main.cpp

00001 
00002 /***************************************************************************
00003  *  main.cpp - Fawkes RefBox Repeater
00004  *
00005  *  Created: Wed Apr 09 09:46:29 2008
00006  *  Copyright  2006-2008  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include <utils/system/argparser.h>
00024 
00025 #include "refbox_state_sender.h"
00026 #include "refbox_state_writer.h"
00027 #include "msl2007.h"
00028 #include "msl2008.h"
00029 #include "msl2010.h"
00030 #include "spl.h"
00031 
00032 #include <vector>
00033 #include <string>
00034 #include <cstdlib>
00035 #include <cstdio>
00036 #include <cstring>
00037 
00038 using namespace fawkes;
00039 
00040 void
00041 print_usage(const char *program_name)
00042 {
00043   printf("Usage: %s [-d] -l league -t team -g goal_color [hosts]\n"
00044          "  -d             Turn on debug mode (prints to stdout)\n"
00045          "  -b             Use blackboard writer instead of world info sender\n"
00046          "  -l league      Define league, may be one of\n"
00047          "                 midsize, msl2007, msl2008, msl2010, spl\n"
00048          "  -u             Don't use multicast in msl2010\n"
00049          "  -t team        Our team, either cyan or magenta\n"
00050          "  -g goal_color  Our goal color, either blue or yellow\n"
00051          "  -p port        UDP port to send to (default 2806)\n"
00052          "  -m addr        Multicast address to send to (default 224.16.0.1)\n"
00053          "  -k key         Encryption key (default AllemaniACs)\n"
00054          "  -i iv          Encryption initialization vector (default AllemaniACs)\n"
00055          " hosts           The hosts of the robots; only when -b is used\n",
00056          program_name);
00057 }
00058 
00059 /** Config tool main.
00060  * @param argc argument count
00061  * @param argv arguments
00062  */
00063 int
00064 main(int argc, char **argv)
00065 {
00066   ArgumentParser argp(argc, argv, "hdbul:t:g:p:m:k:i:");
00067 
00068   if ( argp.has_arg("h") ) {
00069     print_usage(argv[0]);
00070     exit(0);
00071   }
00072 
00073   if ( ! argp.has_arg("l") ) {
00074     printf("You must give a league name.\n\n");
00075     print_usage(argv[0]);
00076     exit(1);
00077   }
00078 
00079   if ( ! argp.has_arg("t") ) {
00080     printf("You must give our team color.\n\n");
00081     print_usage(argv[0]);
00082     exit(2);
00083   }
00084 
00085   if ( ! argp.has_arg("g") ) {
00086     printf("You must give our goal color.\n\n");
00087     print_usage(argv[0]);
00088     exit(3);
00089   }
00090 
00091   worldinfo_gamestate_team_t our_team;
00092   worldinfo_gamestate_goalcolor_t our_goal;
00093   const char *addr = "224.16.0.1";
00094   const char *key  = "AllemaniACs";
00095   const char *iv   = "AllemaniACs";
00096   unsigned short int port = 2806;
00097 
00098   if ( strcmp(argp.arg("t"), "cyan") == 0 ) {
00099     our_team = TEAM_CYAN;
00100   } else if ( strcmp(argp.arg("t"), "magenta") == 0 ) {
00101     our_team = TEAM_MAGENTA;
00102   } else {
00103     printf("Invalid team '%s', must be one of 'cyan' and 'magenta'.\n\n", argp.arg("t"));
00104     print_usage(argv[0]);
00105     exit(4);
00106   }
00107 
00108   if ( strcmp(argp.arg("g"), "blue") == 0 ) {
00109     our_goal = GOAL_BLUE;
00110   } else if ( strcmp(argp.arg("g"), "yellow") == 0 ) {
00111     our_goal = GOAL_YELLOW;
00112   } else {
00113     printf("Invalid goal '%s', must be one of 'blue' and 'yellow'.\n\n", argp.arg("g"));
00114     print_usage(argv[0]);
00115     exit(5);
00116   }
00117 
00118   if ( argp.has_arg("m") ) {
00119     addr = argp.arg("m");
00120   }
00121 
00122   if ( argp.has_arg("k") ) {
00123     key = argp.arg("k");
00124   }
00125 
00126   if ( argp.has_arg("i") ) {
00127     iv = argp.arg("i");
00128   }
00129 
00130   if ( argp.has_arg("p") ) {
00131     port = atoi(argp.arg("p"));
00132   }
00133 
00134   printf("Sending to: %s:%u\n"
00135          "Key: %s  IV: %s\n", addr, port, key, iv);
00136 
00137   RefBoxStateSender *rss;
00138   if ( argp.has_arg("b") ) {
00139     std::vector<const char*> items = argp.items();
00140     std::vector<std::string> hosts(items.begin(), items.end());
00141     rss = new RefBoxStateBBWriter(hosts, argp.has_arg("d"));
00142   } else {
00143     rss = new RefBoxStateSender(addr, port, key, iv, argp.has_arg("d"));
00144   }
00145   rss->set_team_goal(our_team, our_goal);
00146 
00147   printf("League: %s\n", argp.arg("l"));
00148   if ( strcmp(argp.arg("l"), "msl2007") == 0 || strcmp(argp.arg("l"), "midsize") == 0 ) {
00149     MidsizeRefBoxRepeater mrr(*rss, "127.0.0.1", 28097);
00150     mrr.run();
00151   } else if ( strcmp(argp.arg("l"), "msl2008") == 0 ) {
00152     Msl2008RefBoxRepeater m8rr(*rss, "230.0.0.1", 30000);
00153     m8rr.run();
00154   } else if ( strcmp(argp.arg("l"), "msl2010") == 0 ) {
00155     if ( argp.has_arg("u") ) {
00156       //Msl2010RefBoxRepeater m10rr(*rss, "127.0.0.1", port, false);
00157       Msl2010RefBoxRepeater m10rr(*rss, "127.0.0.1", 30010, false);
00158       m10rr.run();
00159     } 
00160     else {
00161       //Msl2010RefBoxRepeater m10rr(*rss, addr, port);
00162       Msl2010RefBoxRepeater m10rr(*rss, "230.0.0.1", 30000);
00163       //Msl2010RefBoxRepeater m10rr(*rss, "230.0.0.1", 30010);
00164       m10rr.run();
00165     }
00166   } else if ( strcmp(argp.arg("l"), "spl") == 0 ) {
00167     SplRefBoxRepeater nrr(*rss, "255.255.255.0", 3838, our_team, our_goal);
00168     nrr.run();
00169   } else {
00170     printf("Invalid league name given.\n\n");
00171     print_usage(argv[0]);
00172     exit(2);
00173   }
00174 
00175   return 0;
00176 }

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