add command line arguments using CLI11 module

CMakeLists.txt

@@ -1,3 +1,4 @@
+cmake_minimum_required(VERSION 3.26)
 project(spacenavigt)
 include(FetchContent)
 
@@ -8,6 +9,13 @@ FetchContent_Declare(
 )
 FetchContent_MakeAvailable(OpenIGTLink)
 
+FetchContent_Declare(
+  cli11
+  GIT_REPOSITORY https://github.com/CLIUtils/CLI11
+  GIT_TAG        985a19f3860be0cba87354336f6588494b20111c
+)
+FetchContent_MakeAvailable(cli11)
+
 ExternalProject_Add(
     spnav
     GIT_REPOSITORY https://github.com/FreeSpacenav/libspnav
@@ -23,13 +31,12 @@ ExternalProject_Get_Property(spnav install_dir)
 add_library(lspnav STATIC IMPORTED)
 set_property(TARGET lspnav PROPERTY IMPORTED_LOCATION ${install_dir}/lib/libspnav.so)
 add_dependencies(lspnav spnav)
-include_directories(${install_dir}/include)
 
 find_package(OpenIGTLink REQUIRED)
 include(${OpenIGTLink_USE_FILE})
 
 find_package(X11 REQUIRED)
-include_directories(${X11_INCLUDE_DIR})
+include_directories(${install_dir}/include ${X11_INCLUDE_DIR} ${cli11_SOURCE_DIR}/include)
 link_directories(${X11_LIBRARIES})
 
 add_executable(spnavigt src/spnavigt.cpp)

README.md

@@ -22,9 +22,9 @@ transform called "SpaceMouse".
 
 ## TODOs ##
 
-* [ ] CMake build with FetchContent (auto-install OpenIGTLink)
+* [x] CMake build with FetchContent (auto-install OpenIGTLink)
 * [x] Rotations (so far, only translations are supported)
 * [ ] Flexible configuration via JSON
-* [ ] System-wide installation
+* [x] System-wide installation
 * [ ] Use button events somehow
-* [ ] Command line arguments
+* [x] Command line arguments

src/spnavigt.cpp

@@ -3,6 +3,11 @@
 #include <csignal>
 #include <cmath>
 
+
+#include <CLI/App.hpp>
+#include <CLI/Formatter.hpp>
+#include <CLI/Config.hpp>
+
 #include <spnav.h>
 
 #include <igtlServerSocket.h>
@@ -23,19 +28,19 @@ QuadMatrix<4> rotmatX(float angle)
     double a = M_PI * angle / 180.0;
     float arr[4][4] = {
         {1.0f, 0.0f, 0.0f, 0.0f},
-        {0.0f, cos(a), -sin(a), 0.0f},
-        {0.0f, sin(a), cos(a), 0.0f},
+        {0.0f, (float)cos(a), (float)-sin(a), 0.0f},
+        {0.0f, (float)sin(a), (float)cos(a), 0.0f},
         {0.0f, 0.0f, 0.0f, 1.0f}};
     return QuadMatrix<4>(arr);
 }
 
 QuadMatrix<4> rotmatY(float angle)
 {
     double a = M_PI * angle / 180.0;
-    float arr[4][4]  = {
-        {cos(a), 0.0f, sin(a), 0.0f},
+    float arr[4][4] = {
+        {(float)cos(a), 0.0f, (float)sin(a), 0.0f},
         {0.0f, 1.0f, 0.0f, 0.0f},
-        {-sin(a), 0.0f, cos(a), 0.0f},
+        {(float)-sin(a), 0.0f, (float)cos(a), 0.0f},
         {0.0f, 0.0f, 0.0f, 1.0f}};
     return QuadMatrix<4>(arr);
 }
@@ -44,14 +49,14 @@ QuadMatrix<4> rotmatZ(float angle)
 {
     double a = M_PI * angle / 180.0;
     float arr[4][4] = {
-        {cos(a), -sin(a), 0.0f, 0.0f},
-        {sin(a), cos(a), 0.0f, 0.0f},
+        {(float)cos(a), (float)-sin(a), 0.0f, 0.0f},
+        {(float)sin(a), (float)cos(a), 0.0f, 0.0f},
         {0.0f, 0.0f, 1.0f, 0.0f},
         {0.0f, 0.0f, 0.0f, 1.0f}};
     return QuadMatrix<4>(arr);
 }
 
-int main(void)
+int main(int argc, char* argv[])
 {
     spnav_event sev;
 
@@ -63,12 +68,18 @@ int main(void)
         return 1;
     }
 
-    int port = 18945;
+    int port = 18944;
     int timeout = 1000;
     running = true;
     auto server_socket = igtl::ServerSocket::New();
     int status = server_socket->CreateServer(port);
 
+    // parse command line args
+    CLI::App app{"3DConnexion IGTLink Server"};
+    app.add_option("-p,--port", port, "IGTLink server port");
+    app.add_option("-t,--timeout", timeout, "Connection timeout");
+    CLI11_PARSE(app, argc, argv);
+
     QuadMatrix<4> T, Rx, Ry, Rz;
 
     if (status < 0)