| [7] | 1 | // created: 2015/02/08
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| 2 | // filename: XAir.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: Class defining a Xair uav
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "XAir.h"
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| 15 | #include <FrameworkManager.h>
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| 16 | #include <RTDM_I2cPort.h>
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| 17 | #include <RTDM_SerialPort.h>
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| 18 | #include <Srf08.h>
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| 19 | #include <Gx3_25_ahrs.h>
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| 20 | #include <AfroBldc.h>
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| 21 | #include <X4X8Multiplex.h>
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| 22 | #include <Ps3Eye.h>
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| 23 | #include <BatteryMonitor.h>
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| 24 | #include <Tab.h>
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| 25 |
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| 26 | using std::string;
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| 27 | using namespace flair::core;
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| 28 | using namespace flair::gui;
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| 29 | using namespace flair::sensor;
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| 30 | using namespace flair::filter;
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| 31 | using namespace flair::actuator;
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| 32 |
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| 33 | namespace flair { namespace meta {
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| 34 |
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| 35 | XAir::XAir(FrameworkManager* parent,string uav_name,filter::UavMultiplex *multiplex) : Uav(parent,uav_name,multiplex) {
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| 36 | RTDM_I2cPort* i2cport=new RTDM_I2cPort(parent,"rtdm_i2c","rti2c3");
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| 37 | RTDM_SerialPort* imu_port=new RTDM_SerialPort(parent,"imu_port","rtser1");
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| 38 |
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| 39 | if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X8));
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| 40 |
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| 41 | SetBldc(new AfroBldc(GetUavMultiplex(),GetUavMultiplex()->GetLayout(),"motors",GetUavMultiplex()->MotorsCount(),i2cport));
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| 42 | SetUsRangeFinder(new Srf08(parent,"SRF08",i2cport,0x70,60));
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| 43 | SetAhrs(new Gx3_25_ahrs(parent,"imu",imu_port,Gx3_25_imu::EulerAnglesAndAngularRates,70));
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| 44 | Tab* bat_tab=new Tab(parent->GetTabWidget(),"battery");
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| 45 | SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(),"battery"));
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| 46 | GetBatteryMonitor()->SetBatteryValue(12);
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| 47 |
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| 48 | /*
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| 49 | if(VRPNType==Auto || VRPNType==AutoSerialPort)
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| 50 | {
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| 51 | RTDM_SerialPort* vrpn_port=new RTDM_SerialPort(parent,"vrpn_port","rtser3");
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| 52 |
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| 53 | vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
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| 54 | uav_vrpn=new MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
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| 55 | }
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| 56 | */
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| 57 | SetVerticalCamera(new Ps3Eye(parent,"camv",0,50));
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| 58 | }
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| 59 |
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| 60 | XAir::~XAir() {
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| 61 |
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| 62 | }
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| 63 |
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| 64 | void XAir::StartSensors(void) {
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| 65 | ((Gx3_25_ahrs*)GetAhrs())->Start();
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| 66 | ((Srf08*)GetUsRangeFinder())->Start();
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| 67 | ((Ps3Eye *)GetVerticalCamera())->Start();
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| 68 | Uav::StartSensors();
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| 69 | }
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| 70 |
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| 71 | } // end namespace meta
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| 72 | } // end namespace flair
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