Changeset 185 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp

Timestamp:

Jun 14, 2017, 11:46:03 AM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs gps

File:

• trunk/lib/FlairMeta/src/HdsX8.cpp (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();
 }