Changeset 286 in flair-src for trunk/lib

Timestamp:

01/08/19 10:13:03 (5 years ago)

Author:

Sanahuja Guillaume

Message:

draw vrpn axis in simulator

Location:

trunk/lib

Files:

• FlairFilter/src/SimulatedAhrs.cpp (moved) (moved from trunk/lib/FlairFilter/src/SimuAhrs.cpp ) (3 diffs)
• FlairFilter/src/SimulatedAhrs.h (moved) (moved from trunk/lib/FlairFilter/src/SimuAhrs.h ) (4 diffs)
• FlairMeta/src/MetaVrpnObject.cpp (modified) (5 diffs)
• FlairMeta/src/MetaVrpnObject.h (modified) (3 diffs)
• FlairMeta/src/SimuX4.cpp (modified) (4 diffs)
• FlairMeta/src/SimuX8.cpp (modified) (4 diffs)
• FlairSensorActuator/src/SimulatedBldc.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuBldc.cpp ) (5 diffs)
• FlairSensorActuator/src/SimulatedBldc.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuBldc.h ) (6 diffs)
• FlairSensorActuator/src/SimulatedCamera.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuCamera.cpp ) (7 diffs)
• FlairSensorActuator/src/SimulatedCamera.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuCamera.h ) (6 diffs)
• FlairSensorActuator/src/SimulatedGps.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuGps.cpp ) (5 diffs)
• FlairSensorActuator/src/SimulatedGps.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuGps.h ) (6 diffs)
• FlairSensorActuator/src/SimulatedImu.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuImu.cpp ) (5 diffs)
• FlairSensorActuator/src/SimulatedImu.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuImu.h ) (6 diffs)
• FlairSensorActuator/src/SimulatedLaser.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuLaser.cpp ) (5 diffs)
• FlairSensorActuator/src/SimulatedLaser.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuLaser.h ) (6 diffs)
• FlairSensorActuator/src/SimulatedPressureSensor.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuPressureSensor.cpp ) (5 diffs)
• FlairSensorActuator/src/SimulatedPressureSensor.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuPressureSensor.h ) (6 diffs)
• FlairSensorActuator/src/SimulatedUs.cpp (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuUs.cpp ) (5 diffs)
• FlairSensorActuator/src/SimulatedUs.h (moved) (moved from trunk/lib/FlairSensorActuator/src/SimuUs.h ) (6 diffs)
• FlairSensorActuator/src/VrpnObject.cpp (modified) (3 diffs)
• FlairSensorActuator/src/VrpnObject.h (modified) (4 diffs)
• FlairSensorActuator/src/VrpnObject_impl.cpp (modified) (1 diff)
• FlairSensorActuator/src/unexported/VrpnObject_impl.h (modified) (1 diff)
• FlairSimulator/src/Blade.cpp (modified) (1 diff)
• FlairSimulator/src/Blade.h (modified) (1 diff)
• FlairSimulator/src/FixedCamera.cpp (modified) (2 diffs)
• FlairSimulator/src/FollowMeCamera.cpp (modified) (1 diff)
• FlairSimulator/src/GenericObject.cpp (modified) (2 diffs)
• FlairSimulator/src/Gui_impl.cpp (modified) (5 diffs)
• FlairSimulator/src/MeshSceneNode.cpp (modified) (1 diff)
• FlairSimulator/src/MeshSceneNode.h (modified) (1 diff)
• FlairSimulator/src/SimuBldc.cpp (modified) (1 diff)
• FlairSimulator/src/Simulator.cpp (modified) (1 diff)
• FlairSimulator/src/Simulator.h (modified) (1 diff)
• FlairSimulator/src/Simulator_impl.cpp (modified) (1 diff)
• FlairSimulator/src/UavVrpnObject.cpp (added)
• FlairSimulator/src/UavVrpnObject.h (added)
• FlairSimulator/src/UavVrpnObject_impl.cpp (added)
• FlairSimulator/src/VisualizationCamera.cpp (modified) (3 diffs)
• FlairSimulator/src/VisualizationCamera.h (modified) (2 diffs)
• FlairSimulator/src/X4.h (modified) (2 diffs)
• FlairSimulator/src/X8.h (modified) (2 diffs)
• FlairSimulator/src/unexported/GenericObject.h (modified) (1 diff)
• FlairSimulator/src/unexported/Model_impl.h (modified) (1 diff)
• FlairSimulator/src/unexported/Simulator_impl.h (modified) (1 diff)
• FlairSimulator/src/unexported/UavVrpnObject_impl.h (added)

trunk/lib/FlairFilter/src/SimulatedAhrs.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/02/07
-//  filename:   SimuAhrs.cpp
+//  filename:   SimulatedAhrs.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuAhrs.h"
-#include "SimuImu.h"
+#include "SimulatedAhrs.h"
+#include "SimulatedImu.h"
 #include <AhrsData.h>
 
@@ -28 +28 @@
 namespace filter {
 
-SimuAhrs::SimuAhrs(string name, uint32_t modelId,uint32_t deviceId,
+SimulatedAhrs::SimulatedAhrs(string name, uint32_t modelId,uint32_t deviceId,
                    uint8_t priority)
-    : Ahrs(new SimuImu("imu", modelId,deviceId, priority), name) {
+    : Ahrs(new SimulatedImu("imu", modelId,deviceId, priority), name) {
   SetIsReady(true);
 }
 
-SimuAhrs::~SimuAhrs() {}
+SimulatedAhrs::~SimulatedAhrs() {}
 
-// datas from SimuImu are AhrsData!
-void SimuAhrs::UpdateFrom(const io_data *data) {
+// datas from SimulatedImu are AhrsData!
+void SimulatedAhrs::UpdateFrom(const io_data *data) {
   AhrsData *input = (AhrsData *)data;
   AhrsData *output;

trunk/lib/FlairFilter/src/SimulatedAhrs.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuAhrs.h
+ * \file SimulatedAhrs.h
  * \brief Class for a simulation Ahrs
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -19 +19 @@
 namespace flair {
 namespace filter {
-/*! \class SimuAhrs
+/*! \class SimulatedAhrs
 *
 * \brief Class for a simulation Ahrs
 *
-* This class constructs a SimuImu as Imu of this Ahrs.
+* This class constructs a SimulatedImu as Imu of this Ahrs.
 */
-class SimuAhrs : public filter::Ahrs {
+class SimulatedAhrs : public filter::Ahrs {
 public:
   /*!
@@ -35 +35 @@
   * \param modelId Model id
   * \param deviceId Ahrs id of the Model
-  * \param priority priority of the SimuImu Thread
+  * \param priority priority of the SimulatedImu Thread
   */
-  SimuAhrs(std::string name,
+  SimulatedAhrs(std::string name,
            uint32_t modelId,uint32_t deviceId, uint8_t priority);
 
@@ -44 +44 @@
   *
   */
-  ~SimuAhrs();
+  ~SimulatedAhrs();
 
 private:

trunk/lib/FlairMeta/src/MetaVrpnObject.cpp

@@ -18 +18 @@
 
 #include "MetaVrpnObject.h"
-#include "VrpnClient.h"
 #include <EulerDerivative.h>
 #include <LowPassFilter.h>
@@ -38 +37 @@
 namespace meta {
 
-MetaVrpnObject::MetaVrpnObject(string name)
-    : VrpnObject( name, GetVrpnClient()->GetTabWidget()) {
-  ConstructorCommon(name);
+MetaVrpnObject::MetaVrpnObject(string name,VrpnClient *client)
+    : VrpnObject( name, client->GetTabWidget(),client) {
+  ConstructorCommon(name,client);
 }
 
-MetaVrpnObject::MetaVrpnObject(std::string name,
-                               uint8_t id)
-    : VrpnObject(name, id, GetVrpnClient()->GetTabWidget()) {
-  ConstructorCommon( name);
+MetaVrpnObject::MetaVrpnObject(std::string name,uint8_t id,VrpnClient *client)
+    : VrpnObject(name, id, client->GetTabWidget(),client) {
+  ConstructorCommon( name,client);
 }
 
-void MetaVrpnObject::ConstructorCommon(string name) {
+void MetaVrpnObject::ConstructorCommon(string name,VrpnClient *client) {
   cvmatrix_descriptor *desc = new cvmatrix_descriptor(7, 1);
   for (int i = 0; i < desc->Rows(); i++) {
@@ -57 +55 @@
   delete desc;
 
-  pbas = new LowPassFilter(this, GetVrpnClient()->GetLayout()->NewRow(),
+  pbas = new LowPassFilter(this, client->GetLayout()->NewRow(),
                            name + " Passe bas", prev_value);
   delete prev_value;
@@ -68 +66 @@
   delete desc;
 
-  euler = new EulerDerivative(pbas, GetVrpnClient()->GetLayout()->NewRow(),
+  euler = new EulerDerivative(pbas, client->GetLayout()->NewRow(),
                               name + "_euler", prev_value);
   delete prev_value;
@@ -79 +77 @@
   vz_opti_plot->AddCurve(euler->GetMatrix()->Element(6));
 
-  plot_tab = new Tab(GetVrpnClient()->GetTabWidget(), "Mesures (xy) " + name);
+  plot_tab = new Tab(client->GetTabWidget(), "Mesures (xy) " + name);
   xy_plot = new DataPlot2D(plot_tab->NewRow(), "xy", "y", -5, 5, "x", -5, 5);
   xy_plot->AddCurve(Output()->Element(5, 0), Output()->Element(4, 0));

trunk/lib/FlairMeta/src/MetaVrpnObject.h

@@ -15 +15 @@
 
 #include <VrpnObject.h>
+#include <VrpnClient.h>
 #include <io_data.h>
 #include <Vector3D.h>
@@ -41 +42 @@
 class MetaVrpnObject : public sensor::VrpnObject {
 public:
-  MetaVrpnObject(std::string name);
-  MetaVrpnObject(std::string name,uint8_t id);
+  MetaVrpnObject(std::string name,sensor::VrpnClient *client=sensor::GetVrpnClient());
+  MetaVrpnObject(std::string name,uint8_t id,sensor::VrpnClient *client=sensor::GetVrpnClient());
   ~MetaVrpnObject();
   gui::DataPlot1D *VxPlot(void) const; // 1,0
@@ -51 +52 @@
 
 private:
-  void ConstructorCommon(std::string name);
+  void ConstructorCommon(std::string name,sensor::VrpnClient *client);
   filter::LowPassFilter *pbas;
   filter::EulerDerivative *euler;

trunk/lib/FlairMeta/src/SimuX4.cpp

@@ -20 +20 @@
 #include <FrameworkManager.h>
 #include <X4X8Multiplex.h>
-#include <SimuImu.h>
-#include <SimuAhrs.h>
-#include <SimuBldc.h>
-#include <SimuUs.h>
-#include <SimuCamera.h>
-#include <SimuPressureSensor.h>
+#include <SimulatedImu.h>
+#include <SimulatedAhrs.h>
+#include <SimulatedBldc.h>
+#include <SimulatedUs.h>
+#include <SimulatedCamera.h>
+#include <SimulatedPressureSensor.h>
 #include <BatteryMonitor.h>
-#include <SimuGps.h>
+#include <SimulatedGps.h>
 #include <Tab.h>
 #include <FindArgument.h>
@@ -48 +48 @@
     SetMultiplex(new X4X8Multiplex("motors", X4X8Multiplex::X4));
 
-  SetBldc(new SimuBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
+  SetBldc(new SimulatedBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
                        "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
-  SetUsRangeFinder(new SimuUs("us", simu_id,0, 60));
-  SetAhrs(new SimuAhrs("ahrs", simu_id, 0,70));
+  SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
+  SetAhrs(new SimulatedAhrs("ahrs", simu_id, 0,70));
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
@@ -59 +59 @@
         ReadCameraResolutionOption(options,"camv",camvWidth,camvHeight);
   Info("using vertical camera resolution: %ix%i\n",camvWidth, camvHeight);
-  SetVerticalCamera(new SimuCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
+  SetVerticalCamera(new SimulatedCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
   
   uint16_t camhWidth=320,camhHeight=240;
   ReadCameraResolutionOption(options,"camh",camhWidth,camhHeight);
   Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
-  SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
+  SetHorizontalCamera(new SimulatedCamera("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));
+    SetGps(new SimulatedGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
   }
   
   string usePressureSensor=FindArgument(options,"use_pressure_sensor=",false);
   if(usePressureSensor=="true") {
-    SetPressureSensor(new SimuPressureSensor("pressuresensor", 0,0, 10));
+    SetPressureSensor(new SimulatedPressureSensor("pressuresensor", 0,0, 10));
   } 
 }
@@ -80 +80 @@
 
 void SimuX4::StartSensors(void) {
-  ((SimuImu *)(GetAhrs()->GetImu()))->Start();
-  ((SimuUs *)GetUsRangeFinder())->Start();
-  ((SimuCamera *)GetVerticalCamera())->Start();
-  ((SimuCamera *)GetHorizontalCamera())->Start();
-  if(GetGps()) ((SimuGps *)GetGps())->Start();
-  if(GetPressureSensor()) ((SimuPressureSensor *)GetPressureSensor())->Start();
+  ((SimulatedImu *)(GetAhrs()->GetImu()))->Start();
+  ((SimulatedUs *)GetUsRangeFinder())->Start();
+  ((SimulatedCamera *)GetVerticalCamera())->Start();
+  ((SimulatedCamera *)GetHorizontalCamera())->Start();
+  if(GetGps()) ((SimulatedGps *)GetGps())->Start();
+  if(GetPressureSensor()) ((SimulatedPressureSensor *)GetPressureSensor())->Start();
 }
 

trunk/lib/FlairMeta/src/SimuX8.cpp

@@ -20 +20 @@
 #include <FrameworkManager.h>
 #include <X4X8Multiplex.h>
-#include <SimuImu.h>
-#include <SimuAhrs.h>
-#include <SimuBldc.h>
-#include <SimuUs.h>
-#include <SimuCamera.h>
-#include <SimuPressureSensor.h>
+#include <SimulatedImu.h>
+#include <SimulatedAhrs.h>
+#include <SimulatedBldc.h>
+#include <SimulatedUs.h>
+#include <SimulatedCamera.h>
+#include <SimulatedPressureSensor.h>
 #include <BatteryMonitor.h>
-#include <SimuGps.h>
+#include <SimulatedGps.h>
 #include <Tab.h>
 #include <FindArgument.h>
@@ -48 +48 @@
     SetMultiplex(new X4X8Multiplex("motors", X4X8Multiplex::X8));
 
-  SetBldc(new SimuBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
+  SetBldc(new SimulatedBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
                        "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
-  SetUsRangeFinder(new SimuUs("us", simu_id,0, 60));
-  SetAhrs(new SimuAhrs("ahrs", simu_id, 0,70));
+  SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
+  SetAhrs(new SimulatedAhrs("ahrs", simu_id, 0,70));
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
@@ -59 +59 @@
         ReadCameraResolutionOption(options,"camv",camvWidth,camvHeight);
   Info("using vertical camera resolution: %ix%i\n",camvWidth, camvHeight);
-  SetVerticalCamera(new SimuCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
+  SetVerticalCamera(new SimulatedCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
   
   uint16_t camhWidth=320,camhHeight=240;
   ReadCameraResolutionOption(options,"camh",camhWidth,camhHeight);
   Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
-  SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
+  SetHorizontalCamera(new SimulatedCamera("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));
+    SetGps(new SimulatedGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
   } 
   
   string usePressureSensor=FindArgument(options,"use_pressure_sensor=",false);
   if(usePressureSensor=="true") {
-    SetPressureSensor(new SimuPressureSensor("pressuresensor", 0,0, 10));
+    SetPressureSensor(new SimulatedPressureSensor("pressuresensor", 0,0, 10));
   } 
 }
@@ -80 +80 @@
 
 void SimuX8::StartSensors(void) {
-  ((SimuImu *)(GetAhrs()->GetImu()))->Start();
-  ((SimuUs *)GetUsRangeFinder())->Start();
-  ((SimuCamera *)GetVerticalCamera())->Start();
-  ((SimuCamera *)GetHorizontalCamera())->Start();
-  if(GetGps()) ((SimuGps *)GetGps())->Start();
-  if(GetPressureSensor()) ((SimuPressureSensor *)GetPressureSensor())->Start();
+  ((SimulatedImu *)(GetAhrs()->GetImu()))->Start();
+  ((SimulatedUs *)GetUsRangeFinder())->Start();
+  ((SimulatedCamera *)GetVerticalCamera())->Start();
+  ((SimulatedCamera *)GetHorizontalCamera())->Start();
+  if(GetGps()) ((SimulatedGps *)GetGps())->Start();
+  if(GetPressureSensor()) ((SimulatedPressureSensor *)GetPressureSensor())->Start();
 }
 

trunk/lib/FlairSensorActuator/src/SimulatedBldc.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/02/07
-//  filename:   SimuBldc.cpp
+//  filename:   SimulatedBldc.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuBldc.h"
+#include "SimulatedBldc.h"
 #include <FrameworkManager.h>
 #include <GridLayout.h>
@@ -35 +35 @@
 namespace actuator {
 
-SimuBldc::SimuBldc(const IODevice *parent, Layout *layout, string name,
+SimulatedBldc::SimulatedBldc(const IODevice *parent, Layout *layout, string name,
                    uint8_t motors_count, uint32_t modelId,uint32_t deviceId)
     : Bldc(parent, layout, name, motors_count) {
@@ -52 +52 @@
 }
 
-SimuBldc::~SimuBldc() {
+SimulatedBldc::~SimulatedBldc() {
   if(buf!=NULL) free(buf);
 }
 
-string SimuBldc::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedBldc::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_bldc_" << deviceId;
@@ -62 +62 @@
 }
 
-void SimuBldc::SetMotors(float *value) {
+void SimulatedBldc::SetMotors(float *value) {
   float *values=(float*)buf;
   for (int i = 0; i < MotorsCount(); i++) values[i] = k->Value() * value[i];

trunk/lib/FlairSensorActuator/src/SimulatedBldc.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuBldc.h
+ * \file SimulatedBldc.h
  * \brief Class for a simulation bldc
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMUBLDC_H
-#define SIMUBLDC_H
+#ifndef SIMULATEDBLDC_H
+#define SIMULATEDBLDC_H
 
 #include <Bldc.h>
@@ -30 +30 @@
 namespace flair {
 namespace actuator {
-/*! \class SimuBldc
+/*! \class SimulatedBldc
 *
 * \brief Class for a simulation bldc
 *
 */
-class SimuBldc : public Bldc {
+class SimulatedBldc : public Bldc {
 public:
   /*!
   * \brief Constructor
   *
-  * Construct a SimuBldc
+  * Construct a SimulatedBldc
   *
   * \param parent parent
@@ -49 +49 @@
   * \param deviceId Bldc id of the Model
   */
-  SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
+  SimulatedBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
            uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
 
@@ -56 +56 @@
   *
   */
-  ~SimuBldc();
+  ~SimulatedBldc();
 
   /*!
@@ -95 +95 @@
 } // end namespace actuator
 } // end namespace flair
-#endif // SIMUBLDC_H
+#endif // SIMULATEDBLDC_H

trunk/lib/FlairSensorActuator/src/SimulatedCamera.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/03/06
-//  filename:   SimuCamera.cpp
+//  filename:   SimulatedCamera.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuCamera.h"
+#include "SimulatedCamera.h"
 #include <FrameworkManager.h>
 #include <GroupBox.h>
@@ -31 +31 @@
 namespace sensor {
 
-SimuCamera::SimuCamera(string name,
+SimulatedCamera::SimulatedCamera(string name,
                        uint16_t width, uint16_t height, uint8_t channels,
                        uint32_t modelId,uint32_t deviceId, uint8_t priority)
@@ -42 +42 @@
   output->img->imageData = shmemReadBuf;
 
-  ostringstream dev_name;
-  dev_name << "simu" <<  modelId << "_cam_" << deviceId;
   shmem = new SharedMem((Thread *)this,ShMemName(modelId, deviceId), buf_size, SharedMem::Type::producerConsumer);
   
@@ -50 +48 @@
 
 
-SimuCamera::~SimuCamera() {
+SimulatedCamera::~SimulatedCamera() {
   SafeStop();
   Join();
@@ -56 +54 @@
 }
 
-string SimuCamera::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedCamera::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_cam_" << deviceId;
@@ -62 +60 @@
 }
 
-void SimuCamera::Run(void) {
+void SimulatedCamera::Run(void) {
   Time time;
 

trunk/lib/FlairSensorActuator/src/SimulatedCamera.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuCamera.h
+ * \file SimulatedCamera.h
  * \brief Class for a simulation camera
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMUCAMERA_H
-#define SIMUCAMERA_H
+#ifndef SIMULATEDCAMERA_H
+#define SIMULATEDCAMERA_H
 
 #include <Camera.h>
@@ -26 +26 @@
 namespace flair {
 namespace sensor {
-/*! \class SimuCamera
+/*! \class SimulatedCamera
 *
 * \brief Class for a simulation camera
 */
-class SimuCamera : public core::Thread, public Camera {
+class SimulatedCamera : public core::Thread, public Camera {
 public:
   /*!
   * \brief Constructor
   *
-  * Construct a SimuCamera.
+  * Construct a SimulatedCamera.
         * It will be child of the FrameworkManager.
   *
@@ -46 +46 @@
   * \param priority priority of the Thread
   */
-  SimuCamera(std::string name,
+  SimulatedCamera(std::string name,
              uint16_t width, uint16_t height, uint8_t channels, uint32_t modelId,uint32_t deviceId,
              uint8_t priority);
@@ -55 +55 @@
   *
   */
-  ~SimuCamera();
+  ~SimulatedCamera();
 
 protected:
@@ -89 +89 @@
 } // end namespace sensor
 } // end namespace flair
-#endif // SIMUCAMERA_H
+#endif // SIMULATEDCAMERA_H

trunk/lib/FlairSensorActuator/src/SimulatedGps.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/05/26
-//  filename:   SimuGps.cpp
+//  filename:   SimulatedGps.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuGps.h"
+#include "SimulatedGps.h"
 #include <FrameworkManager.h>
 #include <GpsData.h>
@@ -38 +38 @@
 namespace sensor {
 
-SimuGps::SimuGps(string name,
+SimulatedGps::SimulatedGps(string name,
                  NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,uint32_t deviceId,uint8_t priority)
     : NmeaGps(name, NMEAFlags),Thread(getFrameworkManager(), name, priority) {
@@ -57 +57 @@
 
 
-SimuGps::~SimuGps() {
+SimulatedGps::~SimulatedGps() {
   SafeStop();
   Join();
 }
 
-string SimuGps::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedGps::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_gps_" << deviceId;
@@ -68 +68 @@
 }
 
-void SimuGps::Run(void) {
+void SimulatedGps::Run(void) {
   gps_states_t state;
   char buf[512];

trunk/lib/FlairSensorActuator/src/SimulatedGps.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuGps.h
+ * \file SimulatedGps.h
  * \brief Class for a simulation GPS
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMUGPS_H
-#define SIMUGPS_H
+#ifndef SimulatedGPS_H
+#define SimulatedGPS_H
 
 #include <Thread.h>
@@ -29 +29 @@
 namespace flair {
 namespace sensor {
-/*! \class SimuGps
+/*! \class SimulatedGps
 *
 * \brief Class for a simulation GPS
 */
-class SimuGps : public core::Thread, public NmeaGps {
+class SimulatedGps : public core::Thread, public NmeaGps {
 public:
   /*!
@@ -47 +47 @@
   * \param priority priority of the Thread
   */
-  SimuGps(std::string name,
+  SimulatedGps(std::string name,
           NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,uint32_t deviceId,uint8_t priority);
 
@@ -54 +54 @@
   *
   */
-  ~SimuGps();
+  ~SimulatedGps();
 
 private:
@@ -90 +90 @@
 } // end namespace sensor
 } // end namespace flair
-#endif // SIMUGPS_H
+#endif // SIMULATEDGPS_H

trunk/lib/FlairSensorActuator/src/SimulatedImu.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/02/07
-//  filename:   SimuImu.cpp
+//  filename:   SimulatedImu.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuImu.h"
+#include "SimulatedImu.h"
 #include <FrameworkManager.h>
 #include <ImuData.h>
@@ -35 +35 @@
 namespace sensor {
 
-SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
+SimulatedImu::SimulatedImu(string name, uint32_t modelId,uint32_t deviceId,
                  uint8_t priority)
     : Imu(name,false), Thread(getFrameworkManager(), name, priority) {
@@ -47 +47 @@
 }
 
-SimuImu::~SimuImu() {
+SimulatedImu::~SimulatedImu() {
   SafeStop();
   Join();
 }
 
-string SimuImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_imu_" << deviceId;
@@ -58 +58 @@
 }
 
-void SimuImu::Run(void) {
+void SimulatedImu::Run(void) {
   imu_states_t state;
   ImuData *imuData;

trunk/lib/FlairSensorActuator/src/SimulatedImu.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuImu.h
+ * \file SimulatedImu.h
  * \brief Class for a simulation Imu
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMUIMU_H
-#define SIMUIMU_H
+#ifndef SIMULATEDIMU_H
+#define SIMULATEDIMU_H
 
 #include <Imu.h>
@@ -29 +29 @@
 namespace flair {
 namespace sensor {
-/*! \class SimuImu
+/*! \class SimulatedImu
 *
 * \brief Class for a simulation Imu
 */
-class SimuImu : public Imu, public core::Thread {
+class SimulatedImu : public Imu, public core::Thread {
 public:
   /*!
   * \brief Constructor
   *
-  * Construct a SimuImu.
+  * Construct a SimulatedImu.
         * It will be child of the FrameworkManager.
   *
@@ -46 +46 @@
   * \param priority priority of the Thread
   */
-  SimuImu(std::string name,
+  SimulatedImu(std::string name,
           uint32_t modelId,uint32_t deviceId, uint8_t priority);
 
@@ -53 +53 @@
   *
   */
-  ~SimuImu();
+  ~SimulatedImu();
 
 private:
@@ -97 +97 @@
 } // end namespace sensor
 } // end namespace flair
-#endif // SIMUIMU_H
+#endif // SIMULATEDIMU_H

trunk/lib/FlairSensorActuator/src/SimulatedLaser.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/02/07
-//  filename:   SimuUs.cpp
+//  filename:   SimulatedUs.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuLaser.h"
+#include "SimulatedLaser.h"
 #include <FrameworkManager.h>
 #include <SpinBox.h>
@@ -33 +33 @@
 namespace sensor {
 
-SimuLaser::SimuLaser(string name,
+SimulatedLaser::SimulatedLaser(string name,
                      uint32_t modelId,uint32_t deviceId, uint8_t priority)
     : Thread(getFrameworkManager(), name, priority), LaserRangeFinder(name) {
@@ -44 +44 @@
 }
 
-SimuLaser::~SimuLaser() {
+SimulatedLaser::~SimulatedLaser() {
   SafeStop();
   Join();
 }
 
-string SimuLaser::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedLaser::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_laser_" << deviceId;
@@ -55 +55 @@
 }
 
-void SimuLaser::Run(void) {
+void SimulatedLaser::Run(void) {
   float z[360];
 

trunk/lib/FlairSensorActuator/src/SimulatedLaser.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuUs.h
+ * \file SimulatedUs.h
  * \brief Class for a simulation UsRangeFinder
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMULASER_H
-#define SIMULASER_H
+#ifndef SIMULATEDLASER_H
+#define SIMULATEDLASER_H
 
 #include <LaserRangeFinder.h>
@@ -28 +28 @@
 namespace flair {
 namespace sensor {
-/*! \class SimuUs
+/*! \class SimulatedUs
 *
 * \brief Class for a simulation UsRangeFinder
 */
-class SimuLaser : public core::Thread, public LaserRangeFinder {
+class SimulatedLaser : public core::Thread, public LaserRangeFinder {
 public:
   /*!
   * \brief Constructor
   *
-  * Construct a SimuUs.
+  * Construct a SimulatedUs.
   *
   * \param name name
@@ -44 +44 @@
   * \param priority priority of the Thread
   */
-  SimuLaser(std::string name,
+  SimulatedLaser(std::string name,
             uint32_t modelId,uint32_t deviceId, uint8_t priority);
 
@@ -51 +51 @@
   *
   */
-  ~SimuLaser();
+  ~SimulatedLaser();
 
 protected:
@@ -83 +83 @@
 } // end namespace sensor
 } // end namespace flair
-#endif // SIMULASER_H
+#endif // SIMULATEDLASER_H

trunk/lib/FlairSensorActuator/src/SimulatedPressureSensor.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2018/05/24
-//  filename:   SimuPressureSensor.cpp
+//  filename:   SimulatedPressureSensor.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuPressureSensor.h"
+#include "SimulatedPressureSensor.h"
 #include <FrameworkManager.h>
 #include <SpinBox.h>
@@ -33 +33 @@
 namespace sensor {
 
-SimuPressureSensor::SimuPressureSensor(string name, uint32_t modelId,uint32_t deviceId,
+SimulatedPressureSensor::SimulatedPressureSensor(string name, uint32_t modelId,uint32_t deviceId,
                uint8_t priority)
     : Thread(getFrameworkManager(), name, priority), PressureSensor( name) {
@@ -44 +44 @@
 }
 
-SimuPressureSensor::~SimuPressureSensor() {
+SimulatedPressureSensor::~SimulatedPressureSensor() {
   SafeStop();
   Join();
 }
 
-string SimuPressureSensor::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedPressureSensor::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_pressure_" << deviceId;
@@ -55 +55 @@
 }
 
-void SimuPressureSensor::Run(void) {
+void SimulatedPressureSensor::Run(void) {
   float p;
 

trunk/lib/FlairSensorActuator/src/SimulatedPressureSensor.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuPressureSensor.h
+ * \file SimulatedPressureSensor.h
  * \brief Class for a simulation PressureSensor
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMUPRESSURESENSOR_H
-#define SIMUPRESSURESENSOR_H
+#ifndef SIMULATEDPRESSURESENSOR_H
+#define SIMULATEDPRESSURESENSOR_H
 
 #include <PressureSensor.h>
@@ -28 +28 @@
 namespace flair {
 namespace sensor {
-/*! \class SimuPressureSensor
+/*! \class SimulatedPressureSensor
 *
 * \brief Class for a simulation PressureSensor
 */
-class SimuPressureSensor : public core::Thread, public PressureSensor {
+class SimulatedPressureSensor : public core::Thread, public PressureSensor {
 public:
   /*!
   * \brief Constructor
   *
-  * Construct a SimuPressureSensor.
+  * Construct a SimulatedPressureSensor.
         * It will be child of the FrameworkManager.
   *
@@ -45 +45 @@
   * \param priority priority of the Thread
   */
-  SimuPressureSensor(std::string name,
+  SimulatedPressureSensor(std::string name,
          uint32_t modelId,uint32_t deviceId, uint8_t priority);
 
@@ -52 +52 @@
   *
   */
-  ~SimuPressureSensor();
+  ~SimulatedPressureSensor();
 
 protected:
@@ -84 +84 @@
 } // end namespace sensor
 } // end namespace flair
-#endif // SIMUPRESSURESENSOR_H
+#endif // SIMULATEDPRESSURESENSOR_H

trunk/lib/FlairSensorActuator/src/SimulatedUs.cpp

@@ -4 +4 @@
 // %flair:license}
 //  created:    2014/02/07
-//  filename:   SimuUs.cpp
+//  filename:   SimulatedUs.cpp
 //
 //  author:     Guillaume Sanahuja
@@ -17 +17 @@
 #ifdef CORE2_64
 
-#include "SimuUs.h"
+#include "SimulatedUs.h"
 #include <FrameworkManager.h>
 #include <SpinBox.h>
@@ -33 +33 @@
 namespace sensor {
 
-SimuUs::SimuUs(string name, uint32_t modelId,uint32_t deviceId,
+SimulatedUs::SimulatedUs(string name, uint32_t modelId,uint32_t deviceId,
                uint8_t priority)
     : Thread(getFrameworkManager(), name, priority), UsRangeFinder( name) {
@@ -44 +44 @@
 }
 
-SimuUs::~SimuUs() {
+SimulatedUs::~SimulatedUs() {
   SafeStop();
   Join();
 }
 
-string SimuUs::ShMemName(uint32_t modelId,uint32_t deviceId) {
+string SimulatedUs::ShMemName(uint32_t modelId,uint32_t deviceId) {
   ostringstream dev_name;
   dev_name << "simu" <<  modelId << "_us_" << deviceId;
@@ -55 +55 @@
 }
 
-void SimuUs::Run(void) {
+void SimulatedUs::Run(void) {
   float z;
   

trunk/lib/FlairSensorActuator/src/SimulatedUs.h

@@ -4 +4 @@
 // %flair:license}
 /*!
- * \file SimuUs.h
+ * \file SimulatedUs.h
  * \brief Class for a simulation UsRangeFinder
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
@@ -11 +11 @@
  */
 
-#ifndef SIMUUS_H
-#define SIMUUS_H
+#ifndef SIMULATEDUS_H
+#define SIMULATEDUS_H
 
 #include <UsRangeFinder.h>
@@ -28 +28 @@
 namespace flair {
 namespace sensor {
-/*! \class SimuUs
+/*! \class SimulatedUs
 *
 * \brief Class for a simulation UsRangeFinder
 */
-class SimuUs : public core::Thread, public UsRangeFinder {
+class SimulatedUs : public core::Thread, public UsRangeFinder {
 public:
   /*!
   * \brief Constructor
   *
-  * Construct a SimuUs.
+  * Construct a SimulatedUs.
         * It will be child of the FrameworkManager.
   *
@@ -45 +45 @@
   * \param priority priority of the Thread
   */
-  SimuUs(std::string name,
+  SimulatedUs(std::string name,
          uint32_t modelId,uint32_t deviceId, uint8_t priority);
 
@@ -52 +52 @@
   *
   */
-  ~SimuUs();
+  ~SimulatedUs();
 
 protected:
@@ -84 +84 @@
 } // end namespace sensor
 } // end namespace flair
-#endif // SIMUUS_H
+#endif // SIMULATEDUS_H

trunk/lib/FlairSensorActuator/src/VrpnObject.cpp

@@ -18 +18 @@
 #include "VrpnObject.h"
 #include "VrpnObject_impl.h"
-#include "VrpnClient.h"
 #include <string.h>
 #include <Matrix.h>
@@ -30 +29 @@
 
 VrpnObject::VrpnObject(string name,
-                       const TabWidget *tab)
-    : IODevice(GetVrpnClient(), name) {
-  pimpl_ = new VrpnObject_impl(this, name, -1, tab);
+                       const TabWidget *tab,VrpnClient *client)
+    : IODevice(client, name) {
+  pimpl_ = new VrpnObject_impl(this, name, -1, tab,client);
   AddDataToLog(pimpl_->output);
   
@@ -39 +38 @@
 
 VrpnObject::VrpnObject(string name, uint8_t id,
-                       const TabWidget *tab)
-    : IODevice(GetVrpnClient(), name) {
+                       const TabWidget *tab,VrpnClient *client)
+    : IODevice(client, name) {
   Warn("Creation of object %s with id %i\n", name.c_str(), id);
-  pimpl_ = new VrpnObject_impl(this, name, id, tab);
+  pimpl_ = new VrpnObject_impl(this, name, id, tab,client);
   AddDataToLog(pimpl_->output);
   

trunk/lib/FlairSensorActuator/src/VrpnObject.h

@@ -16 +16 @@
 
 #include <IODevice.h>
+#include <VrpnClient.h>
 #include <Vector3D.h>
 #include <stdint.h>
@@ -32 +33 @@
 
 class VrpnObject_impl;
-class VrpnClient_impl;
 
 namespace flair {
@@ -45 +45 @@
 class VrpnObject : public core::IODevice {
   friend class ::VrpnObject_impl;
-  friend class ::VrpnClient_impl;
 
 public:
@@ -55 +54 @@
   * \param name VRPN object name, should be the same as defined in the server
   * \param tab Tab for the user interface
+  * \param client VrpnClient of the connection, if unspecified, use the default one
   */
   VrpnObject(std::string name,
-             const gui::TabWidget *tab);
+             const gui::TabWidget *tab,sensor::VrpnClient *client=GetVrpnClient());
 
   /*!
   * \brief Constructor
   *
-  * Construct a VrpnObject. Connection is done by IP.
+  * Construct a VrpnObject. Connection is done by xbee.
   *
   * \param name name
-  * \param id VRPN object id, should be the same as defined in the server
+  * \param id VRPN object id, should be the same as defined in the xbee bridge
   * \param tab Tab for the user interface
+  * \param client VrpnClient of the connection, if unspecified, use the default one
   */
   VrpnObject(std::string name, uint8_t id,
-             const gui::TabWidget *tab);
+             const gui::TabWidget *tab,sensor::VrpnClient *client=GetVrpnClient());
 
   /*!

trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp

@@ -40 +40 @@
 
 VrpnObject_impl::VrpnObject_impl(VrpnObject *self,
-                                 string name, int id, const TabWidget *tab) {
-  parent = GetVrpnClient();
+                                 string name, int id, const TabWidget *tab,VrpnClient *client) {
+  parent = client;
   this->self = self;
 

trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h

@@ -47 +47 @@
   VrpnObject_impl(flair::sensor::VrpnObject *self,
                   std::string name,
-                  int id, const flair::gui::TabWidget *tab);
+                  int id, const flair::gui::TabWidget *tab,flair::sensor::VrpnClient *client);
   ~VrpnObject_impl(void);
 

trunk/lib/FlairSimulator/src/Blade.cpp

@@ -64 +64 @@
 }
 
+Blade::Blade(ISceneNode *parent, const vector3df &position, bool inverted, s32 id)
+    : ISceneNode(parent, getGui()->getSceneManager(), id,
+                 position) {
+  ISceneManager *mgr = getGui()->getSceneManager();
+
+  const IGeometryCreator *geo;
+  geo = mgr->getGeometryCreator();
+  pale = geo->createCubeMesh(vector3df(63.5, 0.5, 5));
+
+  float angle;
+  if (inverted == false) {
+    angle = 20;
+  } else {
+    angle = -20;
+  }
+
+  ITexture *texture = getGui()->getTexture("carbone.jpg");
+  pale_1 = new MeshSceneNode(parent, pale, vector3df(-30, 0, 0),
+                             vector3df(-angle + 90, 0, 0), texture);
+  pale_1->setParent(this);
+  pale_2 = new MeshSceneNode(parent, pale, vector3df(30, 0, 0),
+                             vector3df(angle + 90, 0, 0), texture);
+  pale_2->setParent(this);
+
+  anim = mgr->createRotationAnimator(vector3df(0.f, 0.f, 0.f));
+  addAnimator(anim);
+}
+
 void Blade::OnRegisterSceneNode() {
   if (IsVisible)

trunk/lib/FlairSimulator/src/Blade.h

@@ -36 +36 @@
         const irr::core::vector3df &position = irr::core::vector3df(0, 0, 0),
         bool inverted = false, irr::s32 id = -1);
+
+  Blade(irr::scene::ISceneNode *parent,
+        const irr::core::vector3df &position = irr::core::vector3df(0, 0, 0),
+        bool inverted = false, irr::s32 id = -1);
+  
   virtual void OnRegisterSceneNode(void);
   virtual void render(void);

trunk/lib/FlairSimulator/src/FixedCamera.cpp

@@ -27 +27 @@
 #include <Euler.h>
 
+
 using namespace irr;
 using namespace gui;
@@ -51 +52 @@
 void FixedCamera::animateNode(ISceneNode *node, u32 timeMs) {
   ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
-
+  
   if (LMouseKey == true) {
     if (!Rotating) {

trunk/lib/FlairSimulator/src/FollowMeCamera.cpp

@@ -63 +63 @@
 
 void FollowMeCamera::animateNode(ISceneNode *node, u32 timeMs) {
-
   float nRotY = RotY;
   float nRotZ = RotZ;

trunk/lib/FlairSimulator/src/GenericObject.cpp

@@ -40 +40 @@
 {
         meshSceneNode=getGui()->getSceneManager()->addMeshSceneNode(mesh);
-        
+        /*
   selector = getGui()->getSceneManager()->createTriangleSelector(mesh, meshSceneNode);
   meshSceneNode->setTriangleSelector(selector);
-        
+        */
   meshSceneNode->setMaterialFlag(EMF_LIGHTING, false);
 
@@ -53 +53 @@
 ITriangleSelector *GenericObject::TriangleSelector(void) { return selector; }
 
+void GenericObject::setVisible(bool isVisible) {
+  meshSceneNode->setVisible(isVisible);
+}
 void GenericObject::setScale(float value) {
   meshSceneNode->setScale(vector3df(value, value, value));

trunk/lib/FlairSimulator/src/Gui_impl.cpp

@@ -94 +94 @@
   device->setResizable(false);
 
-  // font = device->getGUIEnvironment()->getBuiltInFont();
   driver = device->getVideoDriver();
   smgr = device->getSceneManager();
@@ -179 +178 @@
   int lastFPS = -1;
   int cam_id = 0;
+  ITexture* texture=0;
+  IGUIFont* font =0;
+  
+  if (!driver->queryFeature(video::EVDF_RENDER_TO_TARGET)) {
+    self->Warn("rendering to texture is not possible, axis will not be displayed\n");
+  } else {
+    texture= getGui()->getSceneManager()->getVideoDriver()->addRenderTargetTexture(dimension2d<u32>(128,128));
+    device->getGUIEnvironment()->addImage(texture,position2d<s32>(0,scene_height-texture->getSize().Height));
+    font = getGui()->getDevice()->getGUIEnvironment()->getFont((media_path+"/font/simu_axis_font.xml").c_str());
+  }
 
   receiver->SetModel(models.at(0));
@@ -242 +251 @@
     driver->setViewPort(core::rect<s32>(0, 0, scene_width, scene_height));
     smgr->drawAll(); // commente voir plus bas
-                     /*
-                 env->drawAll();
-                 if (font)
-                 {
-                                     font->draw(L"This demo shows that Irrlicht is also capable
-                 of drawing 2D graphics.",
-                                             core::rect<s32>(130,10,300,50),
-                                             video::SColor(255,255,255,255));
-                 }
-                 else
-                 {
-                 printf("err\n");
-                 }
-                 device->setWindowCaption(L"toto");*/
-
+                    
     if (dbtFile_r == NULL) {// mode normal
       for (size_t i = 0; i < models.size(); i++) {
@@ -263 +258 @@
     }
 
+    //render to texture for axis if possible
+    if (texture) {
+      cameras.at(cam_id)->renderAxisToTexture(texture);
+    }
+    
+    //process update for sensors (cam, us...)
+    //also draws embedded cameras (see SimuCameraGL::UpdateFrom) 
     for (size_t i = 0; i < models.size(); i++) {
       models.at(i)->ProcessUpdate(NULL);
     }
-
+    
     // on fait ca ici, devrait etre un peu plus haut
     // mais a priori souci avec models.at(i)->pimpl_->CheckCollision();
@@ -274 +276 @@
     driver->setViewPort(core::rect<s32>(0, 0, scene_width, scene_height));
     smgr->drawAll();
-
+    
+    driver->setViewPort(core::rect<s32>(0, 0, smgr->getVideoDriver()->getScreenSize().Width, smgr->getVideoDriver()->getScreenSize().Height));
+    if(font) {
+      font->draw(L"VRPN:",rect<s32>(10,scene_height-30,100,50),SColor(128,255,255,255));
+      font->draw(L"X",rect<s32>(60,scene_height-30,100,50),SColor(255,255,0,0));
+      font->draw(L"Y",rect<s32>(70,scene_height-30,100,50),SColor(255,0,255,0));
+      font->draw(L"Z",rect<s32>(80,scene_height-30,100,50),SColor(255,0,0,255));
+      
+    }
+    device->getGUIEnvironment()->drawAll();
     driver->endScene();
-
+    
     int fps = driver->getFPS();
 

trunk/lib/FlairSimulator/src/MeshSceneNode.cpp

@@ -49 +49 @@
 }
 
+MeshSceneNode::MeshSceneNode(ISceneNode *parent, IMesh *mesh,
+                             const vector3df &position,
+                             const vector3df &rotation, ITexture *texture,
+                             s32 id)
+    : IMeshSceneNode(parent, getGui()->getSceneManager(), id,
+                     position, rotation) {
+  Material.Wireframe = false;
+  Material.Lighting = false;
+
+  setMesh(mesh);
+
+  if (texture != NULL) {
+    setMaterialTexture(0, texture);
+  }
+
+  //parent->getBoundingBox().addInternalBox(getTransformedBoundingBox());
+}
+
 void MeshSceneNode::OnRegisterSceneNode(void) {
   if (IsVisible)

trunk/lib/FlairSimulator/src/MeshSceneNode.h

@@ -31 +31 @@
       const irr::core::vector3df &rotation = irr::core::vector3df(0, 0, 0),
       irr::video::ITexture *texture = NULL, irr::s32 id = -1);
+  
+  MeshSceneNode(
+      irr::scene::ISceneNode *parent, irr::scene::IMesh *mesh,
+      const irr::core::vector3df &position = irr::core::vector3df(0, 0, 0),
+      const irr::core::vector3df &rotation = irr::core::vector3df(0, 0, 0),
+      irr::video::ITexture *texture = NULL, irr::s32 id = -1);
 
   virtual void OnRegisterSceneNode(void);

trunk/lib/FlairSimulator/src/SimuBldc.cpp

@@ -73 +73 @@
 }
 
-} // end namespace sensor
+} // end namespace actuator
 } // end namespace flair

trunk/lib/FlairSimulator/src/Simulator.cpp

@@ -36 +36 @@
 Simulator *getSimulator(void) { return simu; }
 
-Simulator::Simulator(string name, int optitrack_mstime, float yaw_deg)
+Simulator::Simulator(string name, int optitrack_mstime, float yaw_deg, int port)
     : FrameworkManager(name) {
   if (simu != NULL)
     Err("Simulator should be instanced only one time\n");
 
-  pimpl_ = new Simulator_impl(this, optitrack_mstime, yaw_deg);
+  pimpl_ = new Simulator_impl(this, optitrack_mstime, yaw_deg,port);
   simu = this;
 }

trunk/lib/FlairSimulator/src/Simulator.h

@@ -44 +44 @@
   // yaw_deg: rotation of the vrpn coordinate with respect to the earth
   // coordinate, around z axis
-  Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30);
+  Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30, int port=3883);
   ~Simulator();
   void RunSimu(void);

trunk/lib/FlairSimulator/src/Simulator_impl.cpp

@@ -31 +31 @@
 
 Simulator_impl::Simulator_impl(Simulator *self, int optitrack_mstime,
-                               float yaw_deg)
-    : vrpn_Connection_IP(), Thread(self, "simulator", 1) {
+                               float yaw_deg,int port)
+    : vrpn_Connection_IP(port), Thread(self, "simulator", 1) {
   this->self = self;
   this->optitrack_mstime = optitrack_mstime;

trunk/lib/FlairSimulator/src/VisualizationCamera.cpp

@@ -31 +31 @@
 using namespace core;
 using namespace scene;
+using namespace video;
 
 namespace flair {
@@ -40 +41 @@
   LMouseKey = false;
 
-   // camera
+  // camera for visualization
   camera = getGui()->getSceneManager()->addCameraSceneNode();
   camera->setAspectRatio(getGui()->getAspectRatio()); // on force a cause du view port
@@ -48 +49 @@
 
   getGui()->pimpl_->AddVisualizationCamera(this);
+  
+  // camera to draw axis, in a new dedicated scene manager
+  axis_scenemanager=getGui()->getSceneManager()->createNewSceneManager();
+  axis_camera = axis_scenemanager->addCameraSceneNode();
+  axis_camera->setAspectRatio(1);  // same as texture ratio, TODO: get it from texture in renderAxisToTexture
+  axis_camera->setUpVector(vector3df(0, 0, 1));
+  axis_camera->setFOV(PI / 2.5f);
+  axis_scenemanager->setActiveCamera(axis_camera);
+  prendre en compte le yaw monde/optitrack (rotation de axis_scenemanager?)
+  IAnimatedMesh* arrowMeshRed = axis_scenemanager->addArrowMesh( "x_axisArrow",video::SColor(255, 255, 0, 0),video::SColor(255, 255, 0, 0));
+  nodeX = axis_scenemanager->addMeshSceneNode(arrowMeshRed);
+  nodeX->setMaterialFlag(video::EMF_LIGHTING, false);
+  nodeX->setRotation(vector3df(0,0,-90));
+  nodeX->setScale(vector3df(1,3,1));
+  
+  IAnimatedMesh* arrowMeshGreen = axis_scenemanager->addArrowMesh( "y_axisArrow",video::SColor(255, 0, 255, 0),video::SColor(255, 0, 255, 0));
+  nodeY = axis_scenemanager->addMeshSceneNode(arrowMeshGreen);
+  nodeY->setMaterialFlag(video::EMF_LIGHTING, false);
+  nodeY->setScale(vector3df(1,3,1));
+  
+  IAnimatedMesh* arrowMeshBlue = axis_scenemanager->addArrowMesh( "z_axisArrow",video::SColor(255, 0, 0, 255),video::SColor(255, 0, 0, 255));
+  nodeZ = axis_scenemanager->addMeshSceneNode(arrowMeshBlue);
+  nodeZ->setMaterialFlag(video::EMF_LIGHTING, false);
+  nodeZ->setRotation(vector3df(-90,0,0));//irrlicht is left handed, draw a right handed axis
+  nodeZ->setScale(vector3df(1,3,1));
 }
 
 VisualizationCamera::~VisualizationCamera() {}
+
+void VisualizationCamera::renderAxisToTexture(ITexture* texture) {
+  //put axis at a "normalized" distance
+  vector3df direction=camera->getTarget()-camera->getPosition();
+  direction.normalize();
+  nodeX->setPosition(camera->getPosition()+direction*6);
+  nodeY->setPosition(camera->getPosition()+direction*6);
+  nodeZ->setPosition(camera->getPosition()+direction*6);
+
+  axis_camera->setPosition(camera->getPosition());
+  axis_camera->setRotation(camera->getRotation());
+  axis_camera->setTarget(camera->getTarget());
+  
+  axis_scenemanager->getVideoDriver()->setRenderTarget(texture, true, true, SColor(0,0,0,0));
+  axis_scenemanager->drawAll();
+  axis_scenemanager->getVideoDriver()->setRenderTarget(0, true, true, 0);
+}
 
 std::string VisualizationCamera::getName(void) {

trunk/lib/FlairSimulator/src/VisualizationCamera.h

@@ -27 +27 @@
     class ICameraSceneNode;
   }
+  namespace video {
+    class ITexture;
+  }
 }
 
@@ -42 +45 @@
   irr::scene::ICameraSceneNode *getCameraSceneNode(void);
   std::string getName(void);
+  void renderAxisToTexture(irr::video::ITexture* texture);
 
 private:
   virtual bool isEventReceiverEnabled(void) const { return true; }
-
+  irr::scene::ISceneNode *nodeX,*nodeY,*nodeZ;
+  irr::scene::ISceneManager *axis_scenemanager;
+  
 protected:
   bool LMouseKey;
   irr::scene::ICameraSceneNode *camera;
+  irr::scene::ICameraSceneNode *axis_camera;
   irr::core::position2df MousePos;
   float currentZoom;

trunk/lib/FlairSimulator/src/X4.h

@@ -43 +43 @@
 #ifdef GL
   virtual void Draw(void);
-  virtual void ExtraDraw(void){};
+  virtual void ExtraDraw(void){}; 
+#endif
 
-protected:
-  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
-  core::Mutex *motor_speed_mutex;
-#endif
 private:
   void CalcModel(void);
@@ -56 +53 @@
   void WritedbtBuf(char *dbtbuf);
   void ReaddbtBuf(char *dbtbuf);
+  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
+  core::Mutex *motor_speed_mutex;
 #endif
 

trunk/lib/FlairSimulator/src/X8.h

@@ -45 +45 @@
 
 protected:
-#ifdef GL
-  Blade *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;
-  Blade *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;
-#endif
+
 private:
   void CalcModel(void);
@@ -57 +54 @@
   void ReaddbtBuf(char *dbtbuf);
   core::Mutex *motor_speed_mutex;
+  Blade *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;
+  Blade *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;
 #endif
 

trunk/lib/FlairSimulator/src/unexported/GenericObject.h

@@ -47 +47 @@
         void setPosition(const irr::core::vector3df& position);
   void setRotation(const irr::core::vector3df& rotation);
+  void setVisible(bool isVisible);//visible by default at construction
  
 private:

trunk/lib/FlairSimulator/src/unexported/Model_impl.h

@@ -72 +72 @@
   void OnRegisterSceneNode(void);
   void render(void);
-  void Draw(void) {
-    printf("CA MARCHE PAS PUNAISE\r\n");
-    ExtraDraw();
-  };
-  void ExtraDraw(void) { printf("nope\r\n"); };
 
   const irr::core::aabbox3d<irr::f32> &getBoundingBox(void) const {

trunk/lib/FlairSimulator/src/unexported/Simulator_impl.h

@@ -37 +37 @@
 public:
   Simulator_impl(flair::simulator::Simulator *self, int optitrack_mstime = 10,
-                 float yaw_deg = 30);
+                 float yaw_deg = 30, int port=3883);
   ~Simulator_impl();