source: flair-src/trunk/demos/CircleFollower/simulator/src/main.cpp@ 100

//  created:    2012/04/18
//  filename:   main.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 6599
//
//  version:    $Id: $
//
//  purpose:    main simulateur
//
//
/*********************************************************************/

#include <tclap/CmdLine.h>
#include <Simulator.h>
#include <X4.h>
#include <X8.h>
#include <SimuImu.h>
#ifdef GL
#include <SimuCameraGL.h>
#include <Parser.h>
#include <Man.h>
#include <SimuUsGL.h>
#endif


using namespace TCLAP;
using namespace std;
using namespace flair::simulator;
using namespace flair::sensor;

int port;
int opti_time;
string xml_file;
string media_path;
string scene_file;
string type;
string name;
string address;

void parseOptions(int argc, char** argv) {
        try {
        CmdLine cmd("Command description message", ' ', "0.1");

        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
        cmd.add( nameArg );

        ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
        cmd.add( xmlArg );

        ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
        cmd.add( portArg );

        ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
        cmd.add( addressArg );

        ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
        cmd.add( typeArg );

        ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
        cmd.add( optiArg );

#ifdef GL
        ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
        cmd.add( mediaArg );

        ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
        cmd.add( sceneArg );
#endif

        cmd.parse( argc, argv );

        // Get the value parsed by each arg.
        port=portArg.getValue();
        xml_file = xmlArg.getValue();
        opti_time = optiArg.getValue();
        type = typeArg.getValue();
        name=nameArg.getValue();
        address=addressArg.getValue();
#ifdef GL
        media_path=mediaArg.getValue();
        scene_file=sceneArg.getValue();
#endif

        } catch (ArgException &e)  {
            cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
    }
}

int main(int argc, char* argv[]) {
    Simulator *simu;
    Model *drone;
    SimuImu* imu;
#ifdef GL
    SimuUsGL* us_gl;

    Camera *cam_av,*cam_bas;
    Parser *gui;
    Man *man;
#endif
    parseOptions(argc,argv);

    simu= new Simulator("simulator",opti_time,90);
    simu->SetupConnection(address,port);
    simu->SetupUserInterface(xml_file);

#ifdef GL
    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
#endif

    if(type=="x4") {
        drone=new X4(simu,name,0);
    } else {
        drone=new X8(simu,name,0);
    }

    imu=new SimuImu(drone,"imu",0);

#ifdef GL
    us_gl=new SimuUsGL(drone,"us",0);
    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);

    man=new Man(simu,"target");
#endif

    simu->RunSimu();

    delete simu;

        return 0;
}