source: flair-src/trunk/demos/OpticalFlow/uav/src/main.cpp @ 123

Last change on this file since 123 was 123, checked in by Sanahuja Guillaume, 5 years ago

vision filter

File size: 3.0 KB
RevLine 
[122]1//  created:    2011/05/01
2//  filename:   main.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    exemple de code x4
10//
11//
12/*********************************************************************/
13
14#include "DemoOpticalFlow.h"
15#include <UavFactory.h>
16#include <FrameworkManager.h>
17#include <stdio.h>
18#include <tclap/CmdLine.h>
19#include <TargetEthController.h>
[123]20#include <VisionFilter.h>
[122]21
22using namespace TCLAP;
23using namespace std;
24using namespace flair::core;
25using namespace flair::meta;
26using namespace flair::sensor;
27
28string uav_type;
29string dsp_file;
30string log_path;
31int port;
32int ds3port;
33string xml_file;
34string name;
35string address;
36
37void parseOptions(int argc, char** argv);
38
39
40int main(int argc, char* argv[]) {
41    parseOptions(argc,argv);
42
[123]43                if(!InitVisionFilter("file="+dsp_file)) {
44                        exit(1);
45                }
46               
[122]47    FrameworkManager *manager;
48    manager= new FrameworkManager(name);
49    manager->SetupConnection(address,port);
50    manager->SetupUserInterface(xml_file);
51    manager->SetupLogger(log_path);
52
53    Uav* drone=CreateUav(name,uav_type);
54    TargetEthController *controller=new TargetEthController(manager,"Dualshock3",ds3port);
55    DemoOpticalFlow* demo=new DemoOpticalFlow(controller);
56
57    demo->Start();
58    demo->Join();
59
60    delete manager;
61
[123]62    CloseVisionFilter();
[122]63}
64
65void parseOptions(int argc, char** argv)
66{
67        try
68        {
69
70        CmdLine cmd("Command description message", ' ', "0.1");
71
72        ValueArg<string> nameArg("n","name","uav name",true,"x4","string");
73        cmd.add( nameArg );
74
75        ValueArg<string> typeArg("t","type","uav type: ardrone2, hds_x4, hds_x8, hds_xufo, hds_simu or hds_simux (with x the number of the simulated uav)",true,"hds_x4","string");
76        cmd.add( typeArg );
77
78        ValueArg<string> dspArg("v","dsp","executable dsp",true,"./dspcv_dsp.out","string");
79        cmd.add( dspArg );
80
81        ValueArg<string> xmlArg("x","xml","fichier xml",true,"./reglages.xml","string");
82        cmd.add( xmlArg );
83
84        ValueArg<string> logsArg("l","logs","repertoire des logs",true,"/media/ram","string");
85        cmd.add( logsArg );
86
87        ValueArg<int> portArg("p","port","port pour station sol",true,9000,"int");
88        cmd.add( portArg );
89
90        ValueArg<string> addressArg("a","address","addresse station sol",true,"127.0.0.1","string");
91        cmd.add( addressArg );
92
93        ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");
94        cmd.add( ds3portArg );
95
96        cmd.parse( argc, argv );
97
98        // Get the value parsed by each arg.
99        uav_type=typeArg.getValue();
100        dsp_file = dspArg.getValue();
101        log_path = logsArg.getValue();
102        port=portArg.getValue();
103        ds3port=ds3portArg.getValue();
104        xml_file = xmlArg.getValue();
105        name=nameArg.getValue();
106        address=addressArg.getValue();
107
108        } catch (ArgException &e)  // catch any exceptions
109        { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
110}
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