Changeset 122 in flair-src for trunk/lib/FlairMeta/src/Uav.cpp
- Timestamp:
- 01/06/17 13:56:26 (6 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/Uav.cpp
r121 r122 38 38 using namespace flair::actuator; 39 39 40 namespace { 41 flair::meta::Uav *uavSingleton = NULL; 42 } 43 40 44 namespace flair { 41 45 namespace meta { 42 46 43 Uav::Uav(FrameworkManager *parent, string name, UavMultiplex *multiplex) 44 : Object(parent, name) { 45 vrpnclient = NULL; 46 uav_vrpn = NULL; 47 Uav *GetUav(void) { return uavSingleton; } 48 49 Uav::Uav(string name, UavMultiplex *multiplex) 50 : Object(getFrameworkManager(), name) { 51 if (uavSingleton != NULL) { 52 Err("Uav must be instanced only one time\n"); 53 return; 54 } 55 56 uavSingleton = this; 47 57 verticalCamera = NULL; 48 58 horizontalCamera = NULL; … … 82 92 horizontalCamera = (Camera *)inHorizontalCamera; 83 93 } 84 /*85 void Uav::SetupVRPNSerial(SerialPort *vrpn_port,string name,int86 VRPNSerialObjectId) {87 vrpnclient=new VrpnClient(getFrameworkManager(),"vrpn",vrpn_port,10000,80);88 uav_vrpn=new MetaVrpnObject(vrpnclient,name,VRPNSerialObjectId);89 94 90 getFrameworkManager()->AddDeviceToLog(uav_vrpn);91 }92 */93 void Uav::SetupVRPNAutoIP(string name) {94 SetupVRPN("192.168.147.197:3883", name);95 }96 97 void Uav::SetupVRPN(string optitrack_address, string name) {98 vrpnclient = new VrpnClient(getFrameworkManager(), "vrpn", optitrack_address,99 10000, 80);100 uav_vrpn = new MetaVrpnObject(vrpnclient, name);101 102 getFrameworkManager()->AddDeviceToLog(uav_vrpn);103 104 GetAhrs()->YawPlot()->AddCurve(uav_vrpn->State()->Element(2),105 DataPlot::Green);106 // GetAhrs()->RollPlot()->AddCurve(uav_vrpn->State()->Element(0),DataPlot::Green);107 // GetAhrs()->PitchPlot()->AddCurve(uav_vrpn->State()->Element(1),DataPlot::Green);108 }109 110 void Uav::StartSensors(void) {111 if (vrpnclient != NULL) {112 vrpnclient->Start();113 }114 }115 95 void Uav::UseDefaultPlot(void) { 116 96 multiplex->UseDefaultPlot(); … … 184 164 BatteryMonitor *Uav::GetBatteryMonitor(void) const { return battery; } 185 165 186 VrpnClient *Uav::GetVrpnClient(void) const {187 if (vrpnclient == NULL)188 Err("vrpn is not setup, call SetupVRPN before\n");189 return vrpnclient;190 }191 192 MetaVrpnObject *Uav::GetVrpnObject(void) const { return uav_vrpn; }193 194 166 Camera *Uav::GetVerticalCamera(void) const { return verticalCamera; } 195 167
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