int main( int ac, char** av )
{
try
{
comma::command_line_options options( ac, av );
if( options.exists( "--help,-h" ) ) { usage(); }
outputRaw = options.exists( "--output-raw" );
rate = options.optional< float >( "--rate" );
scan_rate = options.optional< double >( "--scan-rate" );
if( options.exists( "--publish" ) )
{
std::string how = options.value< std::string >( "--publish" );
if( comma::split( how, ':' )[0] == "udp" ) // quick and dirty
{
udp_port = boost::lexical_cast< unsigned short >( comma::split( how, ':' )[1] );
publisher_udp_service.reset( new boost::asio::io_service() );
publisher_udp_socket.reset( new boost::asio::ip::udp::socket ( *publisher_udp_service, boost::asio::ip::udp::v4() ) );
boost::system::error_code error;
publisher_udp_socket->set_option( boost::asio::ip::udp::socket::broadcast( true ), error );
if( error ) { std::cerr << "velodyne-thin: failed to set broadcast option on port " << udp_port << std::endl; return 1; }
publisher_udp_socket->set_option( boost::asio::ip::udp::socket::reuse_address( true ), error );
if( error ) { std::cerr << "velodyne-thin: failed to set reuse address option on port " << udp_port << std::endl; return 1; }
udp_destination = boost::asio::ip::udp::endpoint( boost::asio::ip::address_v4::broadcast(), udp_port );
}
else
{
publisher.reset( new comma::io::publisher( how, comma::io::mode::binary ) );
}
}
options.assert_mutually_exclusive( "--focus,--region,--subtract-by-age,--subtract-max-range,--subtract" );
if( options.exists( "--focus,--region,--subtract-by-age,--subtract-max-range,--subtract" ) )
{
db = velodyne::db( options.value< std::string >( "--db", "/usr/local/etc/db.xml" ) );
}
if( options.exists( "--focus,--region" ) )
{
focus.reset( make_focus( options.value< std::string >( "--focus,--region" ), rate ? *rate : 1.0 ) );
std::cerr << "velodyne-thin: rate in focus: " << focus->rate_in_focus() << "; rate out of focus: " << focus->rate_out_of_focus() << "; coverage: " << focus->coverage() << std::endl;
}
verbose = options.exists( "--verbose,-v" );
#ifdef WIN32
_setmode( _fileno( stdin ), _O_BINARY );
_setmode( _fileno( stdout ), _O_BINARY );
#endif
options.assert_mutually_exclusive( "--pcap,--udp-port,--proprietary,-q" );
boost::optional< unsigned short > port = options.optional< unsigned short >( "--udp-port" );
if( port ) { run( new snark::udp_reader( *port ) ); }
else if( options.exists( "--pcap" ) ) { run( new snark::pcap_reader ); }
else if( options.exists( "--proprietary,-q" ) )
{
run( new snark::proprietary_reader );
}
else
{
run( new snark::stream_reader );
}
return 0;
}
catch( std::exception& ex ) { std::cerr << "velodyne-thin: " << ex.what() << std::endl; }
catch( ... ) { std::cerr << "velodyne-thin: unknown exception" << std::endl; }
usage();
}
