Changeset 38 in flair-src for trunk/demos/CircleFollower/uav

Timestamp:

06/23/16 10:15:30 (8 years ago)

Author:

Bayard Gildas

Message:

Modif. pour ajour manette émulée (EmulatedController)

Location:

trunk/demos/CircleFollower/uav/src

Files:

• CircleFollower.cpp (modified) (2 diffs)
• CircleFollower.h (modified) (1 diff)
• main.cpp (modified) (5 diffs)

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

@@ -13 +13 @@
 
 #include "CircleFollower.h"
+#include <TargetController.h>
 #include <Uav.h>
 #include <GridLayout.h>
@@ -33 +34 @@
 using namespace flair::core;
 using namespace flair::gui;
+using namespace flair::sensor;
 using namespace flair::filter;
 using namespace flair::meta;
 
-CircleFollower::CircleFollower(Uav* uav): UavStateMachine(uav), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
+CircleFollower::CircleFollower(Uav* uav,TargetController *controller): UavStateMachine(uav,controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
     uav->SetupVRPNAutoIP(uav->ObjectName());
 

trunk/demos/CircleFollower/uav/src/CircleFollower.h

@@ -27 +27 @@
         class MetaVrpnObject;
     }
+    namespace sensor {
+        class TargetController;
+    }
 }
 
 class CircleFollower : public flair::meta::UavStateMachine {
     public:
-        CircleFollower(flair::meta::Uav* uav);
+        CircleFollower(flair::meta::Uav* uav,flair::sensor::TargetController *controller);
         ~CircleFollower();
 

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

@@ -17 +17 @@
 #include <stdio.h>
 #include <tclap/CmdLine.h>
+#include <TargetEthController.h>
 
 using namespace TCLAP;
@@ -22 +23 @@
 using namespace flair::core;
 using namespace flair::meta;
+using namespace flair::sensor;
 
 string uav_type;
 string log_path;
 int port;
+int ds3port;
 string xml_file;
 string name;
@@ -43 +46 @@
 
     Uav* drone=CreateUav(manager,name,uav_type);
-    CircleFollower* demo=new CircleFollower(drone);
+    TargetEthController *controller=new TargetEthController(manager,"Dualshock3",ds3port);
+    CircleFollower* demo=new CircleFollower(drone,controller);
 
     demo->Start();
@@ -74 +78 @@
         cmd.add( addressArg );
 
+        ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");
+        cmd.add( ds3portArg );
+
         cmd.parse( argc, argv );
 
@@ -79 +86 @@
         log_path = logsArg.getValue();
         port=portArg.getValue();
+        ds3port=ds3portArg.getValue();
         xml_file = xmlArg.getValue();
         name=nameArg.getValue();