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

Timestamp:

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

Author:

Sanahuja Guillaume

Message:

modifs uav vrpn i686

File:

• trunk/lib/FlairMeta/src/XAir.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/XAir.cpp

@@ -38 +38 @@
 namespace meta {
 
-XAir::XAir(FrameworkManager *parent, string uav_name,
+XAir::XAir(string name,
            filter::UavMultiplex *multiplex)
-    : Uav(parent, uav_name, multiplex) {
-  RTDM_I2cPort *i2cport = new RTDM_I2cPort(parent, "rtdm_i2c", "rti2c3");
-  RTDM_SerialPort *imu_port = new RTDM_SerialPort(parent, "imu_port", "rtser1");
+    : Uav(name, multiplex) {
+  RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3");
+  RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1");
 
   if (multiplex == NULL)
-    SetMultiplex(new X4X8Multiplex(parent, "motors", X4X8Multiplex::X8));
+    SetMultiplex(new X4X8Multiplex(getFrameworkManager(), "motors", X4X8Multiplex::X8));
 
   SetBldc(new AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
                        "motors", GetUavMultiplex()->MotorsCount(), i2cport));
-  SetUsRangeFinder(new Srf08(parent, "SRF08", i2cport, 0x70, 60));
-  SetAhrs(new Gx3_25_ahrs(parent, "imu", imu_port,
+  SetUsRangeFinder(new Srf08(getFrameworkManager(), "SRF08", i2cport, 0x70, 60));
+  SetAhrs(new Gx3_25_ahrs(getFrameworkManager(), "imu", imu_port,
                           Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
-  Tab *bat_tab = new Tab(parent->GetTabWidget(), "battery");
+  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
   GetBatteryMonitor()->SetBatteryValue(12);
-
-  /*
-          if(VRPNType==Auto || VRPNType==AutoSerialPort)
-          {
-              RTDM_SerialPort* vrpn_port=new
-     RTDM_SerialPort(parent,"vrpn_port","rtser3");
-
-              vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
-              uav_vrpn=new
-     MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
-          }
-  */
-  SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50));
+  SetVerticalCamera(new Ps3Eye(getFrameworkManager(), "camv", 0, 50));
 }
 
@@ -76 +64 @@
   ((Srf08 *)GetUsRangeFinder())->Start();
   ((Ps3Eye *)GetVerticalCamera())->Start();
-  Uav::StartSensors();
 }