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