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// 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 "servo.h"
#include "date/date.h"

#include <stdexcept>
#include <iostream>

void
syntax (void)
{
    std::cout <<
	"test_io - teste les entr�es/sorties.\n"
	" s <n> <bits> <nb>  set des sorties.\n"
	" g <n> <nb>         get des entr�es.\n"
	" <timeout>          attend un certain temps (qui augmente avec timeout)\n"
	" ?                  cet ecran d'aide" << std::endl;
}

int
main (int argc, char **argv)
{
    try
      {
	GpioServoPp gspp;
	int i = 1;
	while (i < argc)
	  {
	    switch (argv[i][0])
	      {
	      case 's':
		i++;
		int n, bits, nb;
		if (i >= argc) break;
		n = atoi (argv[i++]);
		if (i >= argc) break;
		bits = atoi (argv[i++]);
		if (i >= argc) break;
		nb = atoi (argv[i++]);
		std::cout << "set " << n << ' ' << std::hex << bits <<
		    std::dec << ' ' << nb << std::endl;
		gspp.set (n, bits, nb);
		break;
	      case 'g':
		i++;
		int n, bits, nb;
		if (i >= argc) break;
		n = atoi (argv[i++]);
		if (i >= argc) break;
		nb = atoi (argv[i++]);
		for (int i = 0; i < 20; ++i)
		  {
		    std::cout << "preget " << n << ' ' << nb << std::endl;
		    if (gspp.preget (n, nb))
		      {
			bits = gspp.get (n, nb);
			std::cout << "get " << std::hex << bits << std::dec <<
			    std::endl;
			break;
		      }
		    Date::wait (50);
		  }
		break;
	      default:
		int s;
		s = atoi (argv[i++]);
		if (s == 0)
		  {
		    syntax ();
		    return 1;
		  }
		cout << "test: sleep " << s << endl;
		Date::wait (s * 1000);
		break;
	      }
	  }
	return 0;
      }
    catch (const std::exception &e)
      {
	std::cerr << e.what () << std::endl;
	return 1;
      }
}