// test_io.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 "gpio_servo_pp.h" #include "gpio_asserv.h" #include "gpio_concat.h" #include "servo.h" #include "date/date.h" #include "motor/asserv.h" #include "io_cmd.h" #include #include void syntax (void) { std::cout << "test_io - teste les entrées/sorties.\n" << ioHelp << " attend\n" " ? cet ecran d'aide" << std::endl; } int main (int argc, char **argv) { try { AsservTracker at; Asserv a (at); a.reset (); GpioServoPp gspp; GpioAsserv ga (a); GpioConcat gc (ga, gspp, ga.getNbIo ()); int i = 1; while (i < argc) { if (!ioCmd (argc, argv, i, gc)) { 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; Date::wait (s * 1000); break; } } a.waitOk (); gspp.update (); } return 0; } catch (const std::exception &e) { std::cerr << e.what () << std::endl; return 1; } }