[21] | 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 | #ifdef GL
|
---|
| 20 | #include <Parser.h>
|
---|
| 21 | #include <Man.h>
|
---|
| 22 | #include <SimuUsGL.h>
|
---|
[240] | 23 | #include <SimuCameraGL.h>
|
---|
[21] | 24 | #endif
|
---|
| 25 |
|
---|
| 26 | using namespace TCLAP;
|
---|
| 27 | using namespace std;
|
---|
[23] | 28 | using namespace flair::simulator;
|
---|
| 29 | using namespace flair::sensor;
|
---|
[21] | 30 |
|
---|
| 31 | int port;
|
---|
| 32 | int opti_time;
|
---|
| 33 | string xml_file;
|
---|
| 34 | string media_path;
|
---|
| 35 | string scene_file;
|
---|
| 36 | string type;
|
---|
| 37 | string name;
|
---|
| 38 | string address;
|
---|
| 39 |
|
---|
[158] | 40 | void parseOptions(int argc, char** argv)
|
---|
| 41 | {
|
---|
| 42 | try {
|
---|
| 43 | CmdLine cmd("Command description message", ' ', "0.1");
|
---|
[21] | 44 |
|
---|
[158] | 45 | ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
|
---|
| 46 | cmd.add(nameArg);
|
---|
[21] | 47 |
|
---|
[158] | 48 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
|
---|
| 49 | cmd.add(xmlArg);
|
---|
[21] | 50 |
|
---|
[158] | 51 | ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
|
---|
| 52 | cmd.add(portArg);
|
---|
[21] | 53 |
|
---|
[158] | 54 | ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
|
---|
| 55 | cmd.add(addressArg);
|
---|
[21] | 56 |
|
---|
[158] | 57 | ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
|
---|
| 58 | cmd.add(typeArg);
|
---|
[21] | 59 |
|
---|
[158] | 60 | ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
|
---|
| 61 | cmd.add(optiArg);
|
---|
[21] | 62 |
|
---|
| 63 | #ifdef GL
|
---|
[158] | 64 | ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
|
---|
| 65 | cmd.add(mediaArg);
|
---|
[21] | 66 |
|
---|
[158] | 67 | ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
|
---|
| 68 | cmd.add(sceneArg);
|
---|
[21] | 69 | #endif
|
---|
| 70 |
|
---|
[158] | 71 | cmd.parse(argc, argv);
|
---|
[21] | 72 |
|
---|
[158] | 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();
|
---|
[21] | 80 | #ifdef GL
|
---|
[158] | 81 | media_path = mediaArg.getValue();
|
---|
| 82 | scene_file = sceneArg.getValue();
|
---|
[21] | 83 | #endif
|
---|
| 84 |
|
---|
[158] | 85 | } catch(ArgException& e) {
|
---|
| 86 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
|
---|
[291] | 87 | exit(EXIT_FAILURE);
|
---|
[158] | 88 | }
|
---|
[21] | 89 | }
|
---|
| 90 |
|
---|
[334] | 91 | int main(int argc, char* argv[]) {
|
---|
[158] | 92 | Simulator* simu;
|
---|
| 93 | Model* drone;
|
---|
| 94 | SimuImu* imu;
|
---|
[21] | 95 | #ifdef GL
|
---|
[158] | 96 | SimuUsGL* us_gl;
|
---|
[240] | 97 | SimuCameraGL* cam_bas;
|
---|
[158] | 98 | Parser* gui;
|
---|
| 99 | Man* man;
|
---|
[21] | 100 | #endif
|
---|
[158] | 101 | parseOptions(argc, argv);
|
---|
[21] | 102 |
|
---|
[158] | 103 | simu = new Simulator("simulator", opti_time, 90);
|
---|
| 104 | simu->SetupConnection(address, port);
|
---|
| 105 | simu->SetupUserInterface(xml_file);
|
---|
[21] | 106 |
|
---|
| 107 | #ifdef GL
|
---|
[240] | 108 | gui = new Parser(960, 480, 640, 480, media_path, scene_file);
|
---|
[21] | 109 | #endif
|
---|
| 110 |
|
---|
[158] | 111 | if(type == "x4") {
|
---|
| 112 | drone = new X4(name, 0);
|
---|
| 113 | } else {
|
---|
| 114 | drone = new X8(name, 0);
|
---|
| 115 | }
|
---|
[21] | 116 |
|
---|
[158] | 117 | imu = new SimuImu(drone, "imu", 0,0);
|
---|
[21] | 118 |
|
---|
| 119 | #ifdef GL
|
---|
[158] | 120 | us_gl = new SimuUsGL(drone, "us", 0,0);
|
---|
[240] | 121 | cam_bas = new SimuCameraGL(drone, "bottom camera", 320, 240, 640, 0, 0,0);
|
---|
[21] | 122 |
|
---|
[158] | 123 | man = new Man("target",1);
|
---|
[21] | 124 | #endif
|
---|
| 125 |
|
---|
[158] | 126 | simu->RunSimu();
|
---|
[21] | 127 |
|
---|
[158] | 128 | delete simu;
|
---|
[21] | 129 |
|
---|
[158] | 130 | return 0;
|
---|
[21] | 131 | }
|
---|
[228] | 132 |
|
---|