source: flair-src/trunk/demos/TwoWheelRobotCircleFollower/ugv/src/main.cpp @ 377

Last change on this file since 377 was 377, checked in by Sanahuja Guillaume, 9 months ago

ugv update

  • Property svn:eol-style set to native
File size: 2.7 KB
Line 
1//  created:    2020/12/09
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 ugv
10//
11//
12/*********************************************************************/
13
14#include "CircleFollower.h"
15#include <FrameworkManager.h>
16#include <UgvFactory.h>
17#include <stdio.h>
18#include <tclap/CmdLine.h>
19#include <TargetEthController.h>
20
21using namespace TCLAP;
22using namespace std;
23using namespace flair::core;
24using namespace flair::meta;
25using namespace flair::sensor;
26
27string ugv_type;
28string log_path;
29int port;
30int ds3port;
31string xml_file;
32string name;
33string address;
34
35void parseOptions(int argc, char** argv);
36
37
38int main(int argc, char* argv[]) {
39    parseOptions(argc,argv);
40
41    FrameworkManager *manager;
42    manager= new FrameworkManager(name);
43    manager->SetupConnection(address,port);
44    manager->SetupUserInterface(xml_file);
45    manager->SetupLogger(log_path);
46
47    Ugv* ugv=CreateUgv(name,ugv_type);
48    TargetEthController *controller=new TargetEthController("Dualshock3",ds3port);
49    CircleFollower* demo=new CircleFollower(name,controller);
50
51    demo->Start();
52    demo->Join();
53
54    delete manager;
55}
56
57void parseOptions(int argc, char** argv) {
58        try {
59
60        CmdLine cmd("Command description message", ' ', "0.1");
61
62        ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
63        cmd.add( nameArg );
64       
65        ValueArg<string> typeArg("t","type","ugv type: sumo, ugv_simu or ugv_simux (with x the number of the simulated ugv)",true,"ugv_sumo","string");
66        cmd.add( typeArg );
67
68        ValueArg<string> xmlArg("x","xml","fichier xml",true,"./reglages.xml","string");
69        cmd.add( xmlArg );
70
71        ValueArg<string> logsArg("l","logs","repertoire des logs",true,"/media/ram","string");
72        cmd.add( logsArg );
73
74        ValueArg<int> portArg("p","port","port pour station sol",true,9000,"int");
75        cmd.add( portArg );
76
77        ValueArg<string> addressArg("a","address","adresse station sol",true,"127.0.0.1","string");
78        cmd.add( addressArg );
79
80        ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");
81        cmd.add( ds3portArg );
82
83        cmd.parse( argc, argv );
84
85        // Get the value parsed by each arg.
86        log_path = logsArg.getValue();
87        port=portArg.getValue();
88        ds3port=ds3portArg.getValue();
89        xml_file = xmlArg.getValue();
90        name=nameArg.getValue();
91        address=addressArg.getValue();
92        ugv_type=typeArg.getValue();
93
94        } catch (ArgException &e) { // catch any exceptions
95        cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
96        exit(EXIT_FAILURE);
97        }
98}
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