//  created:    2016/02/05
//  filename:   UavFactory.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:   construct a Uav based on the type name
//
//
/*********************************************************************/

#include "UavFactory.h"
#include "FrameworkManager.h"
//#include "ArDrone2.h"
#include "SimuX4.h"
#include "SimuX8.h"
#include "HdsX8.h"
#include "XAir.h"

using namespace std;
using namespace flair::core;
using namespace flair::filter;
using namespace flair::meta;

Uav* CreateUav(FrameworkManager* parent,string uav_name,string uav_type,UavMultiplex *multiplex) {
    /*if(uav_type=="ardrone2") {
        return new ArDrone2(parent,uav_name,multiplex);
    } else */if(uav_type=="hds_x4") {
        parent->Err("UAV type %s not yet implemented\n",uav_type.c_str());
        return NULL;
    } else if(uav_type=="hds_x8") {
        return new HdsX8(parent,uav_name,multiplex);
    } else if(uav_type=="xair") {
        return new XAir(parent,uav_name,multiplex);
    } else if(uav_type=="hds_xufo") {
        parent->Err("UAV type %s not yet implemented\n",uav_type.c_str());
        return NULL;
    } else if(uav_type.compare(0,7,"x4_simu")==0) {
        int simu_id=0;
        if(uav_type.size()>7) {
            simu_id=atoi(uav_type.substr (7,uav_type.size()-7).c_str());
        }
        return new SimuX4(parent,uav_name,simu_id,multiplex);
    } else if(uav_type.compare(0,7,"x8_simu") == 0) {
        int simu_id=0;
        if(uav_type.size()>7) {
            simu_id=atoi(uav_type.substr (7,uav_type.size()-7).c_str());
        }
        return new SimuX8(parent,uav_name,simu_id,multiplex);
    } else {
        parent->Err("UAV type %s unknown\n",uav_type.c_str());
        return NULL;
    }
}