source: flair-src/trunk/lib/FlairMeta/src/UavFactory.cpp @ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 4 years ago

modifs uav vrpn i686

File size: 2.6 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:    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 "SimuX4.h"
21#include "SimuX8.h"
22#include "HdsX8.h"
23#include "XAir.h"
24#include "compile_info.h"
25
26using namespace std;
27using namespace flair::core;
28using namespace flair::filter;
29using namespace flair::meta;
30
31namespace { // anonymous
32     vector<flair::meta::Uav* (*)(string,string,UavMultiplex*)> *vectoroffunctions=NULL;
33}
34
35
36static void constructor() __attribute__((constructor));
37
38void constructor() {
39  compile_info("FlairMeta");
40}
41
42
43Uav *CreateUav(string name, string uav_type,
44               UavMultiplex *multiplex) {
45
46  Uav *uav;
47
48  if(vectoroffunctions!=NULL) {
49    for(int i=0;i<vectoroffunctions->size();i++) {
50      uav=vectoroffunctions->at(i)(name,uav_type,multiplex);
51      if(uav!=NULL) {
52        free(vectoroffunctions);
53        vectoroffunctions=NULL;
54        return uav;
55      }
56    }
57  }
58
59  if (uav_type == "hds_x4") {
60    getFrameworkManager()->Err("UAV type %s not yet implemented\n", uav_type.c_str());
61    return NULL;
62  } else if (uav_type == "hds_x8") {
63    return new HdsX8(name, multiplex);
64  } else if (uav_type == "xair") {
65    return new XAir(name, multiplex);
66  } else if (uav_type == "hds_xufo") {
67    getFrameworkManager()->Err("UAV type %s not yet implemented\n", uav_type.c_str());
68    return NULL;
69  } else if (uav_type.compare(0, 7, "x4_simu") == 0) {
70    int simu_id = 0;
71    if (uav_type.size() > 7) {
72      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
73    }
74    return new SimuX4(name, simu_id, multiplex);
75  } else if (uav_type.compare(0, 7, "x8_simu") == 0) {
76    int simu_id = 0;
77    if (uav_type.size() > 7) {
78      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
79    }
80    return new SimuX8(name, simu_id, multiplex);
81  } else {
82    getFrameworkManager()->Err("UAV type %s unknown\n", uav_type.c_str());
83    return NULL;
84  }
85}
86
87void RegisterUavCreator(flair::meta::Uav*(*func)(string name, string type,
88               UavMultiplex *multiplex)) {
89  if(vectoroffunctions==NULL) vectoroffunctions=(vector<flair::meta::Uav* (*)(string,string,UavMultiplex*)>*)malloc(sizeof(vector<flair::meta::Uav* (*)(string,string,UavMultiplex*)>));
90
91  vectoroffunctions->push_back(func);
92}
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