source: flair-src/trunk/demos/PidStandalone/simulator/src/main.cpp @ 105

Last change on this file since 105 was 105, checked in by Bayard Gildas, 5 years ago

Passage du "framework" à flair

File size: 3.0 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
25
26using namespace TCLAP;
27using namespace std;
28using namespace flair::simulator;
29using namespace flair::sensor;
30
31int port;
32int opti_time;
33string xml_file;
34string media_path;
35string scene_file;
36string type;
37string name;
38string address;
39
40void parseOptions(int argc, char** argv)
41{
42        try
43        {
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
62        ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
63        cmd.add( optiArg );
64
65#ifdef GL
66        ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
67        cmd.add( mediaArg );
68
69        ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
70        cmd.add( sceneArg );
71#endif
72
73        cmd.parse( argc, argv );
74
75        // Get the value parsed by each arg.
76        port=portArg.getValue();
77        xml_file = xmlArg.getValue();
78        opti_time = optiArg.getValue();
79        type = typeArg.getValue();
80        name=nameArg.getValue();
81        address=addressArg.getValue();
82#ifdef GL
83        media_path=mediaArg.getValue();
84        scene_file=sceneArg.getValue();
85#endif
86
87        } catch (ArgException &e)  // catch any exceptions
88        { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
89}
90
91
92int main(int argc, char* argv[])
93{
94    Simulator *simu;
95    Model *drone;
96    SimuImu* imu;
97#ifdef GL
98    SimuUsGL* us_gl;
99
100    SimuCameraGL *cam_bas;
101    Parser *gui;
102#endif
103    parseOptions(argc,argv);
104
105    simu= new Simulator("simulator",opti_time,90);
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    {
115        drone=new X4(simu,name,0);
116    }
117    else
118    {
119        drone=new X8(simu,name,0);
120    }
121    imu=new SimuImu(drone,"imu",0);
122
123#ifdef GL
124    us_gl=new SimuUsGL(drone,"us",0);
125    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
126#endif
127
128    simu->RunSimu();
129
130    delete simu;
131
132        return 0;
133}
134
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