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