| [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 <Parser.h>
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| 21 | #include <Man.h>
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| 22 | #include <SimuUsGL.h>
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| 23 | #endif
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| 24 |
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| 25 | using namespace TCLAP;
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| 26 | using namespace std;
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| [23] | 27 | using namespace flair::simulator;
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| 28 | using namespace flair::sensor;
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| [21] | 29 |
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| 30 | int port;
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| 31 | int opti_time;
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| 32 | string xml_file;
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| 33 | string media_path;
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| 34 | string scene_file;
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| 35 | string type;
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| 36 | string name;
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| 37 | string address;
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| 38 |
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| [158] | 39 | void parseOptions(int argc, char** argv)
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| 40 | {
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| 41 | try {
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| 42 | CmdLine cmd("Command description message", ' ', "0.1");
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| [21] | 43 |
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| [158] | 44 | ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
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| 45 | cmd.add(nameArg);
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| [21] | 46 |
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| [158] | 47 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
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| 48 | cmd.add(xmlArg);
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| [21] | 49 |
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| [158] | 50 | ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
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| 51 | cmd.add(portArg);
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| [21] | 52 |
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| [158] | 53 | ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
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| 54 | cmd.add(addressArg);
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| [21] | 55 |
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| [158] | 56 | ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
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| 57 | cmd.add(typeArg);
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| [21] | 58 |
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| [158] | 59 | ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
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| 60 | cmd.add(optiArg);
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| [21] | 61 |
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| 62 | #ifdef GL
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| [158] | 63 | ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
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| 64 | cmd.add(mediaArg);
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| [21] | 65 |
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| [158] | 66 | ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
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| 67 | cmd.add(sceneArg);
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| [21] | 68 | #endif
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| 69 |
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| [158] | 70 | cmd.parse(argc, argv);
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| [21] | 71 |
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| [158] | 72 | // Get the value parsed by each arg.
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| 73 | port = portArg.getValue();
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| 74 | xml_file = xmlArg.getValue();
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| 75 | opti_time = optiArg.getValue();
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| 76 | type = typeArg.getValue();
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| 77 | name = nameArg.getValue();
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| 78 | address = addressArg.getValue();
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| [21] | 79 | #ifdef GL
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| [158] | 80 | media_path = mediaArg.getValue();
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| 81 | scene_file = sceneArg.getValue();
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| [21] | 82 | #endif
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| 83 |
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| [158] | 84 | } catch(ArgException& e) {
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| 85 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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| 86 | }
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| [21] | 87 | }
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| 88 |
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| [158] | 89 | int main(int argc, char* argv[])
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| 90 | {
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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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| [21] | 94 | #ifdef GL
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| [158] | 95 | SimuUsGL* us_gl;
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| 96 | Parser* gui;
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| 97 | Man* man;
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| [21] | 98 | #endif
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| [158] | 99 | parseOptions(argc, argv);
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| [21] | 100 |
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| [158] | 101 | simu = new Simulator("simulator", opti_time, 90);
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| 102 | simu->SetupConnection(address, port);
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| 103 | simu->SetupUserInterface(xml_file);
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| [21] | 104 |
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| 105 | #ifdef GL
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| [158] | 106 | gui = new Parser(1024, 768, 1024, 768, media_path, scene_file);
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| [21] | 107 | #endif
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| 108 |
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| [158] | 109 | if(type == "x4") {
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| 110 | drone = new X4(name, 0);
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| 111 | } else {
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| 112 | drone = new X8(name, 0);
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| 113 | }
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| [21] | 114 |
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| [158] | 115 | imu = new SimuImu(drone, "imu", 0,0);
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| [21] | 116 |
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| 117 | #ifdef GL
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| [158] | 118 | us_gl = new SimuUsGL(drone, "us", 0,0);
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| [21] | 119 |
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| [158] | 120 | man = new Man("target",1);
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| [21] | 121 | #endif
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| 122 |
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| [158] | 123 | simu->RunSimu();
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| [21] | 124 |
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| [158] | 125 | delete simu;
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| [21] | 126 |
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| [158] | 127 | return 0;
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| [21] | 128 | }
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