source: flair-src/trunk/demos/SimpleFleet/simulator/src/main.cpp @ 158

Last change on this file since 158 was 158, checked in by Sanahuja Guillaume, 5 years ago

corrected simu/device id for sensors

File size: 2.7 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 <Man.h>
22#include <SimuUsGL.h>
23#endif
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 name;
36string address;
37
38void parseOptions(int argc, char** argv)
39{
40        try
41        {
42        CmdLine cmd("Command description message", ' ', "0.1");
43
44        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
45        cmd.add( nameArg );
46
47        ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
48        cmd.add( xmlArg );
49
50        ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
51        cmd.add( portArg );
52
53        ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
54        cmd.add( optiArg );
55#ifdef GL
56        ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
57        cmd.add( mediaArg );
58
59        ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
60        cmd.add( sceneArg );
61#endif
62        ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
63        cmd.add( addressArg );
64
65        cmd.parse( argc, argv );
66
67        // Get the value parsed by each arg.
68        port=portArg.getValue();
69        address=addressArg.getValue();
70        xml_file = xmlArg.getValue();
71        opti_time = optiArg.getValue();
72        name=nameArg.getValue();
73#ifdef GL
74        media_path=mediaArg.getValue();
75        scene_file=sceneArg.getValue();
76#endif
77
78
79        } catch (ArgException &e)  // catch any exceptions
80        { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
81}
82
83
84int main(int argc, char* argv[])
85{
86  Simulator *simu;
87
88  parseOptions(argc,argv);
89
90  simu= new Simulator("simulator",opti_time,90);
91  simu->SetupConnection(address,port);
92  simu->SetupUserInterface(xml_file);
93  #ifdef GL
94  Parser *gui=new Parser(1024,768,1024,768,media_path,scene_file);
95  #endif
96  for(int i=0; i<2;i++) {
97    stringstream uavName;
98    uavName << name.c_str() << "_" << i;
99    Model *drone=new X8(uavName.str(),i);
100#ifdef GL
101    SimuUsGL *us_gl=new SimuUsGL(drone,"us",i,0);
102#endif
103    SimuImu *imu=new SimuImu(drone,"imu",i,0);
104  }
105
106  simu->RunSimu();
107
108  delete simu;
109
110        return 0;
111}
112
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