[33] | 1 | // created: 2012/04/18
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| 2 | // filename: main.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: main simulateur
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include <tclap/CmdLine.h>
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| 15 | #include <Simulator.h>
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| 16 | #include <X4.h>
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| 17 | #include <X8.h>
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| 18 | #include <SimuImu.h>
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| 19 | #ifdef GL
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| 20 | #include <Parser.h>
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| 21 | #include <Man.h>
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| 22 | #include <SimuUsGL.h>
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| 23 | #endif
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| 24 |
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| 25 | using namespace TCLAP;
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| 26 | using namespace std;
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| 27 | using namespace flair::simulator;
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| 28 | using namespace flair::sensor;
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| 29 |
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| 30 | int port;
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| 31 | int opti_time;
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| 32 | string xml_file;
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| 33 | string media_path;
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| 34 | string scene_file;
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| 35 | string name;
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| 36 | string address;
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| 37 |
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| 38 | void parseOptions(int argc, char** argv)
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| 39 | {
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| 40 | try
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| 41 | {
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| 42 | CmdLine cmd("Command description message", ' ', "0.1");
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| 43 |
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| 44 | ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
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| 45 | cmd.add( nameArg );
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| 46 |
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| 47 | ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
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| 48 | cmd.add( xmlArg );
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| 49 |
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| 50 | ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
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| 51 | cmd.add( portArg );
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| 52 |
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| 53 | ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
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| 54 | cmd.add( optiArg );
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| 55 | #ifdef GL
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| 56 | ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
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| 57 | cmd.add( mediaArg );
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| 58 |
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| 59 | ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
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| 60 | cmd.add( sceneArg );
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| 61 | #endif
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| 62 | ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
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| 63 | cmd.add( addressArg );
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| 64 |
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| 65 | cmd.parse( argc, argv );
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| 66 |
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| 67 | // Get the value parsed by each arg.
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| 68 | port=portArg.getValue();
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| 69 | address=addressArg.getValue();
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| 70 | xml_file = xmlArg.getValue();
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| 71 | opti_time = optiArg.getValue();
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| 72 | name=nameArg.getValue();
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| 73 | #ifdef GL
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| 74 | media_path=mediaArg.getValue();
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| 75 | scene_file=sceneArg.getValue();
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| 76 | #endif
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| 77 |
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| 78 |
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| 79 | } catch (ArgException &e) // catch any exceptions
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| 80 | { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
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| 81 | }
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| 82 |
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| 83 |
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| 84 | int main(int argc, char* argv[])
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| 85 | {
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| 86 | Simulator *simu;
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| 87 |
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| 88 | parseOptions(argc,argv);
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| 89 |
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| 90 | simu= new Simulator("simulator",opti_time,90);
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| 91 | simu->SetupConnection(address,port);
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| 92 | simu->SetupUserInterface(xml_file);
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| 93 | #ifdef GL
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| 94 | Parser *gui=new Parser(simu,640,480,640,480,media_path,scene_file);
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| 95 | #endif
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| 96 | for(int i=0; i<2;i++)
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| 97 | {
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| 98 | stringstream s;
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| 99 | s << name.c_str() << "_" << i;
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| 100 | Model *drone=new X8(simu,s.str(),i);
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| 101 | #ifdef GL
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| 102 | SimuUsGL *us_gl=new SimuUsGL(drone,"us",i);
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| 103 | #endif
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| 104 | SimuImu *imu=new SimuImu(drone,"imu",i);
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| 105 | }
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| 106 |
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| 107 | simu->RunSimu();
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| 108 |
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| 109 | delete simu;
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| 110 |
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| 111 | return 0;
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| 112 | }
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| 113 |
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