source: flair-src/trunk/demos/OpticalFlow/simulator/src/main.cpp@ 291

Last change on this file since 291 was 291, checked in by Sanahuja Guillaume, 3 years ago

add exit failure

File size: 2.9 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 <SimuUsGL.h>
23#endif
24
25using namespace TCLAP;
26using namespace std;
27using namespace flair::simulator;
28using namespace flair::sensor;
29
30int port;
31int opti_time;
32string xml_file;
33string media_path;
34string scene_file;
35string type;
36string name;
37string address;
38
39void parseOptions(int argc, char** argv)
40{
41 try {
42 CmdLine cmd("Command description message", ' ', "0.1");
43
44 ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
45 cmd.add(nameArg);
46
47 ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
48 cmd.add(xmlArg);
49
50 ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
51 cmd.add(portArg);
52
53 ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
54 cmd.add(addressArg);
55
56 ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
57 cmd.add(typeArg);
58
59 ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
60 cmd.add(optiArg);
61
62#ifdef GL
63 ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
64 cmd.add(mediaArg);
65
66 ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
67 cmd.add(sceneArg);
68#endif
69
70 cmd.parse(argc, argv);
71
72 // Get the value parsed by each arg.
73 port = portArg.getValue();
74 xml_file = xmlArg.getValue();
75 opti_time = optiArg.getValue();
76 type = typeArg.getValue();
77 name = nameArg.getValue();
78 address = addressArg.getValue();
79#ifdef GL
80 media_path = mediaArg.getValue();
81 scene_file = sceneArg.getValue();
82#endif
83
84 } catch(ArgException& e) // catch any exceptions
85 {
86 cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
87 exit(EXIT_FAILURE);
88 }
89}
90
91int main(int argc, char* argv[])
92{
93 Simulator* simu;
94 Model* drone;
95 SimuImu* imu;
96#ifdef GL
97 SimuUsGL* us_gl;
98
99 SimuCameraGL* cam_bas;
100 Parser* gui;
101#endif
102 parseOptions(argc, argv);
103
104 simu = new Simulator("simulator", opti_time, 90);
105 simu->SetupConnection(address, port);
106 simu->SetupUserInterface(xml_file);
107
108#ifdef GL
109 gui = new Parser(960, 480, 640, 480, media_path, scene_file);
110#endif
111
112 if(type == "x4") {
113 drone = new X4(name, 0);
114 } else {
115 drone = new X8(name, 0);
116 }
117 imu = new SimuImu(drone, "imu", 0,0);
118
119#ifdef GL
120 us_gl = new SimuUsGL(drone, "us", 0,0);
121 cam_bas = new SimuCameraGL(drone, "bottom camera", 320, 240, 640, 0, 0,0);
122#endif
123
124 simu->RunSimu();
125
126 delete simu;
127
128 return 0;
129}
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