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User interfaces for CRCL Simulated Robot Server and Client Pendant.
/*
* This software is public domain software, however it is preferred
* that the following disclaimers be attached.
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain.
*
* This software is experimental. NIST assumes no responsibility whatsoever for its use by other
* parties, and makes no guarantees, expressed or implied, about its
* quality, reliability, or any other characteristic. We would appreciate
* acknowledgement if the software is used. This software can be
* redistributed and/or modified freely provided that any derivative works
* bear some notice that they are derived from it, and any modified
* versions bear some notice that they have been modified.
*
* See http://www.copyright.gov/title17/92chap1.html#105
*
*/
package crcl.ui;
import crcl.utils.SimRobotEnum;
import java.util.Arrays;
import java.util.logging.Logger;
/**
*
* @author Will Shackleford {@literal }
*/
public class DefaultMain {
public static void main(String[] args) {
String mode = "Launcher";
for (int i = 0; i < args.length; i++) {
if (i < args.length - 1) {
if (args[i].compareTo("--port") == 0 || args[i].compareTo("-p") == 0) {
try {
int porti = Integer.valueOf(args[i + 1]);
if(porti < 1) {
System.err.println("port ("+porti+") must be positive.");
}
System.setProperty("crcl4java.port", Integer.toString(porti));
} catch (NumberFormatException numberFormatException) {
System.err.println("port\"("+args[i+1]+"\" must be an integer");
System.exit(i);
}
i++;
continue;
} else if (args[i].compareTo("--host") == 0 || args[i].compareTo("-h") == 0) {
System.setProperty("crcl4java.host", args[i + 1]);
i++;
continue;
} else if (args[i].compareTo("--program") == 0) {
System.setProperty("crcl4java.program", args[i + 1]);
i++;
continue;
} else if (args[i].compareTo("--mode") == 0 || args[i].compareTo("-m") == 0) {
mode = args[i + 1];
i++;
continue;
}
}
if (args[i].startsWith("-")) {
if(!"--help".equals(args[i])) {
System.err.println("Unrecognized argument : " + args[i]);
}
System.err.println("Options are:");
System.err.println("\t--help\tPrint this help message.");
System.err.println("\t--port\tSet main tcp port.");
System.err.println("\t--host\tSet tcp port used by client to connect.");
System.err.println("\t--program\tSet xml program file to be sent by client one command at a time.");
System.err.println("\t--mode\tSet mode to one of:"
+"\n\t\tLauncher,CmdLineClient,CmdLineServer,GraphicalServer,GraphicalClient");
System.err.println("");
System.err.println("The following properties can be set with -Dpropertyname=value before the -jar arguments.");
System.err.println("eg:");
System.err.println("java -Dcrcl4java.simserver.logimages=true -jar crcl4java-ui-1.3-SNAPSHOT-jar-with-dependencies.jar --mode GraphicalServer");
System.err.println("");
System.err.println("crcl4java.simserver.imagelogdir\tDirectory for simserver to log images to. Default=/tmp/ ");
System.err.println("");
System.err.println("crcl4java.simserver.logimages\tSet to true to have simserver log images. Default=false ");
System.err.println("");
System.err.println("crcl4java.simserver.maxTransSpeed\tSet to max translational speed. Default=2.0");
System.err.println("");
System.err.println("crcl4java.simserver.maxRotSpeed\tSet to max rotational speed. Default=2.0");
System.err.println("");
System.err.println("crcl4java.simserver.delayMillis\tNumber of milliseconds to sleep in simulation thread. Default=100");
System.err.println("");
System.err.println("crcl4java.simserver.robottype\tType of robot to simulate. Default="+SimRobotEnum.SIMPLE+" Options include"+Arrays.toString(SimRobotEnum.values()));
System.err.println("");
System.err.println("crcl4java.simserver.teleportToGoals\tWhenever the server receives a command to go somehere it will immediately report back that it is DONE and exactly there. Makes programs for testing run fast. Default=false");
System.err.println("");
System.err.println("crcl4java.client.quitOnTestCommandFailure\tHave the client stop running a program if a command test fails. eg. MoveTo results in server reporting DONE but position is not within tolerance of the EndPoint. Default=false. NOTE: A server reporting ERROR always stops the program regardless of this setting. ");
System.err.println("");
System.exit(1);
}
}
switch (mode) {
case "Launcher":
LauncherJFrame.main(args);
break;
case "CmdLineClient":
CmdLineClient.main(args);
break;
case "CmdLineServer":
CmdLineSimServer.main(args);
break;
case "GraphicalServer":
SimServer.main(args);
break;
case "GraphicalClient":
PendantClient.main(args);
break;
default:
System.err.println("Unrecognized mode:"+mode);
System.err.println("Options are:");
System.err.println("\t--mode\tSet mode to one of:"
+"\n\t\tLauncher,CmdLineClient,CmdLineServer,GraphicalServer,GraphicalClient");
System.exit(1);
}
}
private static final Logger LOG = Logger.getLogger(DefaultMain.class.getName());
}
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