Changeset 431 in flair-src for trunk/demos/MixedReality/real/uav/src

Timestamp:

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

Author:

Sanahuja Guillaume

Message:

add vrpn connection type per uav

File:

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

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);