#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. #include #include "ai/ai.hh" #include "timer/timer.hh" 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': // Gestion des différents cas/types de robot if (++i > argc) throw std::runtime_error ("syntax error"); switch (argv[i][0]) { case '0': // Pour un robot qui n'est pas fiable en // asservissement ai_.initBalNonFiable(); break; case '1': ai_.initBalFiable (); break; case '2': ai_.initTest (); break; case '3': ai_.runProtectFond (); break; default: throw std::runtime_error ("Param inconnue"); } 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], 0)); break; case 'a': if(++i > argc) throw std::runtime_error("syntax error"); ai_.rotation(strtod(argv[i], 0)); 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; case 'z': ai_.init(); break; default: throw std::runtime_error ("Error de syntaxe"); } ai_.update (); 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) { ai_.wait (stop - t); t = Timer::getProgramTime (); ai_.update(); } 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