source: flair-src/trunk/lib/FlairMeta/src/Uav.cpp@ 186

Last change on this file since 186 was 186, checked in by Sanahuja Guillaume, 5 years ago

maj imu

File size: 5.2 KB
Line 
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: 2014/06/10
6// filename: Uav.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Base class to construct sensors/actuators depending on uav type
14//
15//
16/*********************************************************************/
17
18#include "Uav.h"
19#include <FrameworkManager.h>
20#include <Tab.h>
21#include <GridLayout.h>
22#include <DataPlot1D.h>
23#include <VrpnClient.h>
24#include <Ahrs.h>
25#include <Imu.h>
26#include <UavMultiplex.h>
27#include <UsRangeFinder.h>
28#include <NmeaGps.h>
29#include <Bldc.h>
30#include <cvmatrix.h>
31#include "MetaUsRangeFinder.h"
32#include "MetaVrpnObject.h"
33
34using std::string;
35using namespace flair::core;
36using namespace flair::gui;
37using namespace flair::filter;
38using namespace flair::sensor;
39using namespace flair::actuator;
40
41namespace {
42 flair::meta::Uav *uavSingleton = NULL;
43}
44
45namespace flair {
46namespace meta {
47
48Uav *GetUav(void) { return uavSingleton; }
49
50Uav::Uav(string name, UavMultiplex *multiplex)
51 : Object(getFrameworkManager(), name) {
52 if (uavSingleton != NULL) {
53 Err("Uav must be instanced only one time\n");
54 return;
55 }
56
57 uavSingleton = this;
58 verticalCamera = NULL;
59 horizontalCamera = NULL;
60 gps = NULL;
61 this->multiplex = multiplex;
62}
63
64Uav::~Uav() {}
65
66void Uav::SetUsRangeFinder(const UsRangeFinder *inUs) {
67 us = (UsRangeFinder *)inUs;
68 meta_us = new MetaUsRangeFinder(us);
69 getFrameworkManager()->AddDeviceToLog(us);
70}
71
72void Uav::SetAhrs(const Ahrs *inAhrs) {
73 ahrs = (Ahrs *)inAhrs;
74 imu = (Imu *)ahrs->GetImu();
75 //only add imu; as ahrs is son of imu, it will be logged together
76 getFrameworkManager()->AddDeviceToLog(imu);
77}
78
79void Uav::SetBldc(const Bldc *inBldc) { bldc = (Bldc *)inBldc; }
80
81void Uav::SetBatteryMonitor(const BatteryMonitor *inBattery) {
82 battery = (BatteryMonitor *)inBattery;
83}
84
85void Uav::SetMultiplex(const UavMultiplex *inMultiplex) {
86 multiplex = (UavMultiplex *)inMultiplex;
87 getFrameworkManager()->AddDeviceToLog(multiplex);
88}
89
90void Uav::SetVerticalCamera(const Camera *inVerticalCamera) {
91 verticalCamera = (Camera *)inVerticalCamera;
92}
93
94void Uav::SetHorizontalCamera(const Camera *inHorizontalCamera) {
95 horizontalCamera = (Camera *)inHorizontalCamera;
96}
97
98void Uav::SetGps(const NmeaGps *inGps) {
99 gps=(NmeaGps*)inGps;
100 getFrameworkManager()->AddDeviceToLog(gps);
101}
102
103void Uav::UseDefaultPlot(void) {
104 multiplex->UseDefaultPlot();
105
106 if (bldc->HasSpeedMeasurement()) {
107 Tab *plot_tab = new Tab(multiplex->GetTabWidget(), "Speeds");
108 DataPlot1D *plots[4];
109 plots[0] = new DataPlot1D(plot_tab->NewRow(), "front left", 0, 7000);
110 plots[1] =
111 new DataPlot1D(plot_tab->LastRowLastCol(), "front right", 0, 7000);
112 plots[2] = new DataPlot1D(plot_tab->NewRow(), "rear left", 0, 7000);
113 plots[3] =
114 new DataPlot1D(plot_tab->LastRowLastCol(), "rear right", 0, 7000);
115
116 if (bldc->MotorsCount() == 8) {
117 for (int i = 0; i < 4; i++)
118 plots[i]->AddCurve(
119 bldc->Output()->Element(multiplex->MultiplexValue(i), 0),
120 DataPlot::Red, "top");
121 for (int i = 0; i < 4; i++)
122 plots[i]->AddCurve(
123 bldc->Output()->Element(multiplex->MultiplexValue(i + 4), 0),
124 DataPlot::Blue, "bottom");
125 } else {
126 for (int i = 0; i < 4; i++)
127 plots[i]->AddCurve(
128 bldc->Output()->Element(multiplex->MultiplexValue(i), 0));
129 }
130 }
131
132 if (bldc->HasCurrentMeasurement()) {
133 Tab *plot_tab = new Tab(multiplex->GetTabWidget(), "Currents");
134 DataPlot1D *plots[4];
135 plots[0] = new DataPlot1D(plot_tab->NewRow(), "front left", 0, 10);
136 plots[1] = new DataPlot1D(plot_tab->LastRowLastCol(), "front right", 0, 10);
137 plots[2] = new DataPlot1D(plot_tab->NewRow(), "rear left", 0, 10);
138 plots[3] = new DataPlot1D(plot_tab->LastRowLastCol(), "rear right", 0, 10);
139
140 if (bldc->MotorsCount() == 8) {
141 for (int i = 0; i < 4; i++)
142 plots[i]->AddCurve(
143 bldc->Output()->Element(multiplex->MultiplexValue(i), 1),
144 DataPlot::Red, "top");
145 for (int i = 0; i < 4; i++)
146 plots[i]->AddCurve(
147 bldc->Output()->Element(multiplex->MultiplexValue(i + 4), 1),
148 DataPlot::Blue, "bottom");
149 } else {
150 for (int i = 0; i < 4; i++)
151 plots[i]->AddCurve(
152 bldc->Output()->Element(multiplex->MultiplexValue(i), 1));
153 }
154 }
155
156 meta_us->UseDefaultPlot();
157 ahrs->UseDefaultPlot();
158 if(gps!=NULL) gps->UseDefaultPlot();
159}
160
161UavMultiplex *Uav::GetUavMultiplex(void) const { return multiplex; }
162
163Bldc *Uav::GetBldc(void) const { return bldc; }
164
165Ahrs *Uav::GetAhrs(void) const { return ahrs; }
166
167Imu *Uav::GetImu(void) const { return imu; }
168
169MetaUsRangeFinder *Uav::GetMetaUsRangeFinder(void) const { return meta_us; }
170
171UsRangeFinder *Uav::GetUsRangeFinder(void) const { return us; }
172
173BatteryMonitor *Uav::GetBatteryMonitor(void) const { return battery; }
174
175Camera *Uav::GetVerticalCamera(void) const { return verticalCamera; }
176
177Camera *Uav::GetHorizontalCamera(void) const { return horizontalCamera; }
178
179NmeaGps *Uav::GetGps(void) const { return gps; }
180
181} // end namespace meta
182} // end namespace flair
Note: See TracBrowser for help on using the repository browser.