source: flair-src/trunk/demos/PidStandalone/simulator/src/main.cpp @ 236

Last change on this file since 236 was 236, checked in by Sanahuja Guillaume, 4 years ago

change build directories for new architecture

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 <Parser.h>
21#include <SimuUsGL.h>
22#endif
23
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        {
43        CmdLine cmd("Command description message", ' ', "0.1");
44
45        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
46        cmd.add( nameArg );
47
48        ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
49        cmd.add( xmlArg );
50
51        ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
52        cmd.add( portArg );
53
54        ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
55        cmd.add( addressArg );
56
57        ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
58        cmd.add( typeArg );
59
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)  // catch any exceptions
87        { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
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    Parser *gui;
99#endif
100    parseOptions(argc,argv);
101
102    simu= new Simulator("simulator",opti_time,90);
103    simu->SetupConnection(address,port);
104    simu->SetupUserInterface(xml_file);
105
106#ifdef GL
107    gui=new Parser(1024, 768, 1024, 768,media_path,scene_file);
108#endif
109
110    if(type=="x4")
111    {
112        drone=new X4(name,0);
113    }
114    else
115    {
116        drone=new X8(name,0);
117    }
118    imu=new SimuImu(drone,"imu",0,0);
119
120#ifdef GL
121    us_gl=new SimuUsGL(drone,"us",0,0);
122#endif
123
124    simu->RunSimu();
125
126    delete simu;
127
128        return 0;
129}
130
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