source: flair-src/trunk/demos/CircleFollower/uav/src/main.cpp@ 291

//  created:    2011/05/01

//  filename:   main.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    exemple de code uav

//

//

/*********************************************************************/



#include "CircleFollower.h"

#include <UavFactory.h>

#include <FrameworkManager.h>

#include <stdio.h>

#include <tclap/CmdLine.h>

#include <TargetEthController.h>

//#include <VisionFilter.h>



using namespace TCLAP;

using namespace std;

using namespace flair::core;

using namespace flair::meta;

using namespace flair::sensor;



string uav_type;

string log_path;

int port;

int ds3port;

string xml_file;

string name;

string address;



void parseOptions(int argc, char** argv);





int main(int argc, char* argv[]) {

    parseOptions(argc,argv);



    FrameworkManager *manager;

    manager= new FrameworkManager(name);

    manager->SetupConnection(address,port);

    manager->SetupUserInterface(xml_file);

    manager->SetupLogger(log_path);



    Uav* drone=CreateUav(name,uav_type);

    TargetEthController *controller=new TargetEthController("Dualshock3",ds3port);

    CircleFollower* demo=new CircleFollower(controller);



    demo->Start();

    demo->Join();



    delete manager;

}



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> typeArg("t","type","uav type: ardrone2, hds_x4, hds_x8, hds_xufo, x4_simu, x8_simu or x4_simux (with x the number of the simulated uav)",true,"hds_x4","string");

        cmd.add( typeArg );



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

        cmd.add( xmlArg );



        ValueArg<string> logsArg("l","logs","repertoire des logs",true,"/media/ram","string");

        cmd.add( logsArg );



        ValueArg<int> portArg("p","port","port pour station sol",true,9000,"int");

        cmd.add( portArg );



        ValueArg<string> addressArg("a","address","adresse station sol",true,"127.0.0.1","string");

        cmd.add( addressArg );



        ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");

        cmd.add( ds3portArg );



        cmd.parse( argc, argv );



        // Get the value parsed by each arg.

        log_path = logsArg.getValue();

        port=portArg.getValue();

        ds3port=ds3portArg.getValue();

        xml_file = xmlArg.getValue();

        name=nameArg.getValue();

        uav_type=typeArg.getValue();

        address=addressArg.getValue();



        } catch (ArgException &e) { // catch any exceptions

        cerr << "error: " << e.error() << " for arg " << e.argId() << endl;

        exit(EXIT_FAILURE);

        }

}