From ac5749a03f51d6cd883f9991c3cf271b9aced847 Mon Sep 17 00:00:00 2001 From: haller Date: Thu, 28 Apr 2005 22:28:39 +0000 Subject: Création d'un programme de test pour ai Ajout d'une fonction wait dans la classe ai autres petites modification dans ai --- 2005/i/robert/src/ai/ai.hh | 9 +-- 2005/i/robert/src/ai/test_ai.cc | 163 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 166 insertions(+), 6 deletions(-) create mode 100644 2005/i/robert/src/ai/test_ai.cc diff --git a/2005/i/robert/src/ai/ai.hh b/2005/i/robert/src/ai/ai.hh index 5ce3bc2..68a99b9 100644 --- a/2005/i/robert/src/ai/ai.hh +++ b/2005/i/robert/src/ai/ai.hh @@ -53,24 +53,21 @@ class Ai void stop (void); /// Lance le robot. void run (void); - protected: /// Lance le robot. - void run0 (void); - void run1 (void); /// Attend. void wait (int t); // Attend le jack entré (false) ou sorti (true). void waitJack (bool out); /// Rejoint un point. - void goTo (double x, double y); + void goTo (double x, double y, double a); /// Recale contre une bordure. void recale (void); /// Mouvement basic. - void basic (double v, double d); + void basic (double d); /// Rotation. void rotation (double a); /// Monte(vrai) ou descend(faux) l'ascenceur - void ascenceur (bool monte); + void ascenceur (stateAsc monte); /// Désactive les ventouse void ventouses (void); /// Attend une mise à jour diff --git a/2005/i/robert/src/ai/test_ai.cc b/2005/i/robert/src/ai/test_ai.cc new file mode 100644 index 0000000..91077c0 --- /dev/null +++ b/2005/i/robert/src/ai/test_ai.cc @@ -0,0 +1,163 @@ +#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. +// +// }}} + +/// Affiche un memo de suntaxe. + void +syntax (void) +{ + std::cout << "test_asserv - test la classe de protocol asserv.\n" + "Syntaxe : test_asserv <...>\n" + " s envois une commande\n" + " w 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); + Ai ai(config); + i = 1; + while (i < argc) + { + switch (argv[i][0]) + { + case 's': + { + switch(argv[++i][0]) + { + case 'i': + ai.init(); + break; + case 's': + ai.stop(); + break; + case 'r': + ai.run(); + break; + case 'j': + if(++i > argc) + throw std::runtime_error("syntax error"); + if(argv[i][0] == 0) + { + std::cout << "Attente de l'entrée de Jack" << std::endl; + ai.waitJack(false); + } + else + { + std::cout << "Attente de la sortie de Jack" << std:endl; + ai.waitJack(true); + } + break; + case 'g': + if(++i + 2 > argc) + throw std::runtime_error("syntax error"); + ai.goTo(strtod(argv[i], 0), + strtod(argv[i + 1], 0), + strtod(argv[i + 2], 0)); + i += 2; + break; + case 'r': + ai.recale(); + break; + case 'b': + if(++i > argc) + throw std::runtime_error("syntax error"); + ai.basic(strtod(argv[i])); + break; + case 'r': + if(++i > argc) + throw std::runtime_error("syntax error"); + ai.rotation(strtod(argv[i])); + break; + case 'a': + if(++i + 1 > argc) + throw std::runtime_error("syntax error"); + switch(argv[i]) + { + case '0': + ai.moveAsc(BAS); + break; + case '1': + ai.moveAsc(MILIEU); + break; + case '2': + ai.moveAsc(HAUT); + break; + } + break; + case 'v': + ai.ventouses(); + break; + case 'U': + ai.update(); + 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) + { + 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 -- cgit v1.2.3