main.cpp

/* Copyright 2015-2016 Mikhail Wall.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

/* Simple desktop gamepad for TRIK on C++/Qt.
 * Gamepad can be thought as a set of additional sensors for robot, which can be accessed from scripts, so there is no
 * intrinsic behavior associated with gamepad commands. To see that gamepad actually does something it is needed
 * to write a script that uses it or to use already written program, like "remoteControl" from TRIK Studio examples.
 *
 * TRIK gamepad is active when TRIK GUI is launched (and gamepad is enabled in config files, which is true by default).
 * It listens port 4444 (by default, can be changed in configs) and accepts following commands:
 * * pad <id> <x> <y>  --- pad with given id is pressed in (x, y) point. Valid ids are 1 for left pad and 2 for right
 *       pad, coordinates are from -100 to 100, where -100 is on top (or to the left) and 100 is bottom or right
 *       of a pad.
 * * pad <id> up  --- pad with given id is released. Valid ids are 1 for left pad and 2 for right pad.
 * * btn <id>  --- "magic button" with given id is pressed. Valid ids are 1, 2, 3, 4 and 5.
 * * wheel <percent>  --- tilt of a gamepad reported by gyroscope. Valid percents are in range [-100, 100], where -100
 *       corresponds to maximum left tilt, 100 --- maximum right. Wheel commands are not shown in this example to keep
 *       it simple.
 * All commands are separated by '\n' symbol. So example of a data packet sent to a robot for "pad" command is
 * "pad 1 0 -100\n", excluding quotes.
 * */

#include "thirdparty/SingleApplication/singleapplication.h"

#include "gamepadForm.h"

int main(int argc, char *argv[])
{
	SingleApplication a(argc, argv);
	GamepadForm w;
	QObject::connect( &a, &SingleApplication::instanceStarted, [ &w ]() {
		w.raise();
		w.activateWindow();
	});

	w.show();

	/// expected format of arguments is the prefix of given below line:
	/// gamepadIp gamepadPort cameraPort cameraIp
	/// if you specify some of the parametres the rest would get default value
	QStringList args = a.arguments();
	if (args.size() > 1) {
		w.startController(args);
	}

	return a.exec();
}