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

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 5 years ago

modifs uav vrpn i686

File size: 2.1 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5//  created:    2015/02/08
6//  filename:   XAir.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a Xair uav
14//
15//
16/*********************************************************************/
17
18#include "XAir.h"
19#include <FrameworkManager.h>
20#include <RTDM_I2cPort.h>
21#include <RTDM_SerialPort.h>
22#include <Srf08.h>
23#include <Gx3_25_ahrs.h>
24#include <AfroBldc.h>
25#include <X4X8Multiplex.h>
26#include <Ps3Eye.h>
27#include <BatteryMonitor.h>
28#include <Tab.h>
29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33using namespace flair::sensor;
34using namespace flair::filter;
35using namespace flair::actuator;
36
[15]37namespace flair {
38namespace meta {
[7]39
[122]40XAir::XAir(string name,
[15]41           filter::UavMultiplex *multiplex)
[122]42    : Uav(name, multiplex) {
43  RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3");
44  RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1");
[7]45
[15]46  if (multiplex == NULL)
[122]47    SetMultiplex(new X4X8Multiplex(getFrameworkManager(), "motors", X4X8Multiplex::X8));
[7]48
[15]49  SetBldc(new AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
50                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
[122]51  SetUsRangeFinder(new Srf08(getFrameworkManager(), "SRF08", i2cport, 0x70, 60));
52  SetAhrs(new Gx3_25_ahrs(getFrameworkManager(), "imu", imu_port,
[100]53                          Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
[122]54  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
[15]55  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
56  GetBatteryMonitor()->SetBatteryValue(12);
[122]57  SetVerticalCamera(new Ps3Eye(getFrameworkManager(), "camv", 0, 50));
[7]58}
59
[15]60XAir::~XAir() {}
[7]61
62void XAir::StartSensors(void) {
[15]63  ((Gx3_25_ahrs *)GetAhrs())->Start();
64  ((Srf08 *)GetUsRangeFinder())->Start();
65  ((Ps3Eye *)GetVerticalCamera())->Start();
[7]66}
67
68} // end namespace meta
69} // end namespace flair
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