main_helper.cpp

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#include <HardwareBridge.h>
#include "SimulationBridge.h"

#include <main_helper.h>
#include <cassert>
#include <iostream>

#include <RobotController.h>
#include "Utilities/SegfaultHandler.h"

MasterConfig gMasterConfig;

void printUsage() {
  printf(
      "Usage: robot [robot-id] [sim-or-robot]\n\twhere robot-id:     3 for "
      "cheetah 3, m for mini-cheetah\n\t      sim-or-robot: s for sim, r for "
      "robot\n");
}

int main_helper(int argc, char** argv, RobotController* ctrl) {
  install_segfault_handler();
  if (argc != 3) {
    printUsage();
    return EXIT_FAILURE;
  }

  if (argv[1][0] == '3') {
    gMasterConfig._robot = RobotType::CHEETAH_3;
  } else if (argv[1][0] == 'm') {
    gMasterConfig._robot = RobotType::MINI_CHEETAH;
  } else {
    printUsage();
    return EXIT_FAILURE;
  }

  if (argv[2][0] == 's') {
    gMasterConfig.simulated = true;
  } else if (argv[2][0] == 'r') {
    gMasterConfig.simulated = false;
  } else {
    printUsage();
    return EXIT_FAILURE;
  }

  printf("[Quadruped] Cheetah Software\n");
  printf("        Quadruped:  %s\n",
         gMasterConfig._robot == RobotType::MINI_CHEETAH ? "Mini Cheetah"
                                                         : "Cheetah 3");
  printf("        Driver: %s\n", gMasterConfig.simulated
                                     ? "Development Simulation Driver"
                                     : "Quadruped Driver");

  // dispatch the appropriate driver
  if (gMasterConfig.simulated) {
    if (gMasterConfig._robot == RobotType::MINI_CHEETAH) {
      SimulationBridge simulationBridge(gMasterConfig._robot, ctrl);
      simulationBridge.run();
      printf("[Quadruped] SimDriver run() has finished!\n");
    } else if (gMasterConfig._robot == RobotType::CHEETAH_3) {
      SimulationBridge simulationBridge(gMasterConfig._robot, ctrl);
      simulationBridge.run();
    } else {
      printf("[ERROR] unknown robot\n");
      assert(false);
    }
  } else {
    if (gMasterConfig._robot == RobotType::MINI_CHEETAH) {
      MiniCheetahHardwareBridge hw(ctrl);
      hw.run();
      printf("[Quadruped] SimDriver run() has finished!\n");
    } else if (gMasterConfig._robot == RobotType::CHEETAH_3) {
      printf("[ERROR] can't do cheetah 3 hardware\n");
      assert(false);
    } else {
      printf("[ERROR] unknown robot\n");
      assert(false);
    }
  }

  return 0;
}