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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