[324] | 1 | // created: 2012/04/18
|
---|
| 2 | // filename: main.cpp
|
---|
| 3 | //
|
---|
| 4 | // author: Guillaume Sanahuja
|
---|
| 5 | // Copyright Heudiasyc UMR UTC/CNRS 6599
|
---|
| 6 | //
|
---|
| 7 | // version: $Id: $
|
---|
| 8 | //
|
---|
| 9 | // purpose: main simulateur
|
---|
| 10 | //
|
---|
| 11 | //
|
---|
| 12 | /*********************************************************************/
|
---|
| 13 | #ifdef GL
|
---|
| 14 |
|
---|
| 15 | #include <tclap/CmdLine.h>
|
---|
| 16 | #include <Simulator.h>
|
---|
| 17 | #include <X4.h>
|
---|
| 18 | #include <SimuImu.h>
|
---|
| 19 | #include <Parser.h>
|
---|
| 20 | #include <SimuUsGL.h>
|
---|
| 21 | #include <SimuCameraGL.h>
|
---|
| 22 |
|
---|
| 23 | #define UAV_REAL_MODEL_ID 0
|
---|
| 24 |
|
---|
| 25 | using namespace TCLAP;
|
---|
| 26 | using namespace std;
|
---|
| 27 | using namespace flair::simulator;
|
---|
| 28 | using namespace flair::sensor;
|
---|
| 29 |
|
---|
| 30 | int port;
|
---|
| 31 | int opti_time;
|
---|
| 32 | string xml_file;
|
---|
| 33 | string media_path;
|
---|
| 34 | string scene_file;
|
---|
| 35 | string address;
|
---|
| 36 |
|
---|
| 37 | void parseOptions(int argc, char** argv)
|
---|
| 38 | {
|
---|
| 39 | try {
|
---|
| 40 | CmdLine cmd("Command description message", ' ', "0.1");
|
---|
| 41 |
|
---|
| 42 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
|
---|
| 43 | cmd.add(xmlArg);
|
---|
| 44 |
|
---|
| 45 | ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
|
---|
| 46 | cmd.add(portArg);
|
---|
| 47 |
|
---|
| 48 | ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
|
---|
| 49 | cmd.add(addressArg);
|
---|
| 50 |
|
---|
| 51 | ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
|
---|
| 52 | cmd.add(optiArg);
|
---|
| 53 |
|
---|
| 54 | ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
|
---|
| 55 | cmd.add(mediaArg);
|
---|
| 56 |
|
---|
| 57 | ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
|
---|
| 58 | cmd.add(sceneArg);
|
---|
| 59 |
|
---|
| 60 | cmd.parse(argc, argv);
|
---|
| 61 |
|
---|
| 62 | // Get the value parsed by each arg.
|
---|
| 63 | port = portArg.getValue();
|
---|
| 64 | xml_file = xmlArg.getValue();
|
---|
| 65 | opti_time = optiArg.getValue();
|
---|
| 66 | address = addressArg.getValue();
|
---|
| 67 | media_path = mediaArg.getValue();
|
---|
| 68 | scene_file = sceneArg.getValue();
|
---|
| 69 | } catch(ArgException& e) {
|
---|
| 70 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
|
---|
| 71 | exit(EXIT_FAILURE);
|
---|
| 72 | }
|
---|
| 73 | }
|
---|
| 74 |
|
---|
| 75 | int main(int argc, char* argv[]) {
|
---|
| 76 | parseOptions(argc, argv);
|
---|
| 77 |
|
---|
| 78 | Simulator* simu = new Simulator("simulator_real", opti_time, 90);
|
---|
| 79 | simu->SetupConnection(address, port);
|
---|
| 80 | simu->SetupUserInterface(xml_file);
|
---|
| 81 | Parser* gui = new Parser(960, 480, 640, 480, media_path, scene_file);
|
---|
| 82 |
|
---|
| 83 | X4* uav_real = new X4("Drone_0", UAV_REAL_MODEL_ID);
|
---|
| 84 | SimuImu* imu = new SimuImu(uav_real, "imu", UAV_REAL_MODEL_ID,0);
|
---|
| 85 | SimuUsGL* us_gl = new SimuUsGL(uav_real, "us", UAV_REAL_MODEL_ID,0);
|
---|
| 86 | SimuCameraGL* cam_bas = new SimuCameraGL(uav_real, "bottom camera", 320, 240, 640, 0, UAV_REAL_MODEL_ID,0);
|
---|
| 87 |
|
---|
| 88 | simu->RunSimu();
|
---|
| 89 |
|
---|
| 90 | delete simu;
|
---|
| 91 | return 0;
|
---|
| 92 | }
|
---|
| 93 |
|
---|
| 94 | #endif |
---|