source: flair-src/trunk/demos/CircleFollower/simulator/src/main.cpp @ 123

Last change on this file since 123 was 123, checked in by Sanahuja Guillaume, 5 years ago

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