Changeset 50 in flair-dev for trunk/include/FlairMeta

Timestamp:

05/31/17 15:54:26 (7 years ago)

Author:

Sanahuja Guillaume

Message:

doc

Location:

trunk/include/FlairMeta

Files:

• HdsX8.h (modified) (1 diff)
• MetaDualShock3.h (modified) (1 diff)
• MetaVrpnObject.h (modified) (3 diffs)
• SimuX4.h (modified) (2 diffs)
• SimuX8.h (modified) (1 diff)
• Uav.h (modified) (2 diffs)
• UavFactory.h (modified) (1 diff)
• UavStateMachine.h (modified) (4 diffs)
• XAir.h (modified) (1 diff)

trunk/include/FlairMeta/HdsX8.h

@@ -24 +24 @@
 class HdsX8 : public Uav {
 public:
-  HdsX8(std::string name,
+  HdsX8(std::string name,std::string options="",
         filter::UavMultiplex *multiplex = NULL);
   ~HdsX8();
   void StartSensors(void);
         std::string GetDefaultVrpnAddress(void) const{return "192.168.147.197:3883";}
+  bool isReadyToFly(void) const;
+  virtual std::string GetType(void) const{return "hds_x8";}
 
 private:

trunk/include/FlairMeta/MetaDualShock3.h

@@ -40 +40 @@
 
 public:
-  MetaDualShock3(core::FrameworkManager *parent, std::string name,
+  MetaDualShock3(std::string name,
                  sensor::TargetController *controller);
   ~MetaDualShock3();

trunk/include/FlairMeta/MetaVrpnObject.h

@@ -15 +15 @@
 
 #include <VrpnObject.h>
-#include "io_data.h"
+#include <io_data.h>
+#include <Vector3D.h>
 
 namespace flair {
-        namespace core {
-                class Vector3D;
-                class FloatType;
-        }
         namespace gui {
                 class DataPlot1D;
@@ -51 +48 @@
   gui::DataPlot1D *VzPlot(void) const; // 1,2
   gui::DataPlot2D *XyPlot(void) const;
-  void GetSpeed(core::Vector3D &speed) const;
+  void GetSpeed(core::Vector3Df &speed) const;
 
 private:
@@ -60 +57 @@
   gui::DataPlot1D *vx_opti_plot, *vy_opti_plot, *vz_opti_plot;
   gui::Tab *plot_tab;
-  core::FloatType elementDataType;
 };
 } // end namespace meta

trunk/include/FlairMeta/SimuX4.h

@@ -18 +18 @@
 namespace flair {
 namespace meta {
+  
 /*! \class SimuX4
 *
@@ -23 +24 @@
 */
 class SimuX4 : public Uav {
-public:
-  // simu_id: 0 if simulating only one UAV
-  //>0 otherwise
-  SimuX4(std::string name, int simu_id = 0,
-         filter::UavMultiplex *multiplex = NULL);
-  ~SimuX4();
-  void StartSensors(void);
+  public:
+    // simu_id: 0 if simulating only one UAV
+    //>0 otherwise
+    SimuX4(std::string name, uint32_t simu_id = 0,std::string options="",
+           filter::UavMultiplex *multiplex = NULL);
+    ~SimuX4();
+    void StartSensors(void);
+    virtual std::string GetType(void) const{return "x4_simu";}
+
+  private:
+    void ReadCameraResolutionOption(std::string options,std::string cameraName,uint16_t &camWidth,uint16_t &camHeight) const;
+  
 };
 } // end namespace meta

trunk/include/FlairMeta/SimuX8.h

@@ -23 +23 @@
 */
 class SimuX8 : public Uav {
-public:
-  // simu_id: 0 if simulating only one UAV
-  //>0 otherwise
-  SimuX8(std::string name, int simu_id = 0,
-         filter::UavMultiplex *multiplex = NULL);
-  ~SimuX8();
-  void StartSensors(void);
+  public:
+    // simu_id: 0 if simulating only one UAV
+    //>0 otherwise
+    SimuX8(std::string name, uint32_t simu_id = 0,std::string options="",
+           filter::UavMultiplex *multiplex = NULL);
+    ~SimuX8();
+    void StartSensors(void);
+    virtual std::string GetType(void) const{return "simu_x8";}
+  
+  private:
+    void ReadCameraResolutionOption(std::string options,std::string cameraName,uint16_t &camWidth,uint16_t &camHeight) const;
+ 
 };
 } // end namespace meta

trunk/include/FlairMeta/Uav.h

@@ -15 +15 @@
 
 #include <Object.h>
+#include <UsRangeFinder.h>
 
 namespace flair {
@@ -62 +63 @@
   sensor::Camera *GetHorizontalCamera(void) const;
         virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
+  virtual bool isReadyToFly(void) const { return true;}
+  virtual std::string GetType(void) const=0;
 
 protected:
   void SetBldc(const actuator::Bldc *bldc);
   void SetMultiplex(const filter::UavMultiplex *multiplex);
-  void SetAhrs(const filter::Ahrs *ahrs);
+  void SetAhrs(const filter::Ahrs *ahrs);//also sets imu (retrieved from the ahrs)
   void SetUsRangeFinder(const sensor::UsRangeFinder *us);
   void SetBatteryMonitor(const sensor::BatteryMonitor *battery);

trunk/include/FlairMeta/UavFactory.h

@@ -21 +21 @@
 #include <Uav.h>
 
-flair::meta::Uav *CreateUav(std::string name, std::string type,
+flair::meta::Uav *CreateUav(std::string name, std::string type,std::string options="",
                             flair::filter::UavMultiplex *multiplex = NULL);
 
-void RegisterUavCreator(flair::meta::Uav*(*func)(std::string name, std::string type,
-                                   flair::filter::UavMultiplex *multiplex));
+void RegisterUavCreator(flair::meta::Uav*(*func)(std::string,std::string,std::string,
+                                   flair::filter::UavMultiplex*));
 #endif // UAVFACTORY

trunk/include/FlairMeta/UavStateMachine.h

@@ -107 +107 @@
   const core::Quaternion &GetCurrentQuaternion(void) const;
 
-  const core::Vector3D &GetCurrentAngularSpeed(void) const;
+  const core::Vector3Df &GetCurrentAngularSpeed(void) const;
 
         void Land(void);
@@ -227 +227 @@
 
   const sensor::TargetController *GetJoystick(void) const;
+  MetaDualShock3 *joy;
 
   gui::Tab *setupLawTab, *graphLawTab;
@@ -266 +267 @@
 
   core::Quaternion currentQuaternion;
-  core::Vector3D currentAngularSpeed;
+  core::Vector3Df currentAngularSpeed;
 
   const core::AhrsData *ComputeReferenceOrientation(void);
@@ -297 +298 @@
   filter::Pid *uYaw;
   filter::PidThrust *uZ;
-
-  MetaDualShock3 *joy;
   filter::TrajectoryGenerator1D *altitudeTrajectory;
 };

trunk/include/FlairMeta/XAir.h

@@ -24 +24 @@
 class XAir : public Uav {
 public:
-  XAir(std::string name,
+  XAir(std::string name,std::string options="",
        filter::UavMultiplex *multiplex = NULL);
   ~XAir();
   void StartSensors(void);
         std::string GetDefaultVrpnAddress(void) const{return "192.168.147.197:3883";}
+  bool isReadyToFly(void) const;
+  virtual std::string GetType(void) const{return "xair";}
 
 private: