Changeset 158 in flair-src for trunk/demos


Ignore:
Timestamp:
03/05/17 10:50:56 (7 years ago)
Author:
Sanahuja Guillaume
Message:

corrected simu/device id for sensors

Location:
trunk/demos
Files:
5 edited

Legend:

Unmodified
Added
Removed

  • trunk/demos/CircleFollower/simulator/src/main.cpp

    r123 r158  
    2323#endif
    2424
    25 
    2625using namespace TCLAP;
    2726using namespace std;
    … …  
    3837string address;
    3938
    40 void parseOptions(int argc, char** argv) {
    41         try {
    42         CmdLine cmd("Command description message", ' ', "0.1");
     39void parseOptions(int argc, char** argv)
     40{
     41  try {
     42    CmdLine cmd("Command description message", ' ', "0.1");
    4343
    44         ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
    45         cmd.add( nameArg );
     44    ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
     45    cmd.add(nameArg);
    4646
    47         ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
    48         cmd.add( xmlArg );
     47    ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
     48    cmd.add(xmlArg);
    4949
    50         ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
    51         cmd.add( portArg );
     50    ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
     51    cmd.add(portArg);
    5252
    53         ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
    54         cmd.add( addressArg );
     53    ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
     54    cmd.add(addressArg);
    5555
    56         ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
    57         cmd.add( typeArg );
     56    ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
     57    cmd.add(typeArg);
    5858
    59         ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
    60         cmd.add( optiArg );
     59    ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
     60    cmd.add(optiArg);
    6161
    6262#ifdef GL
    63         ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
    64         cmd.add( mediaArg );
     63    ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
     64    cmd.add(mediaArg);
    6565
    66         ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
    67         cmd.add( sceneArg );
     66    ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
     67    cmd.add(sceneArg);
    6868#endif
    6969
    70         cmd.parse( argc, argv );
     70    cmd.parse(argc, argv);
    7171
    72         // Get the value parsed by each arg.
    73         port=portArg.getValue();
    74         xml_file = xmlArg.getValue();
    75         opti_time = optiArg.getValue();
    76         type = typeArg.getValue();
    77         name=nameArg.getValue();
    78         address=addressArg.getValue();
     72    // Get the value parsed by each arg.
     73    port = portArg.getValue();
     74    xml_file = xmlArg.getValue();
     75    opti_time = optiArg.getValue();
     76    type = typeArg.getValue();
     77    name = nameArg.getValue();
     78    address = addressArg.getValue();
    7979#ifdef GL
    80         media_path=mediaArg.getValue();
    81         scene_file=sceneArg.getValue();
     80    media_path = mediaArg.getValue();
     81    scene_file = sceneArg.getValue();
    8282#endif
    8383
    84         } catch (ArgException &e) {
    85             cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
    86     }
     84  } catch(ArgException& e) {
     85    cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
     86  }
    8787}
    8888
    89 int main(int argc, char* argv[]) {
    90     Simulator *simu;
    91     Model *drone;
    92     SimuImu* imu;
     89int main(int argc, char* argv[])
     90{
     91  Simulator* simu;
     92  Model* drone;
     93  SimuImu* imu;
    9394#ifdef GL
    94     SimuUsGL* us_gl;
    95     Parser *gui;
    96     Man *man;
     95  SimuUsGL* us_gl;
     96  Parser* gui;
     97  Man* man;
    9798#endif
    98     parseOptions(argc,argv);
     99  parseOptions(argc, argv);
    99100
    100     simu= new Simulator("simulator",opti_time,90);
    101     simu->SetupConnection(address,port);
    102     simu->SetupUserInterface(xml_file);
     101  simu = new Simulator("simulator", opti_time, 90);
     102  simu->SetupConnection(address, port);
     103  simu->SetupUserInterface(xml_file);
    103104
    104105#ifdef GL
    105     gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
     106  gui = new Parser(1024, 768, 1024, 768, media_path, scene_file);
    106107#endif
    107108
    108     if(type=="x4") {
    109         drone=new X4(simu,name,0);
    110     } else {
    111         drone=new X8(simu,name,0);
    112     }
     109  if(type == "x4") {
     110    drone = new X4(name, 0);
     111  } else {
     112    drone = new X8(name, 0);
     113  }
    113114
    114     imu=new SimuImu(drone,"imu",0);
     115  imu = new SimuImu(drone, "imu", 0,0);
    115116
    116117#ifdef GL
    117     us_gl=new SimuUsGL(drone,"us",0);
    118    
     118  us_gl = new SimuUsGL(drone, "us", 0,0);
    119119
    120     man=new Man(simu,"target");
     120  man = new Man("target",1);
    121121#endif
    122122
    123     simu->RunSimu();
     123  simu->RunSimu();
    124124
    125     delete simu;
     125  delete simu;
    126126
    127         return 0;
     127  return 0;
    128128}
    129 

  • trunk/demos/Gps/simulator/src/main.cpp

    r123 r158  
    2424#endif
    2525
    26 
    2726using namespace TCLAP;
    2827using namespace std;
    … …  
    3938string address;
    4039
    41 void parseOptions(int argc, char** argv) {
    42         try {
    43         CmdLine cmd("Command description message", ' ', "0.1");
     40void parseOptions(int argc, char** argv)
     41{
     42  try {
     43    CmdLine cmd("Command description message", ' ', "0.1");
    4444
    45         ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
    46         cmd.add( nameArg );
     45    ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
     46    cmd.add(nameArg);
    4747
    48         ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
    49         cmd.add( xmlArg );
     48    ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
     49    cmd.add(xmlArg);
    5050
    51         ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
    52         cmd.add( portArg );
     51    ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
     52    cmd.add(portArg);
    5353
    54         ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
    55         cmd.add( addressArg );
     54    ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
     55    cmd.add(addressArg);
    5656
    57         ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
    58         cmd.add( typeArg );
     57    ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
     58    cmd.add(typeArg);
    5959
    60         ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
    61         cmd.add( optiArg );
     60    ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
     61    cmd.add(optiArg);
    6262
    6363#ifdef GL
    64         ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
    65         cmd.add( mediaArg );
     64    ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
     65    cmd.add(mediaArg);
    6666
    67         ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
    68         cmd.add( sceneArg );
     67    ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
     68    cmd.add(sceneArg);
    6969#endif
    7070
    71         cmd.parse( argc, argv );
     71    cmd.parse(argc, argv);
    7272
    73         // Get the value parsed by each arg.
    74         port=portArg.getValue();
    75         xml_file = xmlArg.getValue();
    76         opti_time = optiArg.getValue();
    77         type = typeArg.getValue();
    78         name=nameArg.getValue();
    79         address=addressArg.getValue();
     73    // Get the value parsed by each arg.
     74    port = portArg.getValue();
     75    xml_file = xmlArg.getValue();
     76    opti_time = optiArg.getValue();
     77    type = typeArg.getValue();
     78    name = nameArg.getValue();
     79    address = addressArg.getValue();
    8080#ifdef GL
    81         media_path=mediaArg.getValue();
    82         scene_file=sceneArg.getValue();
     81    media_path = mediaArg.getValue();
     82    scene_file = sceneArg.getValue();
    8383#endif
    8484
    85         } catch (ArgException &e) {
    86             cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
    87     }
     85  } catch(ArgException& e) {
     86    cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
     87  }
    8888}
    8989
    90 int main(int argc, char* argv[]) {
    91     Simulator *simu;
    92     Model *drone;
    93     SimuImu *imu;
    94     SimuGps *gps;
     90int main(int argc, char* argv[])
     91{
     92  Simulator* simu;
     93  Model* drone;
     94  SimuImu* imu;
     95  SimuGps* gps;
    9596#ifdef GL
    96     SimuUsGL *us_gl;
    97     Parser *gui;
    98     Man *man;
     97  SimuUsGL* us_gl;
     98  Parser* gui;
    9999#endif
    100     parseOptions(argc,argv);
     100  parseOptions(argc, argv);
    101101
    102     simu= new Simulator("simulator",opti_time,0);
    103     simu->SetupConnection(address,port);
    104     simu->SetupUserInterface(xml_file);
     102  simu = new Simulator("simulator", opti_time, 0);
     103  simu->SetupConnection(address, port);
     104  simu->SetupUserInterface(xml_file);
    105105
    106106#ifdef GL
    107     gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
     107  gui = new Parser(1024, 768, 1024, 768, media_path, scene_file);
    108108#endif
    109109
    110     if(type=="x4") {
    111         drone=new X4(simu,name,0);
    112     } else {
    113         drone=new X8(simu,name,0);
    114     }
     110  if(type == "x4") {
     111    drone = new X4(name, 0);
     112  } else {
     113    drone = new X8(name, 0);
     114  }
    115115
    116     imu=new SimuImu(drone,"imu",90);
     116  imu = new SimuImu(drone, "imu", 0,0);
    117117
    118118#ifdef GL
    119     us_gl=new SimuUsGL(drone,"us",0);
    120     man=new Man(simu,"target");
     119  us_gl = new SimuUsGL(drone, "us", 0,0);
    121120#endif
    122     gps=new SimuGps(drone,"gps",0);
     121  gps = new SimuGps(drone, "gps", 0,0);
    123122
    124     simu->RunSimu();
     123  simu->RunSimu();
    125124
    126     delete simu;
     125  delete simu;
    127126
    128         return 0;
     127  return 0;
    129128}
    130 

  • trunk/demos/OpticalFlow/simulator/src/main.cpp

    r122 r158  
    2323#endif
    2424
    25 
    2625using namespace TCLAP;
    2726using namespace std;
    … …  
    4039void parseOptions(int argc, char** argv)
    4140{
    42         try
    43         {
    44         CmdLine cmd("Command description message", ' ', "0.1");
     41  try {
     42    CmdLine cmd("Command description message", ' ', "0.1");
    4543
    46         ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
    47         cmd.add( nameArg );
     44    ValueArg<string> nameArg("n", "name", "uav name, also used for vrpn", true, "x4", "string");
     45    cmd.add(nameArg);
    4846
    49         ValueArg<string> xmlArg("x","xml","xml file",true,"./reglages.xml","string");
    50         cmd.add( xmlArg );
     47    ValueArg<string> xmlArg("x", "xml", "xml file", true, "./reglages.xml", "string");
     48    cmd.add(xmlArg);
    5149
    52         ValueArg<int> portArg("p","port","ground station port",true,9002,"int");
    53         cmd.add( portArg );
     50    ValueArg<int> portArg("p", "port", "ground station port", true, 9002, "int");
     51    cmd.add(portArg);
    5452
    55         ValueArg<string> addressArg("a","address","ground station address",true,"127.0.0.1","string");
    56         cmd.add( addressArg );
     53    ValueArg<string> addressArg("a", "address", "ground station address", true, "127.0.0.1", "string");
     54    cmd.add(addressArg);
    5755
    58         ValueArg<string> typeArg("t","type","uav type, x4 or x8",true,"x4","string");
    59         cmd.add( typeArg );
     56    ValueArg<string> typeArg("t", "type", "uav type, x4 or x8", true, "x4", "string");
     57    cmd.add(typeArg);
    6058
    61 
    62         ValueArg<int> optiArg("o","opti","optitrack time ms",false,0,"int");
    63         cmd.add( optiArg );
     59    ValueArg<int> optiArg("o", "opti", "optitrack time ms", false, 0, "int");
     60    cmd.add(optiArg);
    6461
    6562#ifdef GL
    66         ValueArg<string> mediaArg("m","media","path to media files",true,"./","string");
    67         cmd.add( mediaArg );
     63    ValueArg<string> mediaArg("m", "media", "path to media files", true, "./", "string");
     64    cmd.add(mediaArg);
    6865
    69         ValueArg<string> sceneArg("s","scene","path to scene file",true,"./voliere.xml","string");
    70         cmd.add( sceneArg );
     66    ValueArg<string> sceneArg("s", "scene", "path to scene file", true, "./voliere.xml", "string");
     67    cmd.add(sceneArg);
    7168#endif
    7269
    73         cmd.parse( argc, argv );
     70    cmd.parse(argc, argv);
    7471
    75         // Get the value parsed by each arg.
    76         port=portArg.getValue();
    77         xml_file = xmlArg.getValue();
    78         opti_time = optiArg.getValue();
    79         type = typeArg.getValue();
    80         name=nameArg.getValue();
    81         address=addressArg.getValue();
     72    // Get the value parsed by each arg.
     73    port = portArg.getValue();
     74    xml_file = xmlArg.getValue();
     75    opti_time = optiArg.getValue();
     76    type = typeArg.getValue();
     77    name = nameArg.getValue();
     78    address = addressArg.getValue();
    8279#ifdef GL
    83         media_path=mediaArg.getValue();
    84         scene_file=sceneArg.getValue();
     80    media_path = mediaArg.getValue();
     81    scene_file = sceneArg.getValue();
    8582#endif
    8683
    87         } catch (ArgException &e)  // catch any exceptions
    88         { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
     84  } catch(ArgException& e) // catch any exceptions
     85  {
     86    cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
     87  }
    8988}
    90 
    9189
    9290int main(int argc, char* argv[])
    9391{
    94     Simulator *simu;
    95     Model *drone;
    96     SimuImu* imu;
     92  Simulator* simu;
     93  Model* drone;
     94  SimuImu* imu;
    9795#ifdef GL
    98     SimuUsGL* us_gl;
     96  SimuUsGL* us_gl;
    9997
    100     SimuCameraGL *cam_bas;
    101     Parser *gui;
     98  SimuCameraGL* cam_bas;
     99  Parser* gui;
    102100#endif
    103     parseOptions(argc,argv);
     101  parseOptions(argc, argv);
    104102
    105     simu= new Simulator("simulator",opti_time,90);
    106     simu->SetupConnection(address,port);
    107     simu->SetupUserInterface(xml_file);
     103  simu = new Simulator("simulator", opti_time, 90);
     104  simu->SetupConnection(address, port);
     105  simu->SetupUserInterface(xml_file);
    108106
    109107#ifdef GL
    110     gui=new Parser(simu,960,480,640,480,media_path,scene_file);
     108  gui = new Parser(960, 480, 640, 480, media_path, scene_file);
    111109#endif
    112110
    113     if(type=="x4")
    114     {
    115         drone=new X4(simu,name,0);
    116     }
    117     else
    118     {
    119         drone=new X8(simu,name,0);
    120     }
    121     imu=new SimuImu(drone,"imu",0);
     111  if(type == "x4") {
     112    drone = new X4(name, 0);
     113  } else {
     114    drone = new X8(name, 0);
     115  }
     116  imu = new SimuImu(drone, "imu", 0,0);
    122117
    123118#ifdef GL
    124     us_gl=new SimuUsGL(drone,"us",0);
    125     cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
     119  us_gl = new SimuUsGL(drone, "us", 0,0);
     120  cam_bas = new SimuCameraGL(drone, "bottom camera", 320, 240, 640, 0, 0,0);
    126121#endif
    127122
    128     simu->RunSimu();
     123  simu->RunSimu();
    129124
    130     delete simu;
     125  delete simu;
    131126
    132         return 0;
     127  return 0;
    133128}
    134 

  • trunk/demos/SimpleFleet/simulator/src/main.cpp

    r33 r158  
    8484int main(int argc, char* argv[])
    8585{
    86     Simulator *simu;
     86  Simulator *simu;
    8787
    88     parseOptions(argc,argv);
     88  parseOptions(argc,argv);
    8989
    90     simu= new Simulator("simulator",opti_time,90);
    91     simu->SetupConnection(address,port);
    92     simu->SetupUserInterface(xml_file);
     90  simu= new Simulator("simulator",opti_time,90);
     91  simu->SetupConnection(address,port);
     92  simu->SetupUserInterface(xml_file);
     93  #ifdef GL
     94  Parser *gui=new Parser(1024,768,1024,768,media_path,scene_file);
     95  #endif
     96  for(int i=0; i<2;i++) {
     97    stringstream uavName;
     98    uavName << name.c_str() << "_" << i;
     99    Model *drone=new X8(uavName.str(),i);
    93100#ifdef GL
    94     Parser *gui=new Parser(simu,640,480,640,480,media_path,scene_file);
     101    SimuUsGL *us_gl=new SimuUsGL(drone,"us",i,0);
    95102#endif
    96     for(int i=0; i<2;i++)
    97         {
    98                 stringstream s;
    99                 s << name.c_str() << "_" << i;
    100         Model *drone=new X8(simu,s.str(),i);
    101 #ifdef GL
    102         SimuUsGL *us_gl=new SimuUsGL(drone,"us",i);
    103 #endif
    104         SimuImu *imu=new SimuImu(drone,"imu",i);
    105         }
     103    SimuImu *imu=new SimuImu(drone,"imu",i,0);
     104  }
    106105
    107     simu->RunSimu();
     106  simu->RunSimu();
    108107
    109     delete simu;
     108  delete simu;
    110109
    111110        return 0;

  • trunk/demos/SimpleFleet/uav/build_x86_64/bin/setup_x8.xml

    r91 r158  
    135135    </DataPlot1D>
    136136   </Tab>
    137   </TabWidget>
     137  <Tab name="Quaternion"><DataPlot1D name="q0" period="100" enabled="0"/><DataPlot1D name="q1" period="100" enabled="0"/><DataPlot1D name="q2" period="100" enabled="0"/><DataPlot1D name="q3" period="100" enabled="0"/></Tab><Tab name="IMU"><DataPlot1D name="acc_x" period="100" enabled="0"/><DataPlot1D name="acc_y" period="100" enabled="0"/><DataPlot1D name="acc_z" period="100" enabled="0"/><DataPlot1D name="gyr_x" period="100" enabled="0"/><DataPlot1D name="gyr_y" period="100" enabled="0"/><DataPlot1D name="gyr_z" period="100" enabled="0"/><DataPlot1D name="mag_x" period="100" enabled="0"/><DataPlot1D name="mag_y" period="100" enabled="0"/><DataPlot1D name="mag_z" period="100" enabled="0"/></Tab></TabWidget>
    138138 </Tab>
    139139 <Tab name="battery">
    … …  
    340340 </Tab>
    341341</TabWidget>
    342 <TabWidget name="App_TabWidget"><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab><Tab name="x8_1"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
     342<TabWidget name="App_TabWidget"><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab><Tab name="x8_1"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x8_0)" value="1"/></root>
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