Changeset 185 in flair-src for trunk/lib/FlairMeta

Timestamp:

Jun 14, 2017, 11:46:03 AM (7 years ago)

Author:

Sanahuja Guillaume

Message:

modifs gps

Location:

trunk/lib/FlairMeta/src

Files:

• HdsX8.cpp (modified) (3 diffs)
• SimuX4.cpp (modified) (3 diffs)
• SimuX8.cpp (modified) (3 diffs)
• Uav.cpp (modified) (5 diffs)
• Uav.h (modified) (3 diffs)

trunk/lib/FlairMeta/src/HdsX8.cpp

@@ -25 +25 @@
 #include <X4X8Multiplex.h>
 #include <Ps3Eye.h>
+#include <Mb800.h>
+#include <FindArgument.h>
 
 using std::string;
@@ -51 +53 @@
   SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
   SetVerticalCamera(new Ps3Eye("camv", 0, 50));
+  
+  string useGps=FindArgument(options,"use_gps=",false);
+  if(useGps=="true") {
+    RTDM_SerialPort *gps_port = new RTDM_SerialPort(getFrameworkManager(), "gps_port", "rtser2");
+    SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG),40));
+  } 
 }
 
@@ -59 +67 @@
   ((Srf08 *)GetUsRangeFinder())->Start();
   ((Ps3Eye *)GetVerticalCamera())->Start();
+  ((Mb800 *)GetGps())->Start();
 }
 

trunk/lib/FlairMeta/src/SimuX4.cpp

@@ -25 +25 @@
 #include <SimuCamera.h>
 #include <BatteryMonitor.h>
+#include <SimuGps.h>
 #include <Tab.h>
 #include <FindArgument.h>
@@ -62 +63 @@
   Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
   SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
+  
+  string useGps=FindArgument(options,"use_gps=",false);
+  if(useGps=="true") {
+    SetGps(new SimuGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
+  } 
 }
 
@@ -71 +77 @@
   ((SimuCamera *)GetVerticalCamera())->Start();
   ((SimuCamera *)GetHorizontalCamera())->Start();
+  ((SimuGps *)GetGps())->Start();
 }
 

trunk/lib/FlairMeta/src/SimuX8.cpp

@@ -25 +25 @@
 #include <SimuCamera.h>
 #include <BatteryMonitor.h>
+#include <SimuGps.h>
 #include <Tab.h>
 #include <FindArgument.h>
@@ -62 +63 @@
   Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
   SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
+  
+  string useGps=FindArgument(options,"use_gps=",false);
+  if(useGps=="true") {
+    SetGps(new SimuGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
+  } 
 }
 
@@ -71 +77 @@
   ((SimuCamera *)GetVerticalCamera())->Start();
   ((SimuCamera *)GetHorizontalCamera())->Start();
+  ((SimuGps *)GetGps())->Start();
 }
 

trunk/lib/FlairMeta/src/Uav.cpp

@@ -26 +26 @@
 #include <UavMultiplex.h>
 #include <UsRangeFinder.h>
+#include <NmeaGps.h>
 #include <Bldc.h>
 #include <cvmatrix.h>
@@ -57 +58 @@
   verticalCamera = NULL;
   horizontalCamera = NULL;
+  gps = NULL;
   this->multiplex = multiplex;
 }
@@ -91 +93 @@
 void Uav::SetHorizontalCamera(const Camera *inHorizontalCamera) {
   horizontalCamera = (Camera *)inHorizontalCamera;
+}
+
+void Uav::SetGps(const NmeaGps *inGps) {
+  gps=(NmeaGps*)inGps;
+  getFrameworkManager()->AddDeviceToLog(gps);
 }
 
@@ -148 +155 @@
   meta_us->UseDefaultPlot();
   ahrs->UseDefaultPlot();
+  if(gps!=NULL) gps->UseDefaultPlot();
 }
 
@@ -168 +176 @@
 Camera *Uav::GetHorizontalCamera(void) const { return horizontalCamera; }
 
+NmeaGps *Uav::GetGps(void) const { return gps; }
+
 } // end namespace meta
 } // end namespace flair

trunk/lib/FlairMeta/src/Uav.h

@@ -30 +30 @@
                 class Imu;
                 class Camera;
+                class NmeaGps;
         }
 }
@@ -62 +63 @@
   sensor::Camera *GetVerticalCamera(void) const;
   sensor::Camera *GetHorizontalCamera(void) const;
+  sensor::NmeaGps *GetGps(void) const;
         virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
   virtual bool isReadyToFly(void) const { return true;}
@@ -74 +76 @@
   void SetVerticalCamera(const sensor::Camera *verticalCamera);
   void SetHorizontalCamera(const sensor::Camera *verticalCamera);
+  void SetGps(const sensor::NmeaGps *gps);
 
 private:
   sensor::Imu *imu;
+  sensor::NmeaGps *gps;
   filter::Ahrs *ahrs;
   actuator::Bldc *bldc;