source: flair-src/trunk/demos/PidStandalone/uav/src/main.cpp@ 45

Last change on this file since 45 was 44, checked in by Bayard Gildas, 6 years ago

Demo Pid et controller automatique scripté

File size: 3.5 KB
Line 
1// created: 2016/06/01
2// filename: main.cpp
3//
4// author: Gildas Bayard
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: exemple de code x4
10//
11//
12/*********************************************************************/
13
14#include "PidUav.h"
15#include <UavFactory.h>
16#include <FrameworkManager.h>
17#include <stdio.h>
18#include <tclap/CmdLine.h>
19#include <TargetEthController.h>
20#include <EmulatedController.h>
21
22using namespace TCLAP;
23using namespace std;
24using namespace framework::core;
25using namespace framework::meta;
26using namespace framework::sensor;
27
28string uav_type;
29string dsp_file;
30string log_path;
31bool headless;
32int port;
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
43 FrameworkManager *manager;
44 manager= new FrameworkManager(name);
45 if (!headless) {
46 manager->SetupConnection(address,port);
47 }
48 manager->SetupUserInterface(xml_file);
49 manager->SetupLogger(log_path);
50
51 Uav* drone=CreateUav(manager,name,uav_type);
52 TargetEthController *controller=new TargetEthController(manager,"Dualshock3",20000);
53 //EmulatedController *controller=new EmulatedController(manager,"Emulated Controller");
54// controller->AddStep(10000,"Waiting for AHRS stabilization",0,0.,0.,0.,0.);
55// controller->AddStep(500,"Takeoff",(uint16_t)EmulatedController::ButtonType::start,0.,0.,0.,0.);
56// controller->AddStep(3000,"Waiting for flight stabilization",0,0.,0.,0.,0.);
57/* controller->AddStep(2000,"fly left",0,-0.3,0.,0.,0.);
58 controller->AddStep(1000,"fly right",0,0.3,0.,0.,0.);*/
59// controller->AddStep(500,"Land",(uint16_t)EmulatedController::ButtonType::start,0.,0.,0.,0.);
60// controller->AddStep(3000,"Waiting for landing",0,0.,0.,0.,0.);
61// controller->AddStep(500,"Stop",(uint16_t)EmulatedController::ButtonType::select,0.,0.,0.,0.);
62 PidUav* app=new PidUav(drone,controller);
63
64 app->Start();
65 app->Join();
66
67 delete manager;
68}
69
70void parseOptions(int argc, char** argv) {
71 try {
72
73 CmdLine cmd("Command description message", ' ', "0.1");
74
75 ValueArg<string> nameArg("n","name","uav name",true,"x4","string");
76 cmd.add( nameArg );
77
78 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");
79 cmd.add( typeArg );
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 SwitchArg headlessArg("e","headless","headless mode", false);
94 cmd.add( headlessArg );
95
96 cmd.parse( argc, argv );
97
98 // Get the value parsed by each arg.
99 uav_type=typeArg.getValue();
100 log_path = logsArg.getValue();
101 port=portArg.getValue();
102 xml_file = xmlArg.getValue();
103 name=nameArg.getValue();
104 address=addressArg.getValue();
105 headless=headlessArg.getValue();
106
107 } catch (ArgException &e) // catch any exceptions
108 { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
109}
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