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

Last change on this file since 89 was 89, checked in by Sanahuja Guillaume, 5 years ago

demo gps, not fully fonctionnal

File size: 3.2 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#include <SimuGps.h>
20#ifdef GL
21#include <SimuCameraGL.h>
22#include <Parser.h>
23#include <Man.h>
24#include <SimuUsGL.h>
25#endif
26
27
28using namespace TCLAP;
29using namespace std;
30using namespace flair::simulator;
31using namespace flair::sensor;
32
33int port;
34int opti_time;
35string xml_file;
36string media_path;
37string scene_file;
38string type;
39string name;
40string address;
41
42void parseOptions(int argc, char** argv) {
43        try {
44        CmdLine cmd("Command description message", ' ', "0.1");
45
46        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
47        cmd.add( nameArg );
48
49        ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
50        cmd.add( xmlArg );
51
52        ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
53        cmd.add( portArg );
54
55        ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
56        cmd.add( addressArg );
57
58        ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
59        cmd.add( typeArg );
60
61        ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
62        cmd.add( optiArg );
63
64#ifdef GL
65        ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
66        cmd.add( mediaArg );
67
68        ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
69        cmd.add( sceneArg );
70#endif
71
72        cmd.parse( argc, argv );
73
74        // Get the value parsed by each arg.
75        port=portArg.getValue();
76        xml_file = xmlArg.getValue();
77        opti_time = optiArg.getValue();
78        type = typeArg.getValue();
79        name=nameArg.getValue();
80        address=addressArg.getValue();
81#ifdef GL
82        media_path=mediaArg.getValue();
83        scene_file=sceneArg.getValue();
84#endif
85
86        } catch (ArgException &e)  {
87            cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
88    }
89}
90
91int main(int argc, char* argv[]) {
92    Simulator *simu;
93    Model *drone;
94    SimuImu *imu;
95    SimuGps *gps;
96#ifdef GL
97    SimuUsGL *us_gl;
98
99    Camera *cam_av,*cam_bas;
100    Parser *gui;
101    Man *man;
102#endif
103    parseOptions(argc,argv);
104
105    simu= new Simulator("simulator",opti_time,0);
106    simu->SetupConnection(address,port);
107    simu->SetupUserInterface(xml_file);
108
109#ifdef GL
110    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
111#endif
112
113    if(type=="x4") {
114        drone=new X4(simu,name,0);
115    } else {
116        drone=new X8(simu,name,0);
117    }
118
119    imu=new SimuImu(drone,"imu",90);
120
121#ifdef GL
122    us_gl=new SimuUsGL(drone,"us",0);
123    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
124    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
125
126    man=new Man(simu,"target");
127#endif
128    gps=new SimuGps(drone,"gps",0);
129
130    simu->RunSimu();
131
132    delete simu;
133
134        return 0;
135}
136
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