[21] | 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 |
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| 14 | #include <tclap/CmdLine.h>
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| 15 | #include <Simulator.h>
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| 16 | #include <X4.h>
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| 17 | #include <X8.h>
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| 18 | #include <SimuImu.h>
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| 19 | #ifdef GL
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| 20 | #include <SimuCameraGL.h>
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| 21 | #include <Parser.h>
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| 22 | #include <Man.h>
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| 23 | #include <SimuUsGL.h>
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| 24 | #endif
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| 25 |
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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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[23] | 29 | using namespace flair::simulator;
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| 30 | using namespace flair::sensor;
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[21] | 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 type;
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| 38 | string name;
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| 39 | string address;
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| 40 |
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| 41 | void parseOptions(int argc, char** argv) {
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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> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
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| 46 | cmd.add( nameArg );
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| 47 |
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| 48 | ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
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| 49 | cmd.add( xmlArg );
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| 50 |
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| 51 | ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
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| 52 | cmd.add( portArg );
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| 53 |
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| 54 | ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
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| 55 | cmd.add( addressArg );
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| 56 |
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| 57 | ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
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| 58 | cmd.add( typeArg );
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| 59 |
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| 60 | ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
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| 61 | cmd.add( optiArg );
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| 62 |
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| 63 | #ifdef GL
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| 64 | ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
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| 65 | cmd.add( mediaArg );
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| 66 |
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| 67 | ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
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| 68 | cmd.add( sceneArg );
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| 69 | #endif
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| 70 |
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| 71 | cmd.parse( argc, argv );
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| 72 |
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| 73 | // Get the value parsed by each arg.
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| 74 | port=portArg.getValue();
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| 75 | xml_file = xmlArg.getValue();
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| 76 | opti_time = optiArg.getValue();
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| 77 | type = typeArg.getValue();
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| 78 | name=nameArg.getValue();
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| 79 | address=addressArg.getValue();
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| 80 | #ifdef GL
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| 81 | media_path=mediaArg.getValue();
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| 82 | scene_file=sceneArg.getValue();
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| 83 | #endif
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| 84 |
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| 85 | } catch (ArgException &e) {
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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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| 89 |
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| 90 | int main(int argc, char* argv[]) {
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| 91 | Simulator *simu;
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| 92 | Model *drone;
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| 93 | SimuImu* imu;
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| 94 | #ifdef GL
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| 95 | SimuUsGL* us_gl;
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| 96 |
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| 97 | Camera *cam_av,*cam_bas;
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| 98 | Parser *gui;
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| 99 | Man *man;
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| 100 | #endif
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| 101 | parseOptions(argc,argv);
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| 102 |
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| 103 | simu= new Simulator("simulator",opti_time,90);
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| 104 | simu->SetupConnection(address,port);
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| 105 | simu->SetupUserInterface(xml_file);
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| 106 |
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| 107 | #ifdef GL
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| 108 | gui=new Parser(simu,960,480,640,480,media_path,scene_file);
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| 109 | #endif
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| 110 |
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| 111 | if(type=="x4") {
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| 112 | drone=new X4(simu,name,0);
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| 113 | } else {
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| 114 | drone=new X8(simu,name,0);
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| 115 | }
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| 116 |
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| 117 | imu=new SimuImu(drone,"imu",0);
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| 118 |
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| 119 | #ifdef GL
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| 120 | us_gl=new SimuUsGL(drone,"us",0);
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| 121 | cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
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| 122 | cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
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| 123 |
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| 124 | man=new Man(simu,"target");
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| 125 | #endif
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| 126 |
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| 127 | simu->RunSimu();
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| 128 |
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| 129 | delete simu;
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| 130 |
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| 131 | return 0;
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| 132 | }
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| 133 |
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