int main(int argc, char* argv[])
{
std::cout << "Enter main." << std::endl;
std::string InputFile, OutputFile;
double ScannerLocX, ScannerLocY, ScannerLocZ;
double ForwardX, ForwardY, ForwardZ;
unsigned int NumPoints;
double ThetaMin, ThetaMax, PhiMin, PhiMax, minmax;
std::cout << "Options:" << std::endl;
po::options_description desc("Allowed options");
desc.add_options()
("help", "Help message.")
("input", po::value<std::string>(&InputFile), "Set input file")
("output", po::value<std::string>(&OutputFile), "Set output file")
("ScannerLocX", po::value<double>(&ScannerLocX)->default_value(0.0), "Set scanner location (x)")
("ScannerLocY", po::value<double>(&ScannerLocY)->default_value(0.0), "Set scanner location (y)")
("ScannerLocZ", po::value<double>(&ScannerLocZ)->default_value(0.0), "Set scanner location (z)")
("ForwardX", po::value<double>(&ForwardX)->default_value(0.0), "Set forward (x)")
("ForwardY", po::value<double>(&ForwardY)->default_value(0.0), "Set forward (y)")
("ForwardZ", po::value<double>(&ForwardZ)->default_value(0.0), "Set forward (z)")
("NumPoints", po::value<unsigned int>(&NumPoints)->default_value(100), "Set number of points (one side of the grid, assuming a square grid)")
("PhiMin", po::value<double>(&PhiMin)->default_value(-10.0), "Set min phi angle")
("PhiMax", po::value<double>(&PhiMax)->default_value(10.0), "Set max phi angle")
("ThetaMin", po::value<double>(&ThetaMin)->default_value(-10.0), "Set min theta angle")
("ThetaMax", po::value<double>(&ThetaMax)->default_value(10.0), "Set max theta angle")
("minmax", po::value<double>(&minmax), "Set max theta angle")
;
po::variables_map vm;
po::store(po::parse_command_line(argc, argv, desc), vm);
po::notify(vm); //assign the variables (if they were specified)
if(vm.count("help"))
{
std::cout << desc << std::endl;
return 1;
}
CheckRequiredArgs(vm);
std::cout << std::endl << std::endl;
if(!vm.count("minmax"))
{
//convert degrees to radians
PhiMin = deg2rad(PhiMin);
PhiMax = deg2rad(PhiMax);
ThetaMin = deg2rad(ThetaMin);
ThetaMax = deg2rad(ThetaMax);
}
else
{
PhiMin = deg2rad(-minmax);
PhiMax = deg2rad(minmax);
ThetaMin = deg2rad(-minmax);
ThetaMax = deg2rad(minmax);
}
/////////////////////////////////////////////////////
//setup model
ModelFile Scene;
Scene.Read(InputFile);
Scene.Init();
//setup scanner
LidarScanner Scanner(true); //use octree
Scene.BuildOctree();
vgl_point_3d<double> Pos(ScannerLocX, ScannerLocY, ScannerLocZ);
vgl_vector_3d<double> Dir(ForwardX, ForwardY, ForwardZ);
Scanner.Orient(Pos, Dir);
Scanner.ScanParams.setNumPhiPoints(NumPoints);
Scanner.ScanParams.setNumThetaPoints(NumPoints);
Scanner.ScanParams.setPhiMin(PhiMin);
Scanner.ScanParams.setPhiMax(PhiMax);
Scanner.ScanParams.setThetaMin(ThetaMin);
Scanner.ScanParams.setThetaMax(ThetaMax);
//scan
PerformScan(Scene, Scanner, OutputFile);
return 0;
}
// -------------------------------------------------------------------------------------------------
static bool ProcessCommand
(
const char* textPtr, ///< [IN] Check this text to see if it's a valid command.
const char* requesterPtr ///< [IN] If not NULL, then any response text is SMSed to this target.
)
{
char buffer[10240];
// Start looking for a match...
if (strcmp(textPtr, "Crash") == 0)
{
// As the name implies, we are going to be crashing the application. So simply append to
// the output log and crash the app. This is done to allow demonstration of the supervisor
// policies.
int x = 10;
int y = 0;
LE_ERROR("Something wicked this way comes...");
LE_ERROR("Data result: %d", x / y);
}
else if (strcmp(textPtr, "Status") == 0)
{
// The status command allows the caller to query the current state of the modem. A friendly
// version of this status is constructed and returned to the caller.
le_onoff_t radioStatus;
const char * radioStatusPtr;
le_mrc_NetRegState_t netRegState;
uint32_t signalQuality;
if(le_mrc_GetRadioPower(&radioStatus) != LE_OK)
{
radioStatusPtr = "in an unknown state";
}
else
{
radioStatusPtr = (radioStatus == LE_OFF) ? "off" : "on";
}
if(le_mrc_GetNetRegState(&netRegState) != LE_OK)
{
netRegState = LE_MRC_REG_UNKNOWN;
}
if(le_mrc_GetSignalQual(&signalQuality) != LE_OK)
{
signalQuality = 0;
}
sprintf(buffer, "The radio is %s and is %s. The signal strength is %s.",
radioStatusPtr,
GetNetStateString(netRegState),
GetSignalString(signalQuality));
}
else if (strcmp(textPtr, "Sim") == 0)
{
// Like the status command, this command queries the underling hardware for information.
// This information is turned into a string that can then be returned to the caller.
le_sim_Id_t simId;
le_sim_States_t simState;
char iccid[100];
char imsi[100];
int pos = 0;
simId = le_sim_GetSelectedCard();
simState = le_sim_GetState(simId);
pos += snprintf(buffer + pos, sizeof(buffer) - pos,
"SIM %u is %s.",
simId,
GetSimStateString(simState));
if(le_sim_GetICCID(simId, iccid, sizeof(iccid)) == LE_OK)
{
pos += snprintf(buffer + pos, sizeof(buffer) - pos,
" ICCID=%s", iccid);
}
if(le_sim_GetIMSI(simId, imsi, sizeof(imsi)) == LE_OK)
{
pos += snprintf(buffer + pos, sizeof(buffer) - pos,
" IMSI=%s", imsi);
}
}
else if (strcmp(textPtr, "Online") == 0)
{
le_utf8_Copy(buffer, "Requesting data connection.", sizeof(buffer), NULL);
GoOnline();
}
else if (strcmp(textPtr, "Offline") == 0)
{
le_utf8_Copy(buffer, "Releasing data connection.", sizeof(buffer), NULL);
GoOffline(buffer);
}
else if (strcmp(textPtr, "TestDataConnectionV4") == 0)
{
TestDataConnectionV4(buffer);
}
else if (strcmp(textPtr, "TestDataConnectionV6") == 0)
{
TestDataConnectionV6(buffer);
}
else if (strcmp(textPtr, "Netinfo") == 0)
{
Netinfo(buffer);
}
else if (strcmp(textPtr, "DataInfo") == 0)
{
Datainfo(buffer);
}
else if (strcmp(textPtr, "DataReset") == 0)
{
DataReset(buffer);
}
else if (strcmp(textPtr, "Scan") == 0)
{
PerformScan(buffer, sizeof(buffer), requesterPtr);
}
else
{
return false;
}
// Check to see if any processing has occurred. If so, check to see if the request came from a
// local or remote requester.
// If the requester was local, (requesterPtr == NULL) then simply log our response to the SMS log.
// Otherwise, attempt to SMS the response string to the original caller.
if (requesterPtr != NULL)
{
SendMessage(requesterPtr, buffer);
}
else if (OutputFilePtr != NULL)
{
fprintf(OutputFilePtr, "## %s ##\n", buffer);
fflush(OutputFilePtr);
}
// Let the calling function know if we did any processing or not.
return true;
}
