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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