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+// test_robot.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// 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.
+//
+// }}}
+#include "date/date.h"
+#include "io/gpio_asserv.h"
+#include "io/gpio_concat.h"
+#include "io/gpio_servo_pp.h"
+#include "io/io_cmd.h"
+#include "io/servo.h"
+#include "motor/asserv.h"
+#include "motor/motor_cmd.h"
+#include "motor/motor.h"
+
+#include <iostream>
+#include <unistd.h>
+#include <cstdlib>
+#include <exception>
+
+void
+syntax (void)
+{
+ std::cout <<
+ "test_robot - teste tout le robot.\n"
+ << motorHelp << ioHelp <<
+ " <timeout> attend (ms)\n"
+ " ? cet ecran d'aide" << std::endl;
+}
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ Motor m;
+ GpioServoPp gspp;
+ GpioAsserv ga (m.getAsserv ());
+ GpioConcat gc (ga, gspp, ga.getNbIo ());
+ int i = 1;
+ while (i < argc)
+ {
+ if (!ioCmd (argc, argv, i, gc) && !motorCmd (argc, argv, i, m))
+ {
+ switch (argv[i][0])
+ {
+ case '?':
+ syntax ();
+ return 0;
+ default:
+ int s;
+ s = atoi (argv[i++]);
+ if (s == 0)
+ {
+ syntax ();
+ return 1;
+ }
+ cout << "test: sleep " << s << endl;
+ int start;
+ start = Date::getInstance ().start ();
+ while (Date::getInstance ().start () < start + s)
+ {
+ m.ok ();
+ Date::wait (50);
+ }
+ break;
+ }
+ }
+ m.waitEnd ();
+ gspp.update ();
+ }
+ return 0;
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ return 1;
+ }
+}