protected static Options parseArguments(String[] args) throws JSAPException, IOException {
JSAP jsap = new JSAP();
FlaggedOption rosNameSpace =
new FlaggedOption("namespace")
.setLongFlag("namespace")
.setShortFlag(JSAP.NO_SHORTFLAG)
.setRequired(false)
.setStringParser(JSAP.STRING_PARSER);
rosNameSpace.setDefault(DEFAULT_PREFIX);
FlaggedOption tfPrefix =
new FlaggedOption("tfPrefix")
.setLongFlag("tfPrefix")
.setShortFlag(JSAP.NO_SHORTFLAG)
.setRequired(false)
.setStringParser(JSAP.STRING_PARSER);
tfPrefix.setDefault(DEFAULT_TF_PREFIX);
FlaggedOption model =
new FlaggedOption("robotModel")
.setLongFlag("model")
.setShortFlag('m')
.setRequired(false)
.setStringParser(JSAP.STRING_PARSER);
model.setDefault(DEFAULT_STRING);
FlaggedOption location =
new FlaggedOption("startingLocation")
.setLongFlag("location")
.setShortFlag('s')
.setRequired(false)
.setStringParser(JSAP.STRING_PARSER);
location.setDefault(DEFAULT_STRING);
Switch visualizeSCSSwitch =
new Switch("disable-visualize").setShortFlag('d').setLongFlag("disable-visualize");
visualizeSCSSwitch.setHelp("Disable rendering/visualization of Simulation Construction Set");
Switch requestAutomaticDiagnostic =
new Switch("requestAutomaticDiagnostic")
.setLongFlag("requestAutomaticDiagnostic")
.setShortFlag(JSAP.NO_SHORTFLAG);
requestAutomaticDiagnostic.setHelp("enable automatic diagnostic routine");
jsap.registerParameter(model);
jsap.registerParameter(location);
jsap.registerParameter(rosNameSpace);
jsap.registerParameter(tfPrefix);
jsap.registerParameter(requestAutomaticDiagnostic);
jsap.registerParameter(visualizeSCSSwitch);
JSAPResult config = jsap.parse(args);
Options options = new Options();
options.robotModel = config.getString(model.getID());
options.disableViz = config.getBoolean(visualizeSCSSwitch.getID());
options.startingLocation = config.getString(location.getID());
options.tfPrefix = config.getString(tfPrefix.getID());
options.nameSpace = config.getString(rosNameSpace.getID());
options.runAutomaticDiagnosticRoutine = config.getBoolean(requestAutomaticDiagnostic.getID());
return options;
}
