source: flair-src/trunk/lib/FlairMeta/src/UavFactory.cpp @ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 1.9 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:    2016/02/05
6//  filename:   UavFactory.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:   construct a Uav based on the type name
14//
15//
16/*********************************************************************/
17
18#include "UavFactory.h"
19#include "FrameworkManager.h"
20//#include "ArDrone2.h"
21#include "SimuX4.h"
22#include "SimuX8.h"
23#include "HdsX8.h"
24#include "XAir.h"
25
26using namespace std;
27using namespace flair::core;
28using namespace flair::filter;
29using namespace flair::meta;
30
31Uav* CreateUav(FrameworkManager* parent,string uav_name,string uav_type,UavMultiplex *multiplex) {
32    /*if(uav_type=="ardrone2") {
33        return new ArDrone2(parent,uav_name,multiplex);
34    } else */if(uav_type=="hds_x4") {
35        parent->Err("UAV type %s not yet implemented\n",uav_type.c_str());
36        return NULL;
37    } else if(uav_type=="hds_x8") {
38        return new HdsX8(parent,uav_name,multiplex);
39    } else if(uav_type=="xair") {
40        return new XAir(parent,uav_name,multiplex);
41    } else if(uav_type=="hds_xufo") {
42        parent->Err("UAV type %s not yet implemented\n",uav_type.c_str());
43        return NULL;
44    } else if(uav_type.compare(0,7,"x4_simu")==0) {
45        int simu_id=0;
46        if(uav_type.size()>7) {
47            simu_id=atoi(uav_type.substr (7,uav_type.size()-7).c_str());
48        }
49        return new SimuX4(parent,uav_name,simu_id,multiplex);
50    } else if(uav_type.compare(0,7,"x8_simu") == 0) {
51        int simu_id=0;
52        if(uav_type.size()>7) {
53            simu_id=atoi(uav_type.substr (7,uav_type.size()-7).c_str());
54        }
55        return new SimuX8(parent,uav_name,simu_id,multiplex);
56    } else {
57        parent->Err("UAV type %s unknown\n",uav_type.c_str());
58        return NULL;
59    }
60}
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