Changeset 431 in flair-src for trunk/demos/SimpleFleet/uav

Timestamp:

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

Author:

Sanahuja Guillaume

Message:

add vrpn connection type per uav

File:

• trunk/demos/SimpleFleet/uav/src/SimpleFleet.cpp (modified) (1 diff)

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);