source: flair-src/tags/latest/demos/DemoGps/simulator/src/main.cpp@ 435

Last change on this file since 435 was 291, checked in by Sanahuja Guillaume, 4 years ago

add exit failure

File size: 2.9 KB
Line 
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
14#include <tclap/CmdLine.h>
15#include <Simulator.h>
16#include <X4.h>
17#include <X8.h>
18#include <SimuImu.h>
19#include <SimuGps.h>
20#ifdef GL
21#include <Parser.h>
22#include <Man.h>
23#include <SimuUsGL.h>
24#endif
25
26using namespace TCLAP;
27using namespace std;
28using namespace flair::simulator;
29using namespace flair::sensor;
30
31int port;
32int opti_time;
33string xml_file;
34string media_path;
35string scene_file;
36string type;
37string name;
38string address;
39
40void parseOptions(int argc, char** argv)
41{
42 try {
43 CmdLine cmd("Command description message", ' ', "0.1");
44
45 ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
46 cmd.add(nameArg);
47
48 ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
49 cmd.add(xmlArg);
50
51 ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
52 cmd.add(portArg);
53
54 ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
55 cmd.add(addressArg);
56
57 ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
58 cmd.add(typeArg);
59
60 ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
61 cmd.add(optiArg);
62
63#ifdef GL
64 ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
65 cmd.add(mediaArg);
66
67 ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
68 cmd.add(sceneArg);
69#endif
70
71 cmd.parse(argc, argv);
72
73 // Get the value parsed by each arg.
74 port = portArg.getValue();
75 xml_file = xmlArg.getValue();
76 opti_time = optiArg.getValue();
77 type = typeArg.getValue();
78 name = nameArg.getValue();
79 address = addressArg.getValue();
80#ifdef GL
81 media_path = mediaArg.getValue();
82 scene_file = sceneArg.getValue();
83#endif
84
85 } catch(ArgException& e) {
86 cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
87 exit(EXIT_FAILURE);
88 }
89}
90
91int main(int argc, char* argv[])
92{
93 Simulator* simu;
94 Model* drone;
95 SimuImu* imu;
96 SimuGps* gps;
97#ifdef GL
98 SimuUsGL* us_gl;
99 Parser* gui;
100#endif
101 parseOptions(argc, argv);
102
103 simu = new Simulator("simulator", opti_time, 0);
104 simu->SetupConnection(address, port);
105 simu->SetupUserInterface(xml_file);
106
107#ifdef GL
108 gui = new Parser(1024, 768, 1024, 768, media_path, scene_file);
109#endif
110
111 if(type == "x4") {
112 drone = new X4(name, 0);
113 } else {
114 drone = new X8(name, 0);
115 }
116
117 imu = new SimuImu(drone, "imu", 0,0);
118
119#ifdef GL
120 us_gl = new SimuUsGL(drone, "us", 0,0);
121#endif
122 gps = new SimuGps(drone, "gps", 0,0);
123
124 simu->RunSimu();
125
126 delete simu;
127
128 return 0;
129}
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