source: flair-src/trunk/demos/CircleFollower/simulator/src/main.cpp@ 33

Last change on this file since 33 was 23, checked in by Sanahuja Guillaume, 6 years ago

igep to flair

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 flair::simulator;
30using namespace flair::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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