source: flair-src/trunk/demos/CircleFollower/simulator/src/main.cpp @ 21

Last change on this file since 21 was 21, checked in by Sanahuja Guillaume, 6 years ago

CircleFollower?

File size: 3.1 KB
Line 
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 <SimuCameraGL.h>
21#include <Parser.h>
22#include <Man.h>
23#include <SimuUsGL.h>
24#endif
25
26
27using namespace TCLAP;
28using namespace std;
29using namespace framework::simulator;
30using namespace framework::sensor;
31
32int port;
33int opti_time;
34string xml_file;
35string media_path;
36string scene_file;
37string type;
38string name;
39string address;
40
41void parseOptions(int argc, char** argv) {
42        try {
43        CmdLine cmd("Command description message", ' ', "0.1");
44
45        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
46        cmd.add( nameArg );
47
48        ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
49        cmd.add( xmlArg );
50
51        ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
52        cmd.add( portArg );
53
54        ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
55        cmd.add( addressArg );
56
57        ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
58        cmd.add( typeArg );
59
60        ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
61        cmd.add( optiArg );
62
63#ifdef GL
64        ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
65        cmd.add( mediaArg );
66
67        ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
68        cmd.add( sceneArg );
69#endif
70
71        cmd.parse( argc, argv );
72
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();
80#ifdef GL
81        media_path=mediaArg.getValue();
82        scene_file=sceneArg.getValue();
83#endif
84
85        } catch (ArgException &e)  {
86            cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
87    }
88}
89
90int main(int argc, char* argv[]) {
91    Simulator *simu;
92    Model *drone;
93    SimuImu* imu;
94#ifdef GL
95    SimuUsGL* us_gl;
96
97    Camera *cam_av,*cam_bas;
98    Parser *gui;
99    Man *man;
100#endif
101    parseOptions(argc,argv);
102
103    simu= new Simulator("simulator",opti_time,90);
104    simu->SetupConnection(address,port);
105    simu->SetupUserInterface(xml_file);
106
107#ifdef GL
108    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
109#endif
110
111    if(type=="x4") {
112        drone=new X4(simu,name,0);
113    } else {
114        drone=new X8(simu,name,0);
115    }
116
117    imu=new SimuImu(drone,"imu",0);
118
119#ifdef GL
120    us_gl=new SimuUsGL(drone,"us",0);
121    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
122    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
123
124    man=new Man(simu,"target");
125#endif
126
127    simu->RunSimu();
128
129    delete simu;
130
131        return 0;
132}
133
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