source: flair-src/trunk/lib/FlairMeta/src/XAir.cpp@ 112

Last change on this file since 112 was 100, checked in by Sanahuja Guillaume, 8 years ago

passage quaternoin 3dmgx3

File size: 2.4 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: 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
37namespace flair {
38namespace meta {
39
40XAir::XAir(FrameworkManager *parent, string uav_name,
41 filter::UavMultiplex *multiplex)
42 : Uav(parent, uav_name, multiplex) {
43 RTDM_I2cPort *i2cport = new RTDM_I2cPort(parent, "rtdm_i2c", "rti2c3");
44 RTDM_SerialPort *imu_port = new RTDM_SerialPort(parent, "imu_port", "rtser1");
45
46 if (multiplex == NULL)
47 SetMultiplex(new X4X8Multiplex(parent, "motors", X4X8Multiplex::X8));
48
49 SetBldc(new AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
50 "motors", GetUavMultiplex()->MotorsCount(), i2cport));
51 SetUsRangeFinder(new Srf08(parent, "SRF08", i2cport, 0x70, 60));
52 SetAhrs(new Gx3_25_ahrs(parent, "imu", imu_port,
53 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
54 Tab *bat_tab = new Tab(parent->GetTabWidget(), "battery");
55 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
56 GetBatteryMonitor()->SetBatteryValue(12);
57
58 /*
59 if(VRPNType==Auto || VRPNType==AutoSerialPort)
60 {
61 RTDM_SerialPort* vrpn_port=new
62 RTDM_SerialPort(parent,"vrpn_port","rtser3");
63
64 vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
65 uav_vrpn=new
66 MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
67 }
68 */
69 SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50));
70}
71
72XAir::~XAir() {}
73
74void XAir::StartSensors(void) {
75 ((Gx3_25_ahrs *)GetAhrs())->Start();
76 ((Srf08 *)GetUsRangeFinder())->Start();
77 ((Ps3Eye *)GetVerticalCamera())->Start();
78 Uav::StartSensors();
79}
80
81} // end namespace meta
82} // end namespace flair
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