/home/jgoppert/Projects/uvsim/uvsim/src/test/ugv.cc

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#include <uvsim/systems/UgvSystem.h>
#include <uvsim/utilities/utilities.h>
#include <iostream>
#include <stdio.h>
#include <string.h>


int main()
{
    // Load config files
    const char * configFile = strcat(getenv("HOME"), "/.uvsimrc");
    FILE * fid;
    if ((fid = fopen(configFile, "r")) == NULL)
    {
        std::cout << "Failed to open config file: " << configFile << std::endl;
        exit;
    }
    else
    {
        // Read Settings
        char * line;
        fscanf(fid, "%s", line);
        std::cout << line << std::endl;

        fscanf(fid, "%s", line);
        std::cout << line << std::endl;

        fscanf(fid, "%s", line);
        std::cout << line << std::endl;
        fclose(fid);
    }

    // Vision
    const char * visionPort = "";
    float visionFreq = 1;
    float visionPriority = 1;

    // Control
    const char * controlPort = "";
    float controlFreq = 1;
    float controlPriority = 2;
    bool useJoystick = false;

    // Navigation
    const char * navigationPort = "/dev/ttyUSB0";
    float navigationFreq = 100;
    float navigationPriority = 3;

    // Check for devices
    if (!uvsim::fileExists(visionPort))
        std::cout << "Warning: Vision communication down." << std::endl;
    if (!uvsim::fileExists(controlPort))
        std::cout << "Warning: Control communication down." << std::endl;
    if (!uvsim::fileExists(navigationPort))
        std::cout << "Warning: Navigation communication down." << std::endl;

    // Construct system
    uvsim::UgvSystem ugv(visionPort, visionFreq, visionPriority, controlPort,
                         controlFreq, controlPriority, useJoystick, navigationPort,
                         navigationFreq, navigationPriority);
    ugv.run();
    return 0;
}

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