Beeper *DeviceManager::getBeeper(void)
{
IDevice *beeperDev = findFirstDeviceByType(DEVICE_TYPE_BEEPER);
if (NULL == beeperDev)
{
beeperDev = new Beeper(mIo);
beeperDev->init();
mRunningDevices[mNumRunningDevices] = beeperDev;
++mNumRunningDevices;
}
return (Beeper*)beeperDev;
}
Agl *DeviceManager::getAgl(void)
{
IDevice *aglDev = findFirstDeviceByType(DEVICE_TYPE_AGL);
if (NULL == aglDev)
{
aglDev = new Agl(mIo);
aglDev->init();
mRunningDevices[mNumRunningDevices] = aglDev;
++mNumRunningDevices;
}
return (Agl*)aglDev;
}
Aoa *DeviceManager::getAoa(void)
{
IDevice *aoaDev = findFirstDeviceByType(DEVICE_TYPE_AOA);
if (NULL == aoaDev)
{
aoaDev = new Aoa(mIo);
aoaDev->init();
mRunningDevices[mNumRunningDevices] = aoaDev;
++mNumRunningDevices;
}
return (Aoa*) aoaDev;
}
ServoController *DeviceManager::getServoController(void)
{
IDevice *scDev = findFirstDeviceByType(DEVICE_TYPE_SERVO_CONTROLLER);
if (NULL == scDev)
{
scDev = new ServoController(mIo);
scDev->init();
mRunningDevices[mNumRunningDevices] = scDev;
++mNumRunningDevices;
}
return (ServoController*) scDev;
}
VirtualImu *DeviceManager::getVirtualImu(void)
{
IDevice *virtualImuDev = findFirstDeviceByType(DEVICE_TYPE_VIRTUAL_IMU);
if (NULL == virtualImuDev)
{
virtualImuDev = new VirtualImu(mIo);
virtualImuDev->init();
mRunningDevices[mNumRunningDevices] = virtualImuDev;
++mNumRunningDevices;
}
return (VirtualImu*)virtualImuDev;
}
Imu *DeviceManager::getImu(void)
{
IDevice *imuDev = findFirstDeviceByType(DEVICE_TYPE_IMU);
if (NULL == imuDev)
{
imuDev = new Imu(mIo);
imuDev->init();
cout<<"imu inited"<<endl;
mRunningDevices[mNumRunningDevices] = imuDev;
++mNumRunningDevices;
}
return (Imu*)imuDev;
}
Radio *DeviceManager::getRadio(void)
{
IDevice *radioDev = findFirstDeviceByType(DEVICE_TYPE_RADIO);
if (NULL == radioDev)
{
radioDev = new Radio(mIo);
radioDev->init();
mRunningDevices[mNumRunningDevices] = radioDev;
++mNumRunningDevices;
}
return (Radio*)radioDev;
}
