int main(int argc, char **argv)
{
QString role;
QString serPort;
QString udpPort;
QString remoteHost;
QString bufferSize;
QCoreApplication a(argc, argv);
std::cout << "Serial port transmitter/receiver example, Copyright (c) 2010 Inbiza Systems Inc." << std::endl;
std::cout << "Created by Inbiza Labs <*****@*****.**>" << std::endl;
std::cout << "==========" << std::endl;
std::cout << "Connect two networked computers with null-modem cable, run tranceiver with \"--role=transmit\" on one, and with \"--role=receive\" on ther other." << std::endl;
std::cout << "==========" << std::endl;
std::cout << std::endl;
if ( !processArgs(a.arguments(), role, serPort, udpPort, remoteHost, bufferSize) )
return 0;
qDebug() << "Mode:" << role << ", Serial Port:" << serPort << ", Port Settings:" << "9600,8,n,1" <<
", Listening at port: " << udpPort << ", Testing peer at: " << remoteHost << ", Buffer size: " << (bufferSize == "*" ? "equal to data set size" : bufferSize);
TNX::QSerialPort serialPort(serPort, "9600,8,n,1");
TNX::CommTimeouts commTimeouts;
commTimeouts.PosixVMIN = 1;
commTimeouts.PosixVTIME = 0;
commTimeouts.Win32ReadIntervalTimeout = 75;
commTimeouts.Win32ReadTotalTimeoutConstant = 250;
commTimeouts.Win32ReadTotalTimeoutMultiplier = 25;
commTimeouts.Win32WriteTotalTimeoutConstant = 250;
commTimeouts.Win32WriteTotalTimeoutMultiplier = 75;
if ( !serialPort.setCommTimeouts(commTimeouts) )
qWarning("Cannot set communications timeout values at port %s.", qPrintable(serPort));
Receiver *receiver = NULL;
Transmitter *transmitter = NULL;
if ( 0 == role.compare("transmit", Qt::CaseInsensitive) ) {
transmitter = new Transmitter(serialPort, remoteHost, udpPort.toInt(), &a);
if ( !transmitter->start() ) {
std::cout << "Cannot start transmitter. Quitting." << std::endl;
return 0;
}
}
else if ( 0 == role.compare("receive", Qt::CaseInsensitive) ) {
receiver = new Receiver(serialPort, remoteHost, udpPort.toInt(), QString((bufferSize == "*" ? "0" : bufferSize)).toInt(), &a);
if ( !receiver->start() ) {
std::cout << "Cannot start receiver. Quitting." << std::endl;
return 0;
}
}
else {
std::cout << "Wrong role defined. Quitting." << std::endl;
return 0;
}
return a.exec();
}
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;
}