60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
#include <iostream>
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#include <sstream>
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#include <fstream>
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#include <string>
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#include <vector>
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#include <filesystem>
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#include <algorithm>
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#include <optional>
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#include <chrono>
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#include <iomanip>
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#include "robot_controller.hpp"
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#include "user_controller.hpp"
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#include "robot_interface.hpp"
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using namespace unitree::common;
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using namespace unitree::robot;
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namespace fs = std::filesystem;
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int main(int argc, char const *argv[])
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{
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std::string param_folder;
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// parse command line params
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for (int i = 1; i < argc; ++i)
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{
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std::string arg = argv[i];
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if (arg == "--param" && i + 1 < argc)
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{
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param_folder = argv[i + 1];
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}
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}
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fs::path param = fs::current_path() / param_folder;
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// log
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auto now = std::chrono::system_clock::now();
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auto time = std::chrono::system_clock::to_time_t(now);
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std::stringstream ss;
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ss << std::put_time(std::localtime(&time), "%Y_%m_%d_%H_%M_%S");
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fs::path log_folder = fs::current_path() / "logs" / ss.str();
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fs::create_directories(log_folder);
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std::ofstream cfg_file(log_folder / "cfg.txt");
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cfg_file << "param_folder: " << param << std::endl;
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cfg_file.close();
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fs::path log_file_name = log_folder / "log.txt";
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RobotController<ExampleUserController> robot_controller(log_file_name);
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robot_controller.LoadParam(param);
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robot_controller.InitDdsModel();
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robot_controller.StartControl();
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return 0;
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} |