Add support for controlling the DroneServer ip address so we can talk…

… to it across machines.
ghexp · Feb 17, 2017 · 7c0bb3f · 7c0bb3f
1 parent 88d0b6e
commit 7c0bb3f
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Showing 7 changed files with 627 additions and 513 deletions.
diff --git a/AirLib/include/control/RpcLibServer.hpp b/AirLib/include/control/RpcLibServer.hpp
@@ -13,7 +13,7 @@ namespace msr { namespace airlib {
 
 class RpcLibServer : ControlServerBase {
 public:
-    RpcLibServer(DroneControlServer* drone, uint16_t port = 41451);
+    RpcLibServer(DroneControlServer* drone, string server_address, uint16_t port = 41451);
     virtual void start(bool block = false) override;
     virtual void stop() override;
     virtual ~RpcLibServer() override;

diff --git a/AirLib/src/control/RpcLibServer.cpp b/AirLib/src/control/RpcLibServer.cpp
@@ -25,19 +25,19 @@ STRICT_MODE_ON
 namespace msr { namespace airlib {
 
 struct RpcLibServer::impl {
-    impl(uint16_t port)
-        : server(port)
+    impl(string server_address, uint16_t port)
+        : server(server_address, port)
     {}
 
     rpc::server server;
 };
 
 typedef msr::airlib_rpclib::RpcLibAdapators RpcLibAdapators;
 
-RpcLibServer::RpcLibServer(DroneControlServer* drone, uint16_t port)
+RpcLibServer::RpcLibServer(DroneControlServer* drone, string server_address, uint16_t port)
         : drone_(drone)
 {
-    pimpl_.reset(new impl(port));
+    pimpl_.reset(new impl(server_address, port));
     pimpl_->server.bind("armDisarm", [&](bool arm) -> bool { return drone_->armDisarm(arm); });
     pimpl_->server.bind("requestControl", [&]() -> bool { return drone_->requestControl(); });
     pimpl_->server.bind("releaseControl", [&]() -> bool { return drone_->releaseControl(); });

diff --git a/DroneServer/main.cpp b/DroneServer/main.cpp
@@ -2,24 +2,61 @@
 // Licensed under the MIT License.
 
 #include <iostream>
+#include <string>
 #include "control/RpcLibServer.hpp"
 #include "control/MavLinkDroneControl.hpp"
 
+using namespace std;
+using namespace msr::airlib;
 
-int main() 
+std::string server_address("127.0.0.1");
+
+bool parseCommandLine(int argc, const char* argv[])
+{
+    // parse command line
+    for (int i = 1; i < argc; i++)
+    {
+        const char* arg = argv[i];
+        if (arg[0] == '-' || arg[0] == '/')
+        {
+            std::string name = arg + 1;
+            if (name == "ipaddress" && i + 1 < argc)
+            {
+                server_address = argv[++i];
+            }
+            else {
+                return false;
+            }
+        }
+        else {
+            return false;
+        }
+    }
+    return true;
+}
+
+void printUsage() {
+    cout << "Usage: DroneServer [-ipaddress 127.0.0.1]" << endl;
+}
+
+int main(int argc, const char* argv[])
 {
-    using namespace msr::airlib;
+    if (!parseCommandLine(argc, argv)) {
+        printUsage();
+        return 1;
+    }
 
     MavLinkDroneControl::Parameters params;
+    params.udpAddress = server_address;
     MavLinkDroneControl mav(params);
     DroneControlServer server_wrapper(&mav);
-    msr::airlib::RpcLibServer server(&server_wrapper);
+    msr::airlib::RpcLibServer server(&server_wrapper, server_address);
 
-    auto v = vector<msr::airlib::uint8_t>{ 5, 4, 3 };
+    auto v = std::vector<msr::airlib::uint8_t>{ 5, 4, 3 };
     server_wrapper.setImageForCamera(3, DroneControlBase::ImageType::Depth, v);
-    server_wrapper.setImageForCamera(4, DroneControlBase::ImageType::Scene, vector<msr::airlib::uint8_t>{6, 5, 4, 3, 2});
+    server_wrapper.setImageForCamera(4, DroneControlBase::ImageType::Scene, std::vector<msr::airlib::uint8_t>{6, 5, 4, 3, 2});
 
-    std::cout << "Server started" << std::endl;
+    std::cout << "Server started at " << server_address << ":" << params.udpPort << std::endl;
     server.start(true);
     return 0;
 }