[324] | 1 | // created: 2012/04/18
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| 2 | // filename: main.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: main simulateur
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 | #ifdef GL
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| 14 |
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| 15 | #include <tclap/CmdLine.h>
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| 16 | #include <Simulator.h>
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| 17 | #include <X4.h>
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| 18 | #include <SimuImu.h>
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| 19 | #include <Parser.h>
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| 20 | #include <SimuUsGL.h>
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| 21 | #include <SimuCameraGL.h>
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| 22 | #include <UavVrpnObject.h>
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| 23 | #include <VrpnClient.h>
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| 24 |
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| 25 | #define UAV_SIMU_MODEL_ID 1
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| 26 |
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| 27 | using namespace TCLAP;
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| 28 | using namespace std;
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| 29 | using namespace flair::simulator;
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| 30 | using namespace flair::sensor;
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| 31 |
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| 32 | int port;
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| 33 | int opti_time;
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| 34 | string xml_file;
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| 35 | string media_path;
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| 36 | string scene_file;
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| 37 | string address;
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| 38 | string vrpn;
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| 39 |
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| 40 | void parseOptions(int argc, char** argv)
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| 41 | {
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| 42 | try {
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| 43 | CmdLine cmd("Command description message", ' ', "0.1");
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| 44 |
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| 45 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
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| 46 | cmd.add(xmlArg);
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| 47 |
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| 48 | ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
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| 49 | cmd.add(portArg);
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| 50 |
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| 51 | ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
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| 52 | cmd.add(addressArg);
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| 53 |
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| 54 | ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
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| 55 | cmd.add(optiArg);
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| 56 |
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| 57 | ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
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| 58 | cmd.add(mediaArg);
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| 59 |
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| 60 | ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
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| 61 | cmd.add(sceneArg);
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| 62 |
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| 63 | ValueArg<string> vrpnArg("v","vrpn","simu vrpn address and port",true,"127.0.0.1:3884","string");
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| 64 | cmd.add( vrpnArg );
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| 65 |
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| 66 | cmd.parse(argc, argv);
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| 67 |
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| 68 | // Get the value parsed by each arg.
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| 69 | port = portArg.getValue();
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| 70 | xml_file = xmlArg.getValue();
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| 71 | opti_time = optiArg.getValue();
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| 72 | address = addressArg.getValue();
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| 73 | media_path = mediaArg.getValue();
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| 74 | scene_file = sceneArg.getValue();
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| 75 | vrpn=vrpnArg.getValue();
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| 76 |
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| 77 | } catch(ArgException& e) {
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| 78 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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| 79 | exit(EXIT_FAILURE);
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| 80 | }
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| 81 | }
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| 82 |
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| 83 | int main(int argc, char* argv[]) {
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| 84 | parseOptions(argc, argv);
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| 85 |
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| 86 | Simulator* simu = new Simulator("simulator_simu", opti_time, 90,3884);
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| 87 | simu->SetupConnection(address, port);
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| 88 | simu->SetupUserInterface(xml_file);
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| 89 | Parser*gui = new Parser(960, 480, 640, 480, media_path, scene_file);
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| 90 |
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| 91 | X4* uav_simu = new X4("Drone_1", UAV_SIMU_MODEL_ID);
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| 92 | SimuImu* imu = new SimuImu(uav_simu, "imu", UAV_SIMU_MODEL_ID,0);
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| 93 | SimuUsGL* us_gl = new SimuUsGL(uav_simu, "us", UAV_SIMU_MODEL_ID,0);
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| 94 | SimuCameraGL* cam_bas = new SimuCameraGL(uav_simu, "bottom camera", 320, 240, 640, 0,UAV_SIMU_MODEL_ID,0);
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| 95 |
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| 96 | VrpnClient* vrpnclient=new VrpnClient("vrpn", vrpn,80);//simu_real or real vrpn server
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| 97 | UavVrpnObject* uav_real=new UavVrpnObject("Drone_0",vrpnclient);
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| 98 |
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| 99 | vrpnclient->Start();
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| 100 | simu->RunSimu();
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| 101 |
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| 102 | delete simu;
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| 103 | return 0;
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| 104 | }
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| 105 |
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| 106 | #endif |
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