1 | // created: 2015/10/27
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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 7253
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6 | //
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7 | // version: $Id: $
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8 | //
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9 | // purpose: exemple de code uav
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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 "MyApp.h"
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15 | #include <UavFactory.h>
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16 | #include <FrameworkManager.h>
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17 | #include <TargetEthController.h>
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18 | #include <stdio.h>
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19 | #include <tclap/CmdLine.h>
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20 |
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21 | using namespace TCLAP;
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22 | using namespace std;
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23 | using namespace flair::core;
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24 | using namespace flair::meta;
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25 | using namespace flair::sensor;
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26 |
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27 | string uav_type;
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28 | string log_path;
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29 | int port;
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30 | int ds3port;
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31 | string xml_file;
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32 | string name;
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33 | string address;
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34 |
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35 | void parseOptions(int argc, char** argv);
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36 |
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37 |
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38 | int main(int argc, char* argv[]) {
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39 | parseOptions(argc,argv);
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40 |
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41 | FrameworkManager *manager;
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42 | manager= new FrameworkManager(name);
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43 | manager->SetupConnection(address,port);
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44 | manager->SetupUserInterface(xml_file);
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45 | manager->SetupLogger(log_path);
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46 |
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47 | Uav* drone=CreateUav(name,uav_type);
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48 | TargetEthController *controller=new TargetEthController("Dualshock3",ds3port);
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49 | MyApp* app=new MyApp(controller);
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50 |
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51 | app->Start();
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52 | app->Join();
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53 |
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54 | delete manager;
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55 | }
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56 |
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57 | void parseOptions(int argc, char** argv) {
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58 | try {
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59 |
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60 | CmdLine cmd("Command description message", ' ', "0.1");
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61 |
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62 | ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
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63 | cmd.add( nameArg );
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64 |
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65 | 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");
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66 | cmd.add( typeArg );
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67 |
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68 | ValueArg<string> xmlArg("x","xml","fichier xml",true,"./reglages.xml","string");
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69 | cmd.add( xmlArg );
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70 |
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71 | ValueArg<string> logsArg("l","logs","repertoire des logs",true,"/media/ram","string");
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72 | cmd.add( logsArg );
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73 |
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74 | ValueArg<int> portArg("p","port","port pour station sol",true,9000,"int");
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75 | cmd.add( portArg );
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76 |
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77 | ValueArg<string> addressArg("a","address","addresse station sol",true,"127.0.0.1","string");
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78 | cmd.add( addressArg );
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79 |
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80 | ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");
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81 | cmd.add( ds3portArg );
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82 |
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83 | cmd.parse( argc, argv );
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84 |
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85 | // Get the value parsed by each arg.
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86 | log_path = logsArg.getValue();
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87 | port=portArg.getValue();
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88 | ds3port=ds3portArg.getValue();
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89 | xml_file = xmlArg.getValue();
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90 | name=nameArg.getValue();
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91 | uav_type=typeArg.getValue();
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92 | address=addressArg.getValue();
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93 |
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94 | } catch (ArgException &e) { // catch any exceptions
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95 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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96 | exit(EXIT_FAILURE);
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97 | }
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98 | }
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