[46] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2016/07/05
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| 6 | // filename: main.cpp
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| 7 | //
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| 8 | // author: Thomas Fuhrmann
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: main for the mavlink controller
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "FrameworkManager.h"
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| 19 | #include "Mavlink_test.h"
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| 20 | #include <stdio.h>
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| 21 | #include <tclap/CmdLine.h>
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| 22 |
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| 23 | using namespace TCLAP;
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| 24 | using namespace std;
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| 25 | using namespace flair::core;
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| 26 | using namespace flair::sensor;
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| 27 |
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| 28 | string receiverAddress;
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| 29 | int receiverPort;
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| 30 | int port;
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| 31 | string xml_file;
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| 32 |
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| 33 | void parseOptions(int argc, char **argv);
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| 34 |
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| 35 | int main(int argc, char *argv[]) {
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| 36 | parseOptions(argc, argv);
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| 37 |
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| 38 | FrameworkManager *manager;
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| 39 | Mavlink *mavlink_handler;
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| 40 |
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| 41 | manager = new FrameworkManager("mavlink");
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| 42 | manager->SetupConnection("127.0.0.1", port);
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| 43 | manager->SetupUserInterface(xml_file);
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| 44 |
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| 45 | mavlink_handler = new Mavlink(manager, "mavlink", receiverAddress,
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| 46 | receiverPort);
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| 47 |
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| 48 | if (!manager->ErrorOccured()) {
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| 49 | mavlink_handler->Start();
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| 50 | mavlink_handler->Join();
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| 51 | }
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| 52 |
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| 53 | delete manager;
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| 54 | }
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| 55 |
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| 56 | void parseOptions(int argc, char **argv) {
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| 57 | try {
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| 58 | CmdLine cmd("Command description message", ' ', "0.1");
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| 59 |
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| 60 | ValueArg<string> addressArg("a", "address",
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| 61 | "data receiver address (ex: uav)", true,
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| 62 | "127.0.0.1:20000", "string");
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| 63 | cmd.add(addressArg);
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| 64 |
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| 65 | ValueArg<int> portArg("p", "port",
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| 66 | "local port used to connect to the ground station",
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| 67 | false, 9000, "int");
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| 68 | cmd.add(portArg);
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| 69 |
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| 70 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./settings.xml",
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| 71 | "string");
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| 72 | cmd.add(xmlArg);
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| 73 |
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| 74 | cmd.parse(argc, argv);
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| 75 |
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| 76 | // Get the value parsed by each arg.
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| 77 | string receiverAddressWithPort = addressArg.getValue();
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| 78 | int semiColonPosition = receiverAddressWithPort.find(":");
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| 79 | receiverAddress = receiverAddressWithPort.substr(0, semiColonPosition);
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| 80 | receiverPort =
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| 81 | atoi(receiverAddressWithPort.substr(semiColonPosition + 1).c_str());
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| 82 | port = portArg.getValue();
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| 83 | xml_file = xmlArg.getValue();
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| 84 |
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| 85 | } catch (ArgException &e) { // catch any exceptions
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| 86 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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| 87 | }
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| 88 | }
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