Changeset 15 in flair-src for trunk/lib/FlairMeta/src/XAir.cpp

Timestamp:

04/08/16 15:40:57 (7 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairMeta/src/XAir.cpp (modified) (1 diff)

trunk/lib/FlairMeta/src/XAir.cpp

@@ -35 +35 @@
 using namespace flair::actuator;
 
-namespace flair { namespace meta {
+namespace flair {
+namespace meta {
 
-XAir::XAir(FrameworkManager* parent,string uav_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");
+XAir::XAir(FrameworkManager *parent, string uav_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");
 
-    if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X8));
+  if (multiplex == NULL)
+    SetMultiplex(new X4X8Multiplex(parent, "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,Gx3_25_imu::EulerAnglesAndAngularRates,70));
-    Tab* bat_tab=new Tab(parent->GetTabWidget(),"battery");
-    SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(),"battery"));
-    GetBatteryMonitor()->SetBatteryValue(12);
+  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,
+                          Gx3_25_imu::EulerAnglesAndAngularRates, 70));
+  Tab *bat_tab = new Tab(parent->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");
+  /*
+          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));
+              vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
+              uav_vrpn=new
+     MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
+          }
+  */
+  SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50));
 }
 
-XAir::~XAir() {
-
-}
+XAir::~XAir() {}
 
 void XAir::StartSensors(void) {
-    ((Gx3_25_ahrs*)GetAhrs())->Start();
-    ((Srf08*)GetUsRangeFinder())->Start();
-    ((Ps3Eye *)GetVerticalCamera())->Start();
-    Uav::StartSensors();
+  ((Gx3_25_ahrs *)GetAhrs())->Start();
+  ((Srf08 *)GetUsRangeFinder())->Start();
+  ((Ps3Eye *)GetVerticalCamera())->Start();
+  Uav::StartSensors();
 }