Changeset 157 in flair-src for trunk/lib/FlairMeta/src/UavFactory.cpp

Timestamp:

03/04/17 15:29:18 (7 years ago)

Author:

Sanahuja Guillaume

Message:

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File:

• trunk/lib/FlairMeta/src/UavFactory.cpp (modified) (4 diffs)

trunk/lib/FlairMeta/src/UavFactory.cpp

@@ -30 +30 @@
 
 namespace { // anonymous
-     vector<flair::meta::Uav* (*)(string,string,UavMultiplex*)> *vectoroffunctions=NULL;
+     vector<flair::meta::Uav* (*)(string,string,string,UavMultiplex*)> *vectoroffunctions=NULL;
 }
 
@@ -41 +41 @@
 
 
-Uav *CreateUav(string name, string uav_type,
+Uav *CreateUav(string name, string type,string options,
                UavMultiplex *multiplex) {
 
@@ -48 +48 @@
   if(vectoroffunctions!=NULL) {
     for(int i=0;i<vectoroffunctions->size();i++) {
-      uav=vectoroffunctions->at(i)(name,uav_type,multiplex);
+      uav=vectoroffunctions->at(i)(name,type,options,multiplex);
       if(uav!=NULL) {
         free(vectoroffunctions);
@@ -57 +57 @@
   }
 
-  if (uav_type == "hds_x4") {
-    getFrameworkManager()->Err("UAV type %s not yet implemented\n", uav_type.c_str());
+  if (type == "hds_x4") {
+    getFrameworkManager()->Err("UAV type %s not yet implemented\n", type.c_str());
     return NULL;
-  } else if (uav_type == "hds_x8") {
-    return new HdsX8(name, multiplex);
-  } else if (uav_type == "xair") {
-    return new XAir(name, multiplex);
-  } else if (uav_type == "hds_xufo") {
-    getFrameworkManager()->Err("UAV type %s not yet implemented\n", uav_type.c_str());
+  } else if (type == "hds_x8") {
+    return new HdsX8(name,options, multiplex);
+  } else if (type == "xair") {
+    return new XAir(name,options, multiplex);
+  } else if (type == "hds_xufo") {
+    getFrameworkManager()->Err("UAV type %s not yet implemented\n", type.c_str());
     return NULL;
-  } else if (uav_type.compare(0, 7, "x4_simu") == 0) {
+  } else if (type.compare(0, 7, "x4_simu") == 0) {
     int simu_id = 0;
-    if (uav_type.size() > 7) {
-      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
+    if (type.size() > 7) {
+      simu_id = atoi(type.substr(7, type.size() - 7).c_str());
     }
-    return new SimuX4(name, simu_id, multiplex);
-  } else if (uav_type.compare(0, 7, "x8_simu") == 0) {
+    return new SimuX4(name, simu_id,options, multiplex);
+  } else if (type.compare(0, 7, "x8_simu") == 0) {
     int simu_id = 0;
-    if (uav_type.size() > 7) {
-      simu_id = atoi(uav_type.substr(7, uav_type.size() - 7).c_str());
+    if (type.size() > 7) {
+      simu_id = atoi(type.substr(7, type.size() - 7).c_str());
     }
-    return new SimuX8(name, simu_id, multiplex);
+    return new SimuX8(name, simu_id,options, multiplex);
   } else {
-    getFrameworkManager()->Err("UAV type %s unknown\n", uav_type.c_str());
+    getFrameworkManager()->Err("UAV type %s unknown\n", type.c_str());
     return NULL;
   }
 }
 
-void RegisterUavCreator(flair::meta::Uav*(*func)(string name, string type,
-               UavMultiplex *multiplex)) {
-  if(vectoroffunctions==NULL) vectoroffunctions=(vector<flair::meta::Uav* (*)(string,string,UavMultiplex*)>*)malloc(sizeof(vector<flair::meta::Uav* (*)(string,string,UavMultiplex*)>));
+void RegisterUavCreator(flair::meta::Uav*(*func)(string,string,string,UavMultiplex*)) {
+  if(vectoroffunctions==NULL) vectoroffunctions=(vector<flair::meta::Uav* (*)(string,string,string,UavMultiplex*)>*)malloc(sizeof(vector<flair::meta::Uav* (*)(string,string,string,UavMultiplex*)>));
 
   vectoroffunctions->push_back(func);