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[Feature / PD-420] Adapt Kansei Main to Remove Ros Arguments #38

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merged 3 commits into from
Jun 25, 2024
Merged

[Feature / PD-420] Adapt Kansei Main to Remove Ros Arguments #38

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1ced285
feat: adapt main to remove ros arguments
hiikariri Jun 16, 2024
8ff56fe
fix: fix stashed problem
hiikariri Jun 17, 2024
671b3dd
fix: use constant reference to prevent variable copy
hiikariri Jun 19, 2024
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18 changes: 9 additions & 9 deletions src/kansei_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,9 @@

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);

std::string port_name = "/dev/ttyUSB1";
std::string port_name = "/dev/serial/by-id/usb-Seeed_Seeed_XIAO_M0_E8D70AB55154305147202020FF050926-if00";
std::string path = "";
kansei::fallen::DeterminantType determinant_type;

Expand All @@ -46,23 +46,23 @@ int main(int argc, char * argv[])
"Optional:\n"
"-h, --help show this help message and exit\n";

if (argc > 1) {
for (int i = 1; i < argc; i++) {
std::string arg = argv[i];
if (args.size() > 1) {
for (int i = 1; i < args.size(); i++) {
std::string arg = args[i];
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if (arg == "-h" || arg == "--help") {
std::cout << help_message << std::endl;
return 1;
} else if (arg == "--path") {
if (i + 1 < argc) {
path = argv[i + 1];
if (i + 1 < args.size()) {
path = args[i + 1];
i++;
} else {
std::cerr << "Error: --path requires a path argument" << std::endl;
return 1;
}
} else if (arg == "--type") {
if (i + 1 < argc) {
std::string fallen_type = argv[i + 1];
if (i + 1 < args.size()) {
std::string fallen_type = args[i + 1];
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if (fallen_type == "orientation") {
determinant_type = kansei::fallen::DeterminantType::ORIENTATION;
} else if (fallen_type == "accelero") {
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