source: flair-src/trunk/demos/Gps/simulator/src/main.cpp@ 89

//  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>

#include <SimuGps.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;

    SimuGps *gps;

#ifdef GL

    SimuUsGL *us_gl;



    Camera *cam_av,*cam_bas;

    Parser *gui;

    Man *man;

#endif

    parseOptions(argc,argv);



    simu= new Simulator("simulator",opti_time,0);

    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",90);



#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

    gps=new SimuGps(drone,"gps",0);



    simu->RunSimu();



    delete simu;



        return 0;

}