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authorhaller2005-04-16 23:43:45 +0000
committerhaller2005-04-16 23:43:45 +0000
commit21af4d885eff12ebe6c6d0472ec4b3897bcbaeae (patch)
treee797c74a8f9b9b7cd2458175ee8fa82035d0871e /2005/i/robert/src/asserv/test_asserv.cc
parentc2a1cd33124b69bc31fefbae73268e8b012b5879 (diff)
Modifications diverses
Codages de test_asserv
Diffstat (limited to '2005/i/robert/src/asserv/test_asserv.cc')
-rw-r--r--2005/i/robert/src/asserv/test_asserv.cc277
1 files changed, 277 insertions, 0 deletions
diff --git a/2005/i/robert/src/asserv/test_asserv.cc b/2005/i/robert/src/asserv/test_asserv.cc
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+#ifndef test_asserv_hh
+#define test_asserv_hh
+// asserv.hh
+// robert - programme du robot 2005 {{{
+//
+// Copyright (C) 2005 Nicolas Haller
+//
+// Robot APB Team/Efrei 2005.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program 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 General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+/// Classe de test pour asserv.
+class TestAsserv : public Asserv::Receiver
+{
+ void receiveCounter (double lMotor, double rMotor)
+ {
+ std::cout << "C:" << "lMotor:" << lMotor << " rMotor:" << rMotor << std::endl;
+ }
+ void receivePosX (double xPos)
+ {
+ std::cout << "X:" << "XPos:" << xPos << std::endl;
+ }
+ void receivePosY (double yPos)
+ {
+ std::cout << "Y:" << "yPos:" << yPos << std::endl;
+ }
+ void receivePosA (double aPos)
+ {
+ std::cout << "A:" << "aPos:" << aPos << std::endl;
+ }
+ void receiveMotor (int oldLSpeed_e, int LSpeed_int, int oldRSpeed_e, int RSpeed_int)
+ {
+ std::cout << "S:" << "oldLSpeed_e:" << oldLSpeed_e << "LSpeed_int:" <<
+ LSpeed_int << "oldRSpeed_e:" << oldRSpeed_e <<
+ "RSpeed_int:" << RSpeed_int << std::endl;
+ }
+ void receivePwm (double leftPwm, double rightPwm)
+ {
+ std::cout << "W:" << "leftPwm" << leftPwm << " rightPwm:" << rightPwm << std::endl;
+ }
+ void receiveTiming (double motorTimer5, double motorTimer4,
+ double motorTimer3, double motorTimer2,
+ double motorTimer1,
+ double motorTimer0 )
+ {
+ std::cout << "T:" << "motorTimer5:" << motorTimer5 <<
+ " motorTimer4:" << motorTimer4 << "motorTimer3:" <<
+ motorTimer3 << "motorTimer2:" << motorTimer2 <<
+ "motorTimer1:" << motorTimer1 << "motorTimer0:" <<
+ motorTimer0 << std::endl;
+ }
+ void receiveInPort (double state)
+ {
+ std::cout << "P:" << "state:" << state << std::endl;
+ }
+ void jaifini (void)
+ {
+ std::cout << "F:" << "J'ai fini!!" << std::endl;
+ }
+};
+
+/// Affiche un memo de suntaxe.
+void
+syntax (void)
+{
+ std::cout << "test_asserv - test la classe de protocol asserv.\n"
+ "Syntaxe : test_asserv <config File> <...>\n"
+ " s <cmd> <args...> envois une commande\n"
+ " w <ms> attend pendant un nombre de millisecondes\n"
+ " ? affiche cet écran d'aide\n"
+ << std::endl;
+}
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ int i;
+ if (argc < 2)
+ {
+ syntax ();
+ return 1;
+ }
+ TestAsserv testAsserv;
+ Asserv asserv(config, testAsserv);
+ //proto.open (argv[1]);
+ // XXX Charger la conf
+ i = 2;
+ while (i < argc)
+ {
+ switch (argv[i][0])
+ {
+ case 's':
+ {
+ switch(arg[++i][0])
+ {
+ case 'z':
+ asserv.reset();
+ break;
+ case 'l':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.linearMove(strtod(argv[i], 0));
+ break;
+ case 'a':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.angularMove(strtod(argv[i], 0));
+ break;
+ case 'g':
+ if(++i + 1 > argc)
+ throw std::runtime_error("syntax error");
+ asserv.goToPosition(strtod(argv[i], 0), strtod(argv[++i], 0));
+ break;
+ case 'f':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.fuckTheWall(strtod(argv[i], 0));
+ break;
+ case 's':
+ if(++i + 1 > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setSpeed(strtod(argv[i], 0), strtod(argv[++i], 0));
+ break;
+ case 'w':
+ if(++i + 1 > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setPwm(strtod(argv[i], 0), strtod(argv[++i], 0));
+ break;
+ case 'F':
+ asserv.finishAck();
+ break;
+ case 'C':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.statCounter(strtod(argv[i], 0));
+ break;
+ case 'X':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.statPosition(strtod(argv[i], 0));
+ break;
+ case 'S':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.statMotor(strtod(argv[i], 0));
+ break;
+ case 'W':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.statPwm(strtod(argv[i], 0));
+ break;
+ case 'T':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.statTiming(strtod(argv[i], 0));
+ break;
+ case 'P':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.fuckTheWall(strtod(argv[i], 0));
+ break;
+ case 'p':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ switch(argv[i][0])
+ {
+ case 'x':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setXPos(strtod(argv[i], 0));
+ break;
+ case 'y':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setYPos(strtod(argv[i], 0));
+ break;
+ case 'a':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setAngle(strtod(argv[i], 0));
+ break;
+ case 'f':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setFooting(strtod(argv[i], 0));
+ break;
+ case 'e':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setEpsilon(strtod(argv[i], 0));
+ break;
+ case 'p':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setKp(strtod(argv[i], 0));
+ break;
+ case 'i':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setKi(strtod(argv[i], 0));
+ break;
+ case 'd':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setKd(strtod(argv[i], 0));
+ break;
+ case 'I':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setSpeedIntMax(strtoi(argv[i], 0));
+ break;
+ case 'a':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setAccel(strtod(argv[i], 0));
+ break;
+ case 'm':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setMaxSpeed(strtod(argv[i], 0));
+ break;
+
+ while (!asserv.wait (-1))
+ ;
+ }
+ break;
+ case 'w':
+ {
+ int stop, t;
+ if (i + 1 >= argc)
+ throw std::runtime_error ("syntax error");
+ stop = atoi (argv[++i]) + Timer::getProgramTime ();
+ t = Timer::getProgramTime ();
+ while (t < stop)
+ {
+ asserv.wait (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ break;
+ }
+ case '?':
+ syntax ();
+ return 0;
+ default:
+ throw std::runtime_error ("syntax error");
+ }
+ i++;
+ }
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ syntax ();
+ return 1;
+ }
+ return 0;
+}
+
+#endif // test_asserv.hh