init

src/pMotionControler/main.cpp

@@ -0,0 +1,61 @@
+/*
+ * @Author: zjk 1553836110@qq.com
+ * @Date: 2023-10-12 09:52:06
+ * @LastEditors: zjk 1553836110@qq.com
+ * @LastEditTime: 2023-10-24 15:11:21
+ * @FilePath: /moos-ivp-extend/src/pMotionControler/main.cpp
+ * @Description: 
+ * 
+ * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
+ */
+#include<iostream>
+using namespace std;
+#include"MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+// #include "VarDataPair.h"
+#include"MotionControler.hpp"
+#include <iostream>
+#include<string>
+#include "MBUtils.h"
+#include "ColorParse.h"
+// #include "MBUtils.h"
+// #include "ColorParse.h"
+
+int main(int argc, char *argv[])
+{
+  string mission_file;
+  string run_command = argv[0];
+
+  for(int i=1; i<argc; i++) {
+    string argi = argv[i];
+    if((argi=="-v") || (argi=="--version") || (argi=="-version"))
+      // showReleaseInfoAndExit();
+      cout << " Version : 0.01" << endl;
+    else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
+      // showExampleConfigAndExit();
+      cout << " example : NULL" << endl;
+    else if((argi=="-h") || (argi == "--help") || (argi=="-help"))
+      // showHelpAndExit();
+      cout << " Low leave Control for UUV " << endl;
+    else if((argi=="-i") || (argi == "--interface"))
+      // showInterfaceAndExit();
+      cout << " UUV Motion Control " << endl;
+    else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
+      mission_file = argv[i];
+    else if(strBegins(argi, "--alias="))
+      run_command = argi.substr(8);
+    else if(i == 2)
+      run_command = argi;
+  }
+  
+  if(mission_file == "")
+      // showHelpAndExit();
+
+  cout << termColor("green");
+  cout << "pMarinePIDV22 launching as " << run_command << endl;
+  cout << termColor() << endl;
+
+  MotionControler marinePID;
+  marinePID.Run(run_command.c_str(), mission_file.c_str(), argc, argv);
+
+  return(0);
+}