mvsim-cli.h

Go to the documentation of this file.

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  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>
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
#include <mvsim/Comms/ports.h>
#endif
 
#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};
 
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
        TCLAP::ValueArg<int> argPort{
                "p", "port", "TCP port to listen at", false, mvsim::MVSIM_PORTNO_MAIN_REP, "TCP port", cmd};
#endif
 
        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();