source: flair-src/trunk/tools/Controller/DualShock3/src/main.cpp

Last change on this file was 433, checked in by Sanahuja Guillaume, 2 months ago

cosmetic changes

File size: 3.1 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2011/10/20
6//  filename:   main.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 6599
10//
11//  version:    $Id: $
12//
13//  purpose:    main dual shock 3
14//
15//
16/*********************************************************************/
17
18#include "FrameworkManager.h"
19#include "DualShock3.h"
20#include <stdio.h>
21#include <tclap/CmdLine.h>
22
23using namespace TCLAP;
24using namespace std;
25using namespace flair::core;
26using namespace flair::sensor;
27
28string receiverAddress;
29int receiverPort;
30string connection;
31int port;
32uint32_t period;
33string xml_file;
34
35void parseOptions(int argc, char **argv);
36
37int main(int argc, char *argv[]) {
38  parseOptions(argc, argv);
39
40  DualShock3 *joystick;
41  FrameworkManager *manager;
42
43  manager = new FrameworkManager("dualshock3");
44  manager->SetupConnection("127.0.0.1", port);
45  manager->SetupUserInterface(xml_file);
46
47  if (connection == "usb") {
48    joystick = new DualShock3("dualshock3", receiverAddress,
49                              receiverPort, DualShock3::Usb, period, 6);
50  } else {
51    joystick = new DualShock3("dualshock3", receiverAddress,
52                              receiverPort, DualShock3::Bluetooth, period, 6);
53  }
54
55  joystick->DrawUserInterface();
56
57  if (!manager->ErrorOccured()) {
58    joystick->Start();
59    joystick->Join();
60  }
61
62  delete manager;
63}
64
65void parseOptions(int argc, char **argv) {
66  try {
67    CmdLine cmd("Command description message", ' ', "0.1");
68
69    ValueArg<string> addressArg("a", "address",
70                                "data receiver address (ex: uav)", true,
71                                "127.0.0.1:20000", "string");
72    cmd.add(addressArg);
73
74    ValueArg<string> connectionArg("c", "connection",
75                                   "connection type (usb or bluetooth)", false,
76                                   "bluetooth", "string");
77    cmd.add(connectionArg);
78
79    ValueArg<int> portArg("p", "port",
80                          "local port used to connect to the ground station",
81                          false, 9000, "int");
82    cmd.add(portArg);
83
84    ValueArg<int> periodArg("t", "period", "sending data period", false, 10,
85                            "int");
86    cmd.add(periodArg);
87
88    ValueArg<string> xmlArg("x", "xml", "xml file", true, "./settings.xml",
89                            "string");
90    cmd.add(xmlArg);
91
92    cmd.parse(argc, argv);
93
94    // Get the value parsed by each arg.
95    string receiverAddressWithPort = addressArg.getValue();
96    int semiColonPosition = receiverAddressWithPort.find(":");
97    receiverAddress = receiverAddressWithPort.substr(0, semiColonPosition);
98    receiverPort =
99        atoi(receiverAddressWithPort.substr(semiColonPosition + 1).c_str());
100    connection = connectionArg.getValue();
101    port = portArg.getValue();
102    period = periodArg.getValue();
103    xml_file = xmlArg.getValue();
104
105  } catch (ArgException &e) { // catch any exceptions
106    cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
107  }
108}
Note: See TracBrowser for help on using the repository browser.