source: flair-src/trunk/lib/FlairMeta/src/UavFactory.cpp @ 22

Last change on this file since 22 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 1.9 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 "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,
32               UavMultiplex *multiplex) {
33  /*if(uav_type=="ardrone2") {
34        return new ArDrone2(parent,uav_name,multiplex);
35    } else */ if (uav_type == "hds_x4") {
36    parent->Err("UAV type %s not yet implemented\n", uav_type.c_str());
37    return NULL;
38  } else if (uav_type == "hds_x8") {
39    return new HdsX8(parent, uav_name, multiplex);
40  } else if (uav_type == "xair") {
41    return new XAir(parent, uav_name, multiplex);
42  } else if (uav_type == "hds_xufo") {
43    parent->Err("UAV type %s not yet implemented\n", uav_type.c_str());
44    return NULL;
45  } else if (uav_type.compare(0, 7, "x4_simu") == 0) {
46    int simu_id = 0;
47    if (uav_type.size() > 7) {
48      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
49    }
50    return new SimuX4(parent, uav_name, simu_id, multiplex);
51  } else if (uav_type.compare(0, 7, "x8_simu") == 0) {
52    int simu_id = 0;
53    if (uav_type.size() > 7) {
54      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
55    }
56    return new SimuX8(parent, uav_name, simu_id, multiplex);
57  } else {
58    parent->Err("UAV type %s unknown\n", uav_type.c_str());
59    return NULL;
60  }
61}
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