Changeset 15 in flair-src for trunk/lib/FlairMeta/src/SimuX4.cpp
- Timestamp:
- Apr 8, 2016, 3:40:57 PM (9 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/SimuX4.cpp
r10 r15 34 34 using namespace flair::actuator; 35 35 36 namespace flair { namespace meta { 36 namespace flair { 37 namespace meta { 37 38 38 SimuX4::SimuX4(FrameworkManager* parent,string uav_name,int simu_id,filter::UavMultiplex *multiplex) : Uav(parent,uav_name,multiplex) { 39 SimuX4::SimuX4(FrameworkManager *parent, string uav_name, int simu_id, 40 filter::UavMultiplex *multiplex) 41 : Uav(parent, uav_name, multiplex) { 39 42 40 if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X4)); 43 if (multiplex == NULL) 44 SetMultiplex(new X4X8Multiplex(parent, "motors", X4X8Multiplex::X4)); 41 45 42 SetBldc(new SimuBldc(GetUavMultiplex(),GetUavMultiplex()->GetLayout(),"motors",GetUavMultiplex()->MotorsCount(),simu_id)); 43 SetUsRangeFinder(new SimuUs(parent,"us",simu_id,60)); 44 SetAhrs(new SimuAhrs(parent,"imu",simu_id,70)); 45 Tab* bat_tab=new Tab(parent->GetTabWidget(),"battery"); 46 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(),"battery")); 47 GetBatteryMonitor()->SetBatteryValue(12); 48 SetVerticalCamera(new SimuCamera(parent, "simu_cam_v", 320, 240, 3, simu_id, 10)); 46 SetBldc(new SimuBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(), 47 "motors", GetUavMultiplex()->MotorsCount(), simu_id)); 48 SetUsRangeFinder(new SimuUs(parent, "us", simu_id, 60)); 49 SetAhrs(new SimuAhrs(parent, "imu", simu_id, 70)); 50 Tab *bat_tab = new Tab(parent->GetTabWidget(), "battery"); 51 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery")); 52 GetBatteryMonitor()->SetBatteryValue(12); 53 SetVerticalCamera( 54 new SimuCamera(parent, "simu_cam_v", 320, 240, 3, simu_id, 10)); 49 55 } 50 56 51 SimuX4::~SimuX4() { 57 SimuX4::~SimuX4() {} 52 58 59 void SimuX4::StartSensors(void) { 60 ((SimuAhrs *)GetAhrs())->Start(); 61 ((SimuUs *)GetUsRangeFinder())->Start(); 62 ((SimuCamera *)GetVerticalCamera())->Start(); 63 Uav::StartSensors(); 53 64 } 54 65 55 void SimuX4::StartSensors(void) { 56 ((SimuAhrs*)GetAhrs())->Start(); 57 ((SimuUs*)GetUsRangeFinder())->Start(); 58 ((SimuCamera *)GetVerticalCamera())->Start(); 59 Uav::StartSensors(); 60 } 61 62 void SimuX4::SetupVRPNAutoIP(string name) { 63 SetupVRPN("127.0.0.1:3883",name); 64 } 66 void SimuX4::SetupVRPNAutoIP(string name) { SetupVRPN("127.0.0.1:3883", name); } 65 67 66 68 } // end namespace meta
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