Changeset 431 in flair-src for trunk/demos/MixedReality/real/uav
- Timestamp:
- Jul 12, 2021, 8:37:29 AM (3 years ago)
- File:
-
- 1 edited
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trunk/demos/MixedReality/real/uav/src/CircleFollower.cpp
r318 r431 41 41 Uav* uav=GetUav(); 42 42 43 VrpnClient* realVrpnClient=new VrpnClient("real_vrpn", uav->GetDefaultVrpnAddress(),80); 44 uavVrpn = new MetaVrpnObject(uav->ObjectName()); 43 VrpnClient* realVrpnClient=new VrpnClient("real_vrpn", uav->GetDefaultVrpnAddress(),80,uav->GetDefaultVrpnConnectionType()); 44 if(realVrpnClient->ConnectionType()==VrpnClient::Xbee) { 45 uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0); 46 } else if (realVrpnClient->ConnectionType()==VrpnClient::Vrpn) { 47 uavVrpn = new MetaVrpnObject(uav->ObjectName()); 48 } else if (realVrpnClient->ConnectionType()==VrpnClient::VrpnLite) { 49 uavVrpn = new MetaVrpnObject(uav->ObjectName()); 50 } 45 51 getFrameworkManager()->AddDeviceToLog(uavVrpn); 46 52 uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green); … … 52 58 VrpnClient* simuVrpnClient=new VrpnClient("simu_vrpn", vrpn,80);//simu_simu vrpn server 53 59 targetVrpn=new MetaVrpnObject("Drone_1",simuVrpnClient); 54 55 60 simuVrpnClient->Start(); 61 realVrpnClient->Start(); 56 62 57 63 getFrameworkManager()->AddDeviceToLog(targetVrpn);
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