source: flair-src/trunk/demos/Skeletons/CustomReferenceAngles/src/main.cpp @ 43

Last change on this file since 43 was 43, checked in by Sanahuja Guillaume, 5 years ago

skeletons

File size: 2.7 KB
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[43]1//  created:    2015/10/27
2//  filename:   main.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    exemple de code uav
10//
11//
12/*********************************************************************/
13
14#include "MyApp.h"
15#include <UavFactory.h>
16#include <FrameworkManager.h>
17#include <TargetEthController.h>
18#include <stdio.h>
19#include <tclap/CmdLine.h>
20
21using namespace TCLAP;
22using namespace std;
23using namespace flair::core;
24using namespace flair::meta;
25using namespace flair::sensor;
26
27string uav_type;
28string log_path;
29int port;
30int ds3port;
31string xml_file;
32string name;
33string address;
34
35void parseOptions(int argc, char** argv);
36
37int main(int argc, char* argv[]) {
38    parseOptions(argc,argv);
39
40    FrameworkManager *manager;
41    manager= new FrameworkManager(name);
42    manager->SetupConnection(address,port);
43    manager->SetupUserInterface(xml_file);
44    manager->SetupLogger(log_path);
45
46    Uav* drone=CreateUav(manager,name,uav_type);
47    TargetEthController *controller=new TargetEthController(manager,"Dualshock3",ds3port);
48    MyApp* app=new MyApp(drone,controller);
49
50    app->Start();
51    app->Join();
52
53    delete manager;
54}
55
56void parseOptions(int argc, char** argv) {
57        try {
58
59        CmdLine cmd("Command description message", ' ', "0.1");
60
61        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
62        cmd.add( nameArg );
63
64        ValueArg<string> typeArg("t","type","uav type: ardrone2, hds_x4, hds_x8, hds_xufo, x4_simu, x8_simu or x4_simux (with x the number of the simulated uav)",true,"hds_x4","string");
65        cmd.add( typeArg );
66
67        ValueArg<string> xmlArg("x","xml","fichier xml",true,"./reglages.xml","string");
68        cmd.add( xmlArg );
69
70        ValueArg<string> logsArg("l","logs","repertoire des logs",true,"/media/ram","string");
71        cmd.add( logsArg );
72
73        ValueArg<int> portArg("p","port","port pour station sol",true,9000,"int");
74        cmd.add( portArg );
75
76        ValueArg<string> addressArg("a","address","addresse station sol",true,"127.0.0.1","string");
77        cmd.add( addressArg );
78
79        ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");
80        cmd.add( ds3portArg );
81
82        cmd.parse( argc, argv );
83
84        // Get the value parsed by each arg.
85        log_path = logsArg.getValue();
86        port=portArg.getValue();
87        ds3port=ds3portArg.getValue();
88        xml_file = xmlArg.getValue();
89        name=nameArg.getValue();
90        uav_type=typeArg.getValue();
91        address=addressArg.getValue();
92
93        } catch (ArgException &e) { // catch any exceptions
94        cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
95        }
96}
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