Changeset 71 in flair-src for branches/mavlink/tools/Controller

Timestamp:

Sep 8, 2016, 3:51:25 PM (8 years ago)

Author:

Thomas Fuhrmann

Message:

Add class for MavlinkPlanner

Location:

branches/mavlink/tools/Controller/Mavlink/src

Files:

• Config.h (added)
• Forwarder.cpp (added)
• Forwarder.h (added)
• GuiFlair.cpp (added)
• GuiFlair.h (added)
• GuiGcs.cpp (added)
• GuiGcs.h (added)
• GuiInterface.cpp (added)
• GuiInterface.h (added)
• main.cpp (modified) (3 diffs)

branches/mavlink/tools/Controller/Mavlink/src/main.cpp

@@ -17 +17 @@
 
 #include "FrameworkManager.h"
-#include "Mavlink_test.h"
 #include <stdio.h>
 #include <tclap/CmdLine.h>
+
+#include "GuiFlair.h"
+#include "GuiGcs.h"
+#include "Forwarder.h"
+
+//todo remove for tests
+#include <iostream>
 
 using namespace TCLAP;
 using namespace std;
 using namespace flair::core;
-using namespace flair::sensor;
 
-string receiverAddress;
-int receiverPort;
-int port;
-string xml_file;
+string xmlFile;
+string mode;
+string inputAddress;
+int inputPort;
+string outputAddress;
+int outputPort;
+string flairAddress;
+int flairPort;
 
 void parseOptions(int argc, char **argv);
 
 int main(int argc, char *argv[]) {
+  std::cout << "avant parseOptions" << std::endl;
   parseOptions(argc, argv);
 
+  std::cout << "parseOptions ok" << std::endl;
+
   FrameworkManager *manager;
-  Mavlink *mavlink_handler;
+  manager = new FrameworkManager("mavlink");
+  manager->SetupConnection(flairAddress, flairPort);
+  manager->SetupUserInterface(xmlFile);
 
-  manager = new FrameworkManager("mavlink");
-  manager->SetupConnection("127.0.0.1", port);
-  manager->SetupUserInterface(xml_file);
+  std::cout << "MavPlanner mode : " << mode << std::endl;
 
-  mavlink_handler = new Mavlink(manager, "mavlink", receiverAddress,
-                                   receiverPort);
-
-  if (!manager->ErrorOccured()) {
-    mavlink_handler->Start();
-    mavlink_handler->Join();
+  if(mode == "forward") {
+    Forwarder *guiForwarder = new Forwarder(manager, "Forwarder",
+                                           inputAddress, inputPort,
+                                           outputAddress, outputPort);
+    if (!manager->ErrorOccured()) {
+      guiForwarder->Start();
+      guiForwarder->Join();
+    }
+  } else {
+    GuiInterface *guiHandler;
+    if(mode == "flair") {
+      guiHandler = new GuiFlair(manager, "GuiFlair");
+    } else if (mode == "gcs") {
+      guiHandler = new GuiGcs(manager, "GuiGcs", outputAddress, outputPort);
+    } else {
+      //ERROR
+    }
+    if (!manager->ErrorOccured()) {
+      guiHandler->Start();
+      guiHandler->Join();
+    }
   }
 
@@ -58 +85 @@
     CmdLine cmd("Command description message", ' ', "0.1");
 
-    ValueArg<string> addressArg("a", "address",
-                                "data receiver address (ex: uav)", true,
-                                "127.0.0.1:20000", "string");
-    cmd.add(addressArg);
+    ValueArg<string> inputAddressArg("", "inputAddress",
+                                "input IP address", false,
+                                "127.0.0.1", "string");
+    cmd.add(inputAddressArg);
 
-    ValueArg<int> portArg("p", "port",
-                          "local port used to connect to the ground station",
-                          false, 9000, "int");
-    cmd.add(portArg);
+    ValueArg<int> inputPortArg("", "inputPort",
+                          "input IP port", false,
+                          9000, "int");
+    cmd.add(inputPortArg);
+
+    ValueArg<string> outputAddressArg("", "outputAddress",
+                                      "output IP address", false,
+                                      "127.0.0.1", "string");
+    cmd.add(outputAddressArg);
+
+    ValueArg<int> outputPortArg("", "outputPort",
+                               "output IP port", false,
+                               9000, "int");
+    cmd.add(outputPortArg);
+
+    ValueArg<string> flairAddressArg("a", "flairAddress",
+                                      "flair IP address", true,
+                                      "127.0.0.1", "string");
+    cmd.add(flairAddressArg);
+
+    ValueArg<int> flairPortArg("p", "flairPort",
+                               "flair IP port", true,
+                               9000, "int");
+    cmd.add(flairPortArg);
 
     ValueArg<string> xmlArg("x", "xml", "xml file", true, "./settings.xml",
@@ -72 +119 @@
     cmd.add(xmlArg);
 
+    ValueArg<string> modeArg("m", "mode", "application mode (forward, flair, gcs)",
+                             true, "flair", "string");
+    cmd.add(modeArg);
+
     cmd.parse(argc, argv);
 
+    // string receiverAddressWithPort = inputAddressArg.getValue();
+    // int semiColonPosition = receiverAddressWithPort.find(":");
+    // receiverAddress = receiverAddressWithPort.substr(0, semiColonPosition);
+    // receiverPort =
+    //     atoi(receiverAddressWithPort.substr(semiColonPosition + 1).c_str());
+    
     // Get the value parsed by each arg.
-    string receiverAddressWithPort = addressArg.getValue();
-    int semiColonPosition = receiverAddressWithPort.find(":");
-    receiverAddress = receiverAddressWithPort.substr(0, semiColonPosition);
-    receiverPort =
-        atoi(receiverAddressWithPort.substr(semiColonPosition + 1).c_str());
-    port = portArg.getValue();
-    xml_file = xmlArg.getValue();
+    inputAddress = inputAddressArg.getValue();
+    inputPort = inputPortArg.getValue();
+    outputAddress = outputAddressArg.getValue();
+    outputPort = outputPortArg.getValue();
+    flairAddress = flairAddressArg.getValue();
+    flairPort = flairPortArg.getValue();
+    xmlFile = xmlArg.getValue();
+    mode = modeArg.getValue();
 
   } catch (ArgException &e) { // catch any exceptions