Changeset 158 in flair-src for trunk/demos/OpticalFlow/simulator


Ignore:
Timestamp:
Mar 5, 2017, 10:50:56 AM (8 years ago)
Author:
Sanahuja Guillaume
Message:

corrected simu/device id for sensors

File:
1 edited

Legend:

Unmodified
Added
Removed

  • 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 
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