Changeset 431 in flair-src

Timestamp:

Jul 12, 2021, 8:37:29 AM (3 years ago)

Author:

Sanahuja Guillaume

Message:

add vrpn connection type per uav

Location:

trunk

Files:

• demos/CircleFollower/uav/src/CircleFollower.cpp (modified) (2 diffs)
• demos/MixedReality/real/uav/src/CircleFollower.cpp (modified) (2 diffs)
• demos/SimpleFleet/uav/src/SimpleFleet.cpp (modified) (1 diff)
• lib/FlairMeta/src/Uav.h (modified) (2 diffs)

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

@@ -40 +40 @@
     Uav* uav=GetUav();
 
-    VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
+    VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80,uav->GetDefaultVrpnConnectionType());
     
     if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
@@ -49 +49 @@
         targetVrpn=new MetaVrpnObject("target");
     } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
-        uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
-        targetVrpn=new MetaVrpnObject("target",1);
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+        targetVrpn=new MetaVrpnObject("target");
     }
     

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

@@ -41 +41 @@
     Uav* uav=GetUav();
 
-    VrpnClient* realVrpnClient=new VrpnClient("real_vrpn", uav->GetDefaultVrpnAddress(),80);
-    uavVrpn = new MetaVrpnObject(uav->ObjectName());
+    VrpnClient* realVrpnClient=new VrpnClient("real_vrpn", uav->GetDefaultVrpnAddress(),80,uav->GetDefaultVrpnConnectionType());
+    if(realVrpnClient->ConnectionType()==VrpnClient::Xbee) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
+    } else if (realVrpnClient->ConnectionType()==VrpnClient::Vrpn) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+    } else if (realVrpnClient->ConnectionType()==VrpnClient::VrpnLite) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+    }
     getFrameworkManager()->AddDeviceToLog(uavVrpn);
     uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
@@ -52 +58 @@
     VrpnClient* simuVrpnClient=new VrpnClient("simu_vrpn", vrpn,80);//simu_simu vrpn server
     targetVrpn=new MetaVrpnObject("Drone_1",simuVrpnClient);
-                simuVrpnClient->Start();
-                realVrpnClient->Start();
+        simuVrpnClient->Start();
+        realVrpnClient->Start();
 
     getFrameworkManager()->AddDeviceToLog(targetVrpn);

trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp

@@ -53 +53 @@
     Uav* uav=GetUav();
                 
-        VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
-        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+        VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80,uav->GetDefaultVrpnConnectionType());
+    if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
+    } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+    } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
+        uavVrpn = new MetaVrpnObject(uav->ObjectName());
+    }
         getFrameworkManager()->AddDeviceToLog(uavVrpn);
         uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);

trunk/lib/FlairMeta/src/Uav.h

@@ -15 +15 @@
 
 #include <Object.h>
+#include <VrpnClient.h>
 
 namespace flair {
@@ -66 +67 @@
   sensor::PressureSensor *GetPressureSensor(void) const;
         virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
+        virtual sensor::VrpnClient::ConnectionType_t GetDefaultVrpnConnectionType(void) const{return sensor::VrpnClient::ConnectionType_t::Vrpn;}
   virtual bool isReadyToFly(void) const { return true;}
   virtual std::string GetType(void) const=0;