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authorhaller2005-04-28 22:29:50 +0000
committerhaller2005-04-28 22:29:50 +0000
commit10e9b5ada8232d3ec6320953ad9b6f42bead79ed (patch)
treef1f64e18e1453cafa6c6c1d9cf53b4f2a35c47bc /2005
parentb1d4784cc7d1796c81aadb18ee8e7baefc04a601 (diff)
Ajout d'un test_es.cc pour tester la classe es
Ajout d'une fonction wait à la classe es Quelques modifications
Diffstat (limited to '2005')
-rw-r--r--2005/i/robert/src/es/es.cc5
-rw-r--r--2005/i/robert/src/es/es.hh12
-rw-r--r--2005/i/robert/src/es/test_es.cc143
3 files changed, 154 insertions, 6 deletions
diff --git a/2005/i/robert/src/es/es.cc b/2005/i/robert/src/es/es.cc
index 41baa51..5554d0a 100644
--- a/2005/i/robert/src/es/es.cc
+++ b/2005/i/robert/src/es/es.cc
@@ -72,6 +72,11 @@ void Es::ventouses(void)
proto_.send('v');
}
+void Es::wait(int timeout)
+{
+ proto_.wait(timeout);
+}
+
void receive(char command, const Proto::Frame & frame)
{
switch(command)
diff --git a/2005/i/robert/src/es/es.hh b/2005/i/robert/src/es/es.hh
index 86db4ed..a4d57f9 100644
--- a/2005/i/robert/src/es/es.hh
+++ b/2005/i/robert/src/es/es.hh
@@ -33,7 +33,7 @@ class Config;
class Es : public Proto::Receiver
{
public:
- typedef enum{HAUT, MILIEU, BAS} levelAsc;
+ enum levelAsc_t {HAUT, MILIEU, BAS};
private:
// Objet Proto de communication vers la carte es
Proto proto_;
@@ -50,7 +50,7 @@ class Es : public Proto::Receiver
bool jackOut_;
/// Etat des capteurs enculeurs de murs (true si enfoncés)
bool stateCapteurs_;
- levelAsc stateAsc;
+ levelAsc_t stateAsc_;
bool ascIdle_;
public:
@@ -62,14 +62,14 @@ class Es : public Proto::Receiver
bool getStateJack(void);
/// Renvoie la couleur sélectionné
bool getColor(void);
- /// Renvoie l'état des capteurs de contact(true si les 2 enfoncés)
- bool capteursContact(void);
/// Renvoie la position de l'ascenceur(true en haut false en bas)
- levelAsc stateAsc(void); ///XXX au secours
+ levelAsc_t stateAsc(void);
/// Execute un déplacement de l'ascenceur
- void moveAsc(bool monte);
+ void moveAsc(levelAsc_t monte);
/// Désactive les ventouses pour X secondes XXX vérifier la durées arg/config
void ventouses(void);
+ /// On attend ...
+ void wait(int timeout);
/// définition du receiver::receive
void receive(char command, const Proto::Frame & frame);
};
diff --git a/2005/i/robert/src/es/test_es.cc b/2005/i/robert/src/es/test_es.cc
new file mode 100644
index 0000000..e5d561a
--- /dev/null
+++ b/2005/i/robert/src/es/test_es.cc
@@ -0,0 +1,143 @@
+// test_es.cc
+// 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.
+//
+// }}}
+
+/// Affiche un memo de suntaxe.
+
+#include "timer/timer.hh"
+#include "config/config.hh"
+#include "es/es.hh"
+
+#include <iostream>
+
+ void
+syntax (void)
+{
+ std::cout << "test_es - test la classe es.\n"
+ "Syntaxe : test_es <...>\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;
+ }
+ Config config(argc, argv);
+ Es es(config);
+ i = 1;
+ while (i < argc)
+ {
+ switch (argv[i][0])
+ {
+ case 's':
+ {
+ switch(argv[++i][0])
+ {
+ case 'z':
+ es.init();
+ break;
+ case 'J':
+ std::cout << "Jack: \n" <<
+ "Booléen: " << es.getStateJack() << "\n" <<
+ "Le Jack est " << (es.getStateJack() ? "sortie" : "Entrée") << std::endl;
+ break;
+ case 'C':
+ std::cout << "Couleur: \n" <<
+ "Booléen: " << es.getColor() << "\n" <<
+ "La couleur sélectionné est le " <<
+ (es.getColor() ? "rouge" : "vert") << std::endl;
+ break;
+ case 'A':
+ std::cout << "L'ascenceur est en position ";
+ if(es.stateAsc() == Es::levelAsc_t::HAUT) // XXX Faudrait qu'on m'explique
+ std::cout << "HAUTE" << std::endl;
+ else if(es.stateAsc() == Es::levelAsc_t::MILIEU)
+ std::cout << "MILIEU" << std::endl;
+ else
+ std::cout << "BASSE" << std::endl;
+ break;
+ case 'a':
+ if(++i + 1 > argc)
+ throw std::runtime_error("syntax error");
+ switch(argv[i][0])
+ {
+ case '0':
+ es.moveAsc(Es::levelAsc_t::BAS);
+ break;
+ case '1':
+ es.moveAsc(Es::levelAsc_t::MILIEU);
+ break;
+ case '2':
+ es.moveAsc(Es::levelAsc_t::HAUT);
+ break;
+ }
+ break;
+ case 'v':
+ es.ventouses();
+ break;
+ }
+ 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)
+ {
+ es.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;
+}
+