virtual bool configure(yarp::os::ResourceFinder &rf)
{
yarp::os::Time::turboBoost();
mNavThread=new Navigator(&rf);
if (!mNavThread->start())
{
delete mNavThread;
return false;
}
std::string local=rf.check("local",yarp::os::Value("/ikartnav")).asString().c_str();
mHandlerPort.open(local.c_str());
attach(mHandlerPort);
//attachTerminal();
return true;
}
int main(int argc, char* argv[])
{
bool createFromFile = false;
std::string create_filename = "nothing";
bool backup = false;
std::string backup_filename = "no_backup";
for(int i=0;i<argc;i++)
{
if(strcmp("-B",argv[i]) == 0 || strcmp("-b",argv[i]) == 0)
{
std::cout << "make continuous backups" << std::endl;
if(i+1 < argc)
{
backup_filename = std::string(argv[i+1]);
backup = true;
}
}
if(strcmp("-F",argv[i]) == 0 || strcmp("-f",argv[i]) == 0)
{
std::cout << "Contruct from saved data" << std::endl;
if(i+1 < argc)
{
create_filename = std::string(argv[i+1]);
createFromFile = true;
}
}
}
std::cout << "------------------------------------"<< std::endl;
std::cout << "---------------START----------------"<< std::endl;
std::cout << "------------------------------------"<< std::endl;
std::cout << "Main: program started" << std::endl;
// (1) Create a mission and a transmitter
Mission* mission;
if(!createFromFile)
{
std::vector<std::string> missionPlan;
for(std::string line; std::getline(std::cin,line);)
{
//std::cout << "READING: " << line << std::endl;
if(line[0] != '#')
missionPlan.push_back(line);
}
//std::cout << missionPlan.size() << std::endl;
mission = new Mission(missionPlan);
}
else{
mission = new Mission(create_filename);
}
//return 0;
//Mission* mission = new Mission(0);
std::cout << "\n---------starting mission-----------\n"<< std::endl;
Transmitter* transmitter = new Transmitter(2);
transmitter->start();
// (2) Create the navigator, and pass the transmitter to
double delta = 15;
double tol = 2;//delta / 3.0;
int delay_data = 50000;
int delay_scanner = 500000;
Navigator* navigator = new Navigator(transmitter,delay_data,delay_scanner,delta,tol, backup, backup_filename);
// (3) give the navigator a mission
navigator->setMission(mission);
// (4) start navigator
navigator->start();
//navigator.abort();
//transmitter->abort();
delete navigator;
delete mission;
delete transmitter;
std::cout << "Main: program done" << std::endl;
std::cout << "------------------------------------"<< std::endl;
std::cout << "----------------DONE----------------"<< std::endl;
std::cout << "------------------------------------"<< std::endl;
}
