Changeset 311 in flair-src for trunk/demos/CircleFollower

Timestamp:

03/14/19 14:28:37 (5 years ago)

Author:

Sanahuja Guillaume

Message:

maj

File:

• trunk/demos/CircleFollower/uav/src/CircleFollower.cpp (modified) (2 diffs)

trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

@@ -43 +43 @@
 
     VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
-    uavVrpn = new MetaVrpnObject(uav->ObjectName());
+    
+    if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
+        targetVrpn=new MetaVrpnObject("target",1);
+    } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+        targetVrpn=new MetaVrpnObject("target");
+    } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
+        targetVrpn=new MetaVrpnObject("target",1);
+    }
+    
     getFrameworkManager()->AddDeviceToLog(uavVrpn);
     uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
@@ -50 +61 @@
     stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
     positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
-
-    if(vrpnclient->UseXbee()==true) {
-        targetVrpn=new MetaVrpnObject("target",1);
-    } else {
-        targetVrpn=new MetaVrpnObject("target");
-    }
-                vrpnclient->Start();
+    
+    vrpnclient->Start();
 
     getFrameworkManager()->AddDeviceToLog(targetVrpn);