Changeset 44 in flair-dev for trunk/include/FlairMeta/Uav.h

Timestamp:

Jan 6, 2017, 1:58:28 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

m

File:

• trunk/include/FlairMeta/Uav.h (modified) (5 diffs)

trunk/include/FlairMeta/Uav.h

@@ -17 +17 @@
 
 namespace flair {
-namespace core {
-class FrameworkManager;
-}
-namespace filter {
-class Ahrs;
-class UavMultiplex;
-}
-namespace actuator {
-class Bldc;
-}
-namespace sensor {
-class UsRangeFinder;
-class BatteryMonitor;
-class VrpnClient;
-class Imu;
-class Camera;
-}
+        namespace filter {
+                class Ahrs;
+                class UavMultiplex;
+        }
+        namespace actuator {
+                class Bldc;
+        }
+        namespace sensor {
+                class UsRangeFinder;
+                class BatteryMonitor;
+                class Imu;
+                class Camera;
+        }
 }
 
@@ -39 +35 @@
 namespace meta {
 class MetaUsRangeFinder;
-class MetaVrpnObject;
 
 /*! \class Uav
 *
-* \brief Base class to construct sensors/actuators depending on uav type
+* \brief Base class to construct sensors/actuators depending on uav type.
+* The Object is created with 
+*  the FrameworkManager as parent. FrameworkManager must be created before.
+* Only one instance of this class is allowed by program.
 */
 class Uav : public core::Object {
 public:
-  /*
-      typedef enum {
-          None,
-          Auto,//rt serial if hds x4 ou x8, auto ip sinon
-          AutoIP,
-          UserDefinedIP,
-          AutoSerialPort,
-          } VRPNType_t;
-*/
-  // uav_name: for optitrack
-  Uav(core::FrameworkManager *parent, std::string name,
+
+  Uav(std::string name,
       filter::UavMultiplex *multiplex = NULL);
   ~Uav();
-  void SetupVRPN(std::string optitrack_address, std::string name);
-  // vrpn serial: broken, need to add serial port in uav specific code
-  // void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int
-  // VRPNSerialObjectId);
-  virtual void SetupVRPNAutoIP(std::string name);
 
-  virtual void StartSensors(void);
+  virtual void StartSensors(void)=0;
   void UseDefaultPlot(void);
   actuator::Bldc *GetBldc(void) const;
@@ -75 +59 @@
   sensor::UsRangeFinder *GetUsRangeFinder(void) const;
   sensor::BatteryMonitor *GetBatteryMonitor(void) const;
-  sensor::VrpnClient *GetVrpnClient(void) const;
-  meta::MetaVrpnObject *GetVrpnObject(void) const;
   sensor::Camera *GetVerticalCamera(void) const;
+  sensor::Camera *GetHorizontalCamera(void) const;
+        virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
 
 protected:
@@ -86 +70 @@
   void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
   void SetVerticalCamera(const sensor::Camera *verticalCamera);
+  void SetHorizontalCamera(const sensor::Camera *verticalCamera);
 
 private:
@@ -94 +79 @@
   sensor::UsRangeFinder *us;
   MetaUsRangeFinder *meta_us;
-  sensor::VrpnClient *vrpnclient;
-  MetaVrpnObject *uav_vrpn;
   sensor::BatteryMonitor *battery;
-  sensor::Camera *verticalCamera;
+  sensor::Camera *verticalCamera,*horizontalCamera;
 };
+
+/*!
+* \brief get Uav
+*
+* \return the Uav
+*/
+Uav *GetUav(void);
+
 } // end namespace meta
 } // end namespace flair