Changeset 158 in flair-src for trunk/demos/CircleFollower/simulator
- Timestamp:
- Mar 5, 2017, 10:50:56 AM (8 years ago)
- File:
-
- 1 edited
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trunk/demos/CircleFollower/simulator/src/main.cpp
r123 r158 23 23 #endif 24 24 25 26 25 using namespace TCLAP; 27 26 using namespace std; … … 38 37 string address; 39 38 40 void parseOptions(int argc, char** argv) { 41 try { 42 CmdLine cmd("Command description message", ' ', "0.1"); 39 void parseOptions(int argc, char** argv) 40 { 41 try { 42 CmdLine cmd("Command description message", ' ', "0.1"); 43 43 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); 46 46 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); 49 49 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); 52 52 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); 55 55 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); 58 58 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); 61 61 62 62 #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); 65 65 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); 68 68 #endif 69 69 70 cmd.parse( argc, argv);70 cmd.parse(argc, argv); 71 71 72 73 port=portArg.getValue();74 75 76 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(); 79 79 #ifdef GL 80 media_path=mediaArg.getValue();81 scene_file=sceneArg.getValue();80 media_path = mediaArg.getValue(); 81 scene_file = sceneArg.getValue(); 82 82 #endif 83 83 84 } catch (ArgException &e){85 86 84 } catch(ArgException& e) { 85 cerr << "error: " << e.error() << " for arg " << e.argId() << endl; 86 } 87 87 } 88 88 89 int main(int argc, char* argv[]) { 90 Simulator *simu; 91 Model *drone; 92 SimuImu* imu; 89 int main(int argc, char* argv[]) 90 { 91 Simulator* simu; 92 Model* drone; 93 SimuImu* imu; 93 94 #ifdef GL 94 95 Parser *gui;96 Man *man;95 SimuUsGL* us_gl; 96 Parser* gui; 97 Man* man; 97 98 #endif 98 parseOptions(argc,argv);99 parseOptions(argc, argv); 99 100 100 simu= new Simulator("simulator",opti_time,90);101 simu->SetupConnection(address,port);102 101 simu = new Simulator("simulator", opti_time, 90); 102 simu->SetupConnection(address, port); 103 simu->SetupUserInterface(xml_file); 103 104 104 105 #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); 106 107 #endif 107 108 108 if(type=="x4") {109 drone=new X4(simu,name,0);110 111 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 } 113 114 114 imu=new SimuImu(drone,"imu",0);115 imu = new SimuImu(drone, "imu", 0,0); 115 116 116 117 #ifdef GL 117 us_gl=new SimuUsGL(drone,"us",0); 118 118 us_gl = new SimuUsGL(drone, "us", 0,0); 119 119 120 man=new Man(simu,"target");120 man = new Man("target",1); 121 121 #endif 122 122 123 123 simu->RunSimu(); 124 124 125 125 delete simu; 126 126 127 127 return 0; 128 128 } 129
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