mvsim-cli.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/3rdparty/tclap/CmdLine.h>
#include <mvsim/Comms/ports.h>

#include <functional>
#include <memory>

// We need all TCLAP objects to be initialized in order for all translation
// units, that is why we use this holder structure:
struct cli_flags
{
        TCLAP::CmdLine cmd{"mvsim", ' ', "version", false /* no --help */};

        TCLAP::UnlabeledMultiArg<std::string> argCmd{
                "command", "Command to run. Run 'mvsim help' to list commands.", false,
                "", cmd};

        TCLAP::ValueArg<std::string> argVerbosity{
                "v",   "verbose", "Verbosity level",
                false, "INFO",    "ERROR|WARN|INFO|DEBUG",
                cmd};

        TCLAP::SwitchArg argFullProfiler{
                "", "full-profiler",
                "Enable saving *all* timing data, dumping it to a file at the end of "
                "the "
                "program.",
                cmd};

        TCLAP::SwitchArg argHeadless{
                "", "headless", "Runs the simulator without any GUI window.", cmd};

        TCLAP::SwitchArg argDetails{
                "", "details", "Shows details in the specified subcommand", cmd};

        TCLAP::SwitchArg argVersion{
                "", "version", "Shows program version and exits", cmd};

        TCLAP::SwitchArg argHelp{
                "h", "help", "Shows more detailed help for command", cmd};

        TCLAP::ValueArg<int> argPort{
                "p",
                "port",
                "TCP port to listen at",
                false,
                mvsim::MVSIM_PORTNO_MAIN_REP,
                "TCP port",
                cmd};

        TCLAP::ValueArg<double> argRealTimeFactor{
                "",
                "realtime-factor",
                "Realtime modification factor: <1 slower than real-time, >1 faster "
                "than real-time",
                false,
                1.0,
                "1.0",
                cmd};
};

extern std::unique_ptr<cli_flags> cli;

using cmd_t = std::function<int(void)>;

int printListCommands();  // "help"
void printVersion();  // "--version"
int launchStandAloneServer();  // "server"
int launchSimulation();  // "launch"
int commandNode();      // "node"
int commandTopic();      // "topic"

void setConsoleErrorColor();
void setConsoleNormalColor();

void commonLaunchServer();