/*
?*?Copyright?（C）?2012?NsLib
?*
?*?This?library?is?free?software;?you?can?redistribute?it?and/or
?*?modify?it?under?the?terms?of?the?GNU?Library?General?Public
?*?License?as?published?by?the?Free?Software?Foundation;?either
?*?version?2?of?the?License?or?（at?your?option）?any?later?version.
?*
?*?This?library?is?distributed?in?the?hope?that?it?will?be?useful
?*?but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
?*?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the?GNU
?*?Library?General?Public?License?for?more?details.
?*
?*?You?should?have?received?a?copy?of?the?GNU?Library?General?Public
?*?License?along?with?this?library;?if?not?write?to?the?Free
?*?Software?Foundation?Inc.?675?Mass?Ave?Cambridge?MA?02139?USA.
?*/

#include?
#include?

#include?“include/AppConfig.h“
#include?“include/CheckHelper.h“
#include?“include/TrackerViewer.h“
#include?“include/Communication.h“
#include?“include/ControlRobot.h“


#define?CONFIG_xml_PATH?“./Config.xml“

NsLib::ControlRobot?g_controlRobot;

//#define?MOCK_COMMUNICATION

int?main（int?argc?char?**argv）
{
????//?解析命令行參數并配置程序
????NsAppConfig（）.init（argc?argv）;
????
????//?PC機與機器人的通信設施
#ifdef?MOCK_COMMUNICATION
????NsLib::MockCommunication?communication;
#else
????
????NsLib::SerialPortCommunication?communication;
#endif
????if?（!NsLib::CheckInitError（communication.init（）
????????????????????????????“Can‘t?init?communication“））
????????return?1;
????
????//?機器人控制設施
????if?（!NsLib::CheckInitError（g_controlRobot.init（&communication）
??????????????????????????????“Can‘t?init?robot?controller“））
????????return?1;
????
????XnStatus?result;
????xn::Context?context;
????xn::scriptNode?scriptNode;
????xn::Enumerationerrors?errors;
????
????//?使用xml文件配置OpenNI庫
????result?=?context.InitFromxmlFile（CONFIG_xml_PATH?scriptNode?&errors）;
????if?（XN_STATUS_NO_NODE_PRESENT?==?result）
????{
????????XnChar?strError[1024];
????????errors.ToString（strError?1024）;
????????NsLog（）->error（strError）;
????????return?1;
????}
????else?if?（!NsLib::CheckOpenNIError（result?“Open?config?xml?fialed“））
????????return?1;
????
????NsLib::TrackerViewer::createInstance（context?scriptNode）;
????NsLib::TrackerViewer?&trackerViewer?=?NsLib::TrackerViewer::getInstance（）;
????
????if?（!trackerViewer.init（））
????????return?1;
????
????trackerViewer.run（）;
????
????NsLib::TrackerViewer::destroyInstance（trackerViewer）;
????
????return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2012-06-30?21:05??KinectControlRobot\
?????文件?????????144??2012-06-25?23:42??KinectControlRobot\.dep.inc
?????目錄???????????0??2012-06-30?21:13??KinectControlRobot\.git\
?????文件??????????23??2012-04-14?17:54??KinectControlRobot\.git\HEAD
?????目錄???????????0??2012-04-14?17:54??KinectControlRobot\.git\branches\
?????文件??????????96??2012-04-14?17:54??KinectControlRobot\.git\config
?????目錄???????????0??2012-04-14?17:54??KinectControlRobot\.git\hooks\
?????文件???????21736??2012-06-30?21:13??KinectControlRobot\.git\index
?????目錄???????????0??2012-04-14?20:09??KinectControlRobot\.git\logs\
?????文件????????2669??2012-06-30?21:13??KinectControlRobot\.git\logs\HEAD
?????目錄???????????0??2012-04-14?17:54??KinectControlRobot\.git\logs\refs\
?????目錄???????????0??2012-04-15?14:53??KinectControlRobot\.git\logs\refs\heads\
?????文件?????????156??2012-04-15?14:53??KinectControlRobot\.git\logs\refs\heads\Init-0.0.0.1
?????文件????????2669??2012-06-30?21:13??KinectControlRobot\.git\logs\refs\heads\master
?????目錄???????????0??2012-06-30?21:13??KinectControlRobot\.git\objects\
?????目錄???????????0??2012-04-14?20:09??KinectControlRobot\.git\objects\01\
?????文件????????5374??2012-04-14?20:09??KinectControlRobot\.git\objects\01\82371b3bed3229c4f474530a0a235b69810c6e
?????文件?????????108??2012-04-14?20:09??KinectControlRobot\.git\objects\01\f5fa6a596e36bd12c2d6ceff1b0169fda7e699
?????目錄???????????0??2012-04-15?11:44??KinectControlRobot\.git\objects\03\
?????文件?????????268??2012-04-14?20:09??KinectControlRobot\.git\objects\03\607a87594a9af1b749291b6679b91536d61c06
?????文件????????1919??2012-04-14?20:09??KinectControlRobot\.git\objects\03\9457a59471574fa4800bffd0d332bfa1ff9135
?????文件??????????66??2012-04-15?11:44??KinectControlRobot\.git\objects\03\f690ac45392c59444a1b8d41a88da485fbea91
?????目錄???????????0??2012-06-24?20:43??KinectControlRobot\.git\objects\04\
?????文件??????????65??2012-04-15?11:44??KinectControlRobot\.git\objects\04\2e2ad02deccabffd55d88f985fb31f614e31d9
?????文件?????????473??2012-04-14?20:09??KinectControlRobot\.git\objects\04\3cdcb544cefacbfd3b6b8bcef7d74b5b9f5bce
?????文件?????????386??2012-06-24?20:43??KinectControlRobot\.git\objects\04\608f5c87143b366e95a255f145073688ca04ea
?????文件????????2263??2012-04-14?20:09??KinectControlRobot\.git\objects\04\e1cacc681a8e3be4245b54566ecd60b3931ac7
?????目錄???????????0??2012-04-14?20:09??KinectControlRobot\.git\objects\05\
?????文件??????????45??2012-04-14?20:09??KinectControlRobot\.git\objects\05\6702b3bf54a9d2ce03de585ccef5a1e45c01a6
?????目錄???????????0??2012-06-30?21:13??KinectControlRobot\.git\objects\08\
?????文件????????1687??2012-06-25?23:43??KinectControlRobot\.git\objects\08\534a86498e5c0dda982edd543ce625584cf124
............此處省略5336個文件信息