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authordufourj2006-03-11 16:10:25 +0000
committerdufourj2006-03-11 16:10:25 +0000
commit15cd6ebf2ae12c601d6f6aef8337aa16effeacc2 (patch)
tree4e384c0fac315177b8aec93dea9c68046daddf71 /i/marvin/src/motor
parentc4395e067140b7bbc40a20c4d8d720d30b096033 (diff)
Classe Config en singleton
Diffstat (limited to 'i/marvin/src/motor')
-rw-r--r--i/marvin/src/motor/motor.cc7
-rw-r--r--i/marvin/src/motor/motor.hh3
-rw-r--r--i/marvin/src/motor/test_motor.cc4
3 files changed, 8 insertions, 6 deletions
diff --git a/i/marvin/src/motor/motor.cc b/i/marvin/src/motor/motor.cc
index 7e78aff..e9c0937 100644
--- a/i/marvin/src/motor/motor.cc
+++ b/i/marvin/src/motor/motor.cc
@@ -24,14 +24,17 @@
// }}}
#include "motor.hh"
+#include "config/config.hh"
#include <cmath>
/// Constructeur
-Motor::Motor (const Config & config)
- :asserv_(config, *this), log_("Motor"),idle_(true), doneDone_(false),
+Motor::Motor (void)
+ : asserv_(*this), log_("Motor"),idle_(true), doneDone_(false),
f0Sended_(false), pinUpdated_(false)
{
+ // Get Config
+ Config &config = Config::getInstance ();
// XXX Quant est-il des positions de départ du robot???
pStatPosition_ = config.get<int>("motor.pStatPosition");
pStatMotor_ = config.get<int>("motor.pStatMotor");
diff --git a/i/marvin/src/motor/motor.hh b/i/marvin/src/motor/motor.hh
index ad67f84..1325c64 100644
--- a/i/marvin/src/motor/motor.hh
+++ b/i/marvin/src/motor/motor.hh
@@ -25,7 +25,6 @@
//
// }}}
-#include "config/config.hh"
#include "asserv/asserv.hh"
#include <queue>
@@ -68,7 +67,7 @@ class Motor : public Asserv::Receiver
public:
/// Constructeur
- Motor (const Config & config);
+ Motor (void);
/// Initialise les moteurs
void init(void);
///Arrête les moteurs
diff --git a/i/marvin/src/motor/test_motor.cc b/i/marvin/src/motor/test_motor.cc
index f01e299..c901d69 100644
--- a/i/marvin/src/motor/test_motor.cc
+++ b/i/marvin/src/motor/test_motor.cc
@@ -52,8 +52,8 @@ main (int argc, char **argv)
syntax ();
return 1;
}
- Config config(argc, argv);
- Motor motor(config);
+ Config config (argc, argv);
+ Motor motor;
i = 1;
while (i < argc)
{