Changeset 377 in flair-src for trunk/demos/TwoWheelRobotCircleFollower/ugv/src/main.cpp

Timestamp:

Dec 16, 2020, 9:40:44 AM (4 years ago)

Author:

Sanahuja Guillaume

Message:

ugv update

File:

• trunk/demos/TwoWheelRobotCircleFollower/ugv/src/main.cpp (modified) (5 diffs)

trunk/demos/TwoWheelRobotCircleFollower/ugv/src/main.cpp

@@ -14 +14 @@
 #include "CircleFollower.h"
 #include <FrameworkManager.h>
+#include <UgvFactory.h>
 #include <stdio.h>
 #include <tclap/CmdLine.h>
@@ -24 +25 @@
 using namespace flair::sensor;
 
+string ugv_type;
 string log_path;
 int port;
@@ -43 +45 @@
     manager->SetupLogger(log_path);
 
+    Ugv* ugv=CreateUgv(name,ugv_type);
     TargetEthController *controller=new TargetEthController("Dualshock3",ds3port);
     CircleFollower* demo=new CircleFollower(name,controller);
@@ -59 +62 @@
         ValueArg<string> nameArg("n","name","uav name, also used for vrpn",true,"x4","string");
         cmd.add( nameArg );
+        
+        ValueArg<string> typeArg("t","type","ugv type: sumo, ugv_simu or ugv_simux (with x the number of the simulated ugv)",true,"ugv_sumo","string");
+        cmd.add( typeArg );
 
         ValueArg<string> xmlArg("x","xml","fichier xml",true,"./reglages.xml","string");
@@ -84 +90 @@
         name=nameArg.getValue();
         address=addressArg.getValue();
+        ugv_type=typeArg.getValue();
 
         } catch (ArgException &e) { // catch any exceptions