Changeset 122 in flair-src for trunk/lib/FlairMeta/src/Uav.cpp

Timestamp:

01/06/17 13:56:26 (6 years ago)

Author:

Sanahuja Guillaume

Message:

modifs uav vrpn i686

File:

• trunk/lib/FlairMeta/src/Uav.cpp (modified) (3 diffs)

trunk/lib/FlairMeta/src/Uav.cpp

@@ -38 +38 @@
 using namespace flair::actuator;
 
+namespace {
+  flair::meta::Uav *uavSingleton = NULL;
+}
+
 namespace flair {
 namespace meta {
 
-Uav::Uav(FrameworkManager *parent, string name, UavMultiplex *multiplex)
-    : Object(parent, name) {
-  vrpnclient = NULL;
-  uav_vrpn = NULL;
+Uav *GetUav(void) { return uavSingleton; }
+        
+Uav::Uav(string name, UavMultiplex *multiplex)
+    : Object(getFrameworkManager(), name) {
+        if (uavSingleton != NULL) {
+    Err("Uav must be instanced only one time\n");
+    return;
+  }
+
+  uavSingleton = this;
   verticalCamera = NULL;
   horizontalCamera = NULL;
@@ -82 +92 @@
   horizontalCamera = (Camera *)inHorizontalCamera;
 }
-/*
-void Uav::SetupVRPNSerial(SerialPort *vrpn_port,string name,int
-VRPNSerialObjectId) {
-    vrpnclient=new VrpnClient(getFrameworkManager(),"vrpn",vrpn_port,10000,80);
-    uav_vrpn=new MetaVrpnObject(vrpnclient,name,VRPNSerialObjectId);
 
-    getFrameworkManager()->AddDeviceToLog(uav_vrpn);
-}
-*/
-void Uav::SetupVRPNAutoIP(string name) {
-  SetupVRPN("192.168.147.197:3883", name);
-}
-
-void Uav::SetupVRPN(string optitrack_address, string name) {
-  vrpnclient = new VrpnClient(getFrameworkManager(), "vrpn", optitrack_address,
-                              10000, 80);
-  uav_vrpn = new MetaVrpnObject(vrpnclient, name);
-
-  getFrameworkManager()->AddDeviceToLog(uav_vrpn);
-
-  GetAhrs()->YawPlot()->AddCurve(uav_vrpn->State()->Element(2),
-                                 DataPlot::Green);
-  // GetAhrs()->RollPlot()->AddCurve(uav_vrpn->State()->Element(0),DataPlot::Green);
-  // GetAhrs()->PitchPlot()->AddCurve(uav_vrpn->State()->Element(1),DataPlot::Green);
-}
-
-void Uav::StartSensors(void) {
-  if (vrpnclient != NULL) {
-    vrpnclient->Start();
-  }
-}
 void Uav::UseDefaultPlot(void) {
   multiplex->UseDefaultPlot();
@@ -184 +164 @@
 BatteryMonitor *Uav::GetBatteryMonitor(void) const { return battery; }
 
-VrpnClient *Uav::GetVrpnClient(void) const {
-  if (vrpnclient == NULL)
-    Err("vrpn is not setup, call SetupVRPN before\n");
-  return vrpnclient;
-}
-
-MetaVrpnObject *Uav::GetVrpnObject(void) const { return uav_vrpn; }
-
 Camera *Uav::GetVerticalCamera(void) const { return verticalCamera; }