// test_asserv.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 "asserv.h" #include "date/date.h" #include #include #include #include using namespace std; class AsservTrackerC : public AsservTracker { int s; public: AsservTrackerC (void) : s (0) { } // Appelée lors d'une mise à jour des compteurs. virtual void updateCounter (int l, int r) { s += l; } // Affiche. void aff (void) { std::cout << s << std::endl; } // Reset. void reset (void) { s = 0; } }; void syntax (void) { std::cout << "test_asserv - teste la communication avec la carte " "d'asservissement.\n" " s stop\n" " z rezet\n" " g go (active l'asservissement)\n" " G ungo (désactive l'asservissement)\n" " v vitesse gauche (vg) et droite (vd) en unité de la\n" " carte d'asservissement\n" " attend un certain temps (qui augmente avec timeout)\n" " ? cet ecran d'aide" << std::endl; } int main (int argc, char **argv) { try { AsservTrackerC at; Asserv m (at); int i = 1; while (i < argc) { switch (argv[i][0]) { case 's': at.reset (); std::cout << "stop" << std::endl; i++; m.stop (); break; case 'z': std::cout << "rezet" << std::endl; i++; m.reset (); break; case 'g': std::cout << "go" << std::endl; i++; m.setAsserv (); break; case 'G': std::cout << "ungo" << std::endl; i++; m.setAsserv (false); break; case 'v': i++; int vg, vd; if (i >= argc) break; vg = atoi (argv[i++]); if (i >= argc) break; vd = atoi (argv[i++]); std::cout << "speed " << vg << ' ' << vd << std::endl; m.speed (vg, vd); break; case '?': syntax (); return 0; default: int s; s = atoi (argv[i++]); if (s == 0) { syntax (); return 1; } std::cout << "sleep " << s << std::endl; int start; start = Date::getInstance ().start (); while (Date::getInstance ().start () < start + s) { m.ok (); Date::wait (1); } break; } m.waitOk (); } at.aff (); return 0; } catch (const std::exception &e) { std::cerr << e.what () << std::endl; return 1; } }