1 | // created: 2019/03/12
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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: vrpnlite, to forward it to bth for exemple
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10 | // usefull to reduce vrpn frame size
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11 | //
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12 | /*********************************************************************/
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13 |
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14 | #include "FrameworkManager.h"
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15 | #include "VrpnLite.h"
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16 | #include <stdio.h>
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17 | #include <tclap/CmdLine.h>
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18 |
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19 | using namespace TCLAP;
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20 | using namespace std;
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21 | using namespace flair::core;
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22 |
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23 | string xml_file;
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24 | string vrpnServerAddress;
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25 | int gcsPort,vrpnLitePort;
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26 |
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27 | void parseOptions(int argc, char **argv);
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28 |
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29 | int main (int argc, char ** argv) {
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30 | parseOptions(argc,argv);
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31 |
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32 | FrameworkManager *manager;
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33 | manager = new FrameworkManager("vrpnforwarder");
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34 | manager->SetupConnection("127.0.0.1", gcsPort);
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35 | manager->SetupUserInterface(xml_file);
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36 |
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37 | VrpnLite* vrpnlite=new VrpnLite(vrpnLitePort,vrpnServerAddress);
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38 |
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39 | vrpnlite->Start();
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40 | vrpnlite->Join();
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41 |
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42 | delete manager;
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43 | }
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44 |
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45 | void parseOptions(int argc, char **argv) {
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46 | try {
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47 | CmdLine cmd("Command description message", ' ', "0.1");
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48 |
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49 | ValueArg<int> vrpnLitePortArg("v", "vport","vrpn lite port", true,
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50 | 3884, "int");
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51 | cmd.add(vrpnLitePortArg);
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52 |
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53 | ValueArg<string> serveraddressArg("s", "saddress","server address", true,
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54 | "127.0.0.1:3883", "string");
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55 | cmd.add(serveraddressArg);
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56 |
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57 | ValueArg<int> gcsPortArg("p", "port","local port used to connect to the ground station",
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58 | false, 9000, "int");
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59 | cmd.add(gcsPortArg);
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60 |
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61 |
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62 | ValueArg<string> xmlArg("x", "xml", "xml file", true, "./settings.xml",
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63 | "string");
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64 | cmd.add(xmlArg);
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65 |
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66 | cmd.parse(argc, argv);
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67 |
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68 | vrpnLitePort = vrpnLitePortArg.getValue();
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69 | vrpnServerAddress = serveraddressArg.getValue();
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70 | gcsPort = gcsPortArg.getValue();
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71 | xml_file = xmlArg.getValue();
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72 |
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73 | } catch (ArgException &e) { // catch any exceptions
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74 | cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
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75 | }
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76 | }
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