main.cpp

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#include <argos3/core/simulator/simulator.h>
#include <argos3/core/utility/plugins/dynamic_loading.h>
#include <argos3/core/simulator/query_plugins.h>
#include <argos3/core/simulator/argos_command_line_arg_parser.h>
 
using namespace argos;
 
int main(int n_argc, char** ppch_argv) {
   try {
      /* Create a new instance of the simulator */
      CSimulator& cSimulator = CSimulator::GetInstance();
      /* Configure the command line options */
      CARGoSCommandLineArgParser cACLAP;
      /* Parse command line */
      cACLAP.Parse(n_argc, ppch_argv);
      switch(cACLAP.GetAction()) {
         case CARGoSCommandLineArgParser::ACTION_RUN_EXPERIMENT:
            CDynamicLoading::LoadAllLibraries();
            cSimulator.SetExperimentFileName(cACLAP.GetExperimentConfigFile());
            cSimulator.LoadExperiment();
            cSimulator.Execute();
            break;
         case CARGoSCommandLineArgParser::ACTION_QUERY:
            CDynamicLoading::LoadAllLibraries();
            QueryPlugins(cACLAP.GetQuery());
            break;
         case CARGoSCommandLineArgParser::ACTION_SHOW_HELP:
            cACLAP.PrintUsage(LOG);
            break;
         case CARGoSCommandLineArgParser::ACTION_SHOW_VERSION:
            cACLAP.PrintVersion();
            break;
         case CARGoSCommandLineArgParser::ACTION_UNKNOWN:
            /* Should never get here */
            break;
      }
      /* Done, destroy stuff */
      cSimulator.Destroy();
   }
   catch(std::exception& ex) {
      /* A fatal error occurred: dispose of data, print error and exit */
      LOGERR << ex.what() << std::endl;
#ifdef ARGOS_THREADSAFE_LOG
      LOG.Flush();
      LOGERR.Flush();
#endif
      return 1;
   }
   /* Everything's ok, exit */
   return 0;
}