| [11] | 1 | // %flair:license{
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| [16] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [11] | 4 | // %flair:license}
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| 5 | // created: 2011/10/20
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| 6 | // filename: main.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: main dual shock 3
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "FrameworkManager.h"
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| 19 | #include "DualShock3.h"
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| 20 | #include <stdio.h>
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| 21 | #include <tclap/CmdLine.h>
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| 22 |
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| 23 | using namespace TCLAP;
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| 24 | using namespace std;
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| 25 | using namespace flair::core;
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| 26 | using namespace flair::sensor;
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| 27 |
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| 28 | string receiverAddress;
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| 29 | int receiverPort;
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| 30 | string connection;
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| 31 | int port;
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| 32 | uint32_t period;
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| 33 | string xml_file;
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| 34 |
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| [16] | 35 | void parseOptions(int argc, char **argv);
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| [11] | 36 |
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| [16] | 37 | int main(int argc, char *argv[]) {
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| 38 | parseOptions(argc, argv);
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| [11] | 39 |
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| [16] | 40 | DualShock3 *joystick;
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| 41 | FrameworkManager *manager;
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| [11] | 42 |
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| [16] | 43 | manager = new FrameworkManager("dualshock3");
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| 44 | manager->SetupConnection("127.0.0.1", port);
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| 45 | manager->SetupUserInterface(xml_file);
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| [11] | 46 |
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| [16] | 47 | if (connection == "usb") {
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| 48 | // manager->Warn("!! adresse = %s !!\n", address.c_str());
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| [137] | 49 | joystick = new DualShock3("dualshock3", receiverAddress,
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| [16] | 50 | receiverPort, DualShock3::Usb, period, 6);
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| 51 | } else {
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| [137] | 52 | joystick = new DualShock3("dualshock3", receiverAddress,
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| [16] | 53 | receiverPort, DualShock3::Bluetooth, period, 6);
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| 54 | }
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| [11] | 55 |
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| [16] | 56 | joystick->DrawUserInterface();
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| [11] | 57 |
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| [16] | 58 | if (!manager->ErrorOccured()) {
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| 59 | joystick->Start();
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| 60 | joystick->Join();
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| 61 | }
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| [11] | 62 |
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| [16] | 63 | delete manager;
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| [11] | 64 | }
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| 65 |
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| [16] | 66 | void parseOptions(int argc, char **argv) {
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| 67 | try {
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| 68 | CmdLine cmd("Command description message", ' ', "0.1");
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| [11] | 69 |
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| [16] | 70 | ValueArg<string> addressArg("a", "address",
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| 71 | "data receiver address (ex: uav)", true,
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| 72 | "127.0.0.1:20000", "string");
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| 73 | cmd.add(addressArg);
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| [11] | 74 |
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| [16] | 75 | ValueArg<string> connectionArg("c", "connection",
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| 76 | "connection type (usb or bluetooth)", false,
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| 77 | "bluetooth", "string");
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| 78 | cmd.add(connectionArg);
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| [11] | 79 |
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| [16] | 80 | ValueArg<int> portArg("p", "port",
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| 81 | "local port used to connect to the ground station",
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| 82 | false, 9000, "int");
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| 83 | cmd.add(portArg);
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| [11] | 84 |
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| [16] | 85 | ValueArg<int> periodArg("t", "period", "sending data period", false, 10,
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| 86 | "int");
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| 87 | cmd.add(periodArg);
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| [11] | 88 |
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| [16] | 89 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./settings.xml",
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| 90 | "string");
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| 91 | cmd.add(xmlArg);
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| [11] | 92 |
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| [16] | 93 | cmd.parse(argc, argv);
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| [11] | 94 |
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| [16] | 95 | // Get the value parsed by each arg.
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| 96 | string receiverAddressWithPort = addressArg.getValue();
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| 97 | int semiColonPosition = receiverAddressWithPort.find(":");
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| 98 | receiverAddress = receiverAddressWithPort.substr(0, semiColonPosition);
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| 99 | receiverPort =
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| 100 | atoi(receiverAddressWithPort.substr(semiColonPosition + 1).c_str());
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| 101 | connection = connectionArg.getValue();
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| 102 | port = portArg.getValue();
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| 103 | period = periodArg.getValue();
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| 104 | xml_file = xmlArg.getValue();
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| [11] | 105 |
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| [16] | 106 | } catch (ArgException &e) { // catch any exceptions
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| 107 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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| 108 | }
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| [11] | 109 | }
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