| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2016/02/05
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| 6 | // filename: UavFactory.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: construct a Uav based on the type name
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "UavFactory.h"
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| 19 | #include "FrameworkManager.h"
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| 20 | //#include "ArDrone2.h"
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| 21 | #include "SimuX4.h"
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| 22 | #include "SimuX8.h"
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| 23 | #include "HdsX8.h"
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| 24 | #include "XAir.h"
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| 25 |
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| 26 | using namespace std;
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| 27 | using namespace flair::core;
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| 28 | using namespace flair::filter;
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| 29 | using namespace flair::meta;
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| 30 |
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| 31 | Uav* CreateUav(FrameworkManager* parent,string uav_name,string uav_type,UavMultiplex *multiplex) {
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| 32 | /*if(uav_type=="ardrone2") {
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| 33 | return new ArDrone2(parent,uav_name,multiplex);
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| 34 | } else */if(uav_type=="hds_x4") {
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| 35 | parent->Err("UAV type %s not yet implemented\n",uav_type.c_str());
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| 36 | return NULL;
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| 37 | } else if(uav_type=="hds_x8") {
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| 38 | return new HdsX8(parent,uav_name,multiplex);
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| 39 | } else if(uav_type=="xair") {
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| 40 | return new XAir(parent,uav_name,multiplex);
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| 41 | } else if(uav_type=="hds_xufo") {
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| 42 | parent->Err("UAV type %s not yet implemented\n",uav_type.c_str());
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| 43 | return NULL;
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| 44 | } else if(uav_type.compare(0,7,"x4_simu")==0) {
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| 45 | int simu_id=0;
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| 46 | if(uav_type.size()>7) {
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| 47 | simu_id=atoi(uav_type.substr (7,uav_type.size()-7).c_str());
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| 48 | }
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| 49 | return new SimuX4(parent,uav_name,simu_id,multiplex);
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| 50 | } else if(uav_type.compare(0,7,"x8_simu") == 0) {
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| 51 | int simu_id=0;
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| 52 | if(uav_type.size()>7) {
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| 53 | simu_id=atoi(uav_type.substr (7,uav_type.size()-7).c_str());
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| 54 | }
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| 55 | return new SimuX8(parent,uav_name,simu_id,multiplex);
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| 56 | } else {
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| 57 | parent->Err("UAV type %s unknown\n",uav_type.c_str());
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| 58 | return NULL;
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| 59 | }
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| 60 | }
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