // filename: SimuX8.cpp // // author: Guillaume Sanahuja // Copyright Heudiasyc UMR UTC/CNRS 7253 // // version: $Id: $ // // purpose: Class defining a simultation x4 uav // // /*********************************************************************/ #include "SimuX8.h" #include #include #include #include #include #include #include #include #include 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 { SimuX8::SimuX8(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::X8)); 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)); } SimuX8::~SimuX8() {} void SimuX8::StartSensors(void) { ((SimuAhrs *)GetAhrs())->Start(); ((SimuUs *)GetUsRangeFinder())->Start(); ((SimuCamera *)GetVerticalCamera())->Start(); Uav::StartSensors(); } void SimuX8::SetupVRPNAutoIP(string name) { SetupVRPN("127.0.0.1:3883", name); } } // end namespace meta } // end namespace flair