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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 "analog_servo_pp.h"
#include "analog_cmd.h"
#include "date/date.h"
#include "gpio_asserv.h"
#include "gpio_cmd.h"
#include "gpio_concat.h"
#include "gpio_servo_pp.h"
#include "gpio_param.h"
#include "motor/asserv.h"
#include "servo_cmd.h"
#include "servo.h"

#include <exception>
#include <iostream>

void
syntax (void)
{
    std::cout <<
	"test_io - teste les entr�es/sorties.\n"
	<< gpioHelp << servoHelp << analogHelp <<
	" f                  lit les entr�es et affiche\n"
	" <timeout>          attend\n"
	" ?                  cet ecran d'aide" << std::endl;
}

int
main (int argc, char **argv)
{
    try
      {
	AsservTracker at;
	Asserv a (at);
	a.reset ();
	GpioServoPp gspp;
	AnalogServoPp ana (gspp);
	GpioAsserv ga (a);
	GpioConcat gc (ga, gspp, ga.getNbIo ());
	GpioParam gp (gc);
	int i = 1;
	while (i < argc)
	  {
	    if (!gpioCmd (argc, argv, i, gp)
		&& !servoCmd (argc, argv, i, gspp)
		&& !analogCmd (argc, argv, i, ana))
	      {
		switch (argv[i][0])
		  {
		  case '?':
		    syntax ();
		    return 0;
		  case 'f':
		    i++;
		    while (1)
		      {
			a.ok ();
			gspp.update ();
			Date::wait (50);
			std::cout << "test: flood " << gspp.get (6, 8)
			    << ' ' << ana.get (0) << ' '
			    << ana.get (1) << ' ' << ana.get (2)
			    << ' ' << ana.get (3) << std::endl;
		      }
		    break;
		  default:
		    int s;
		    s = atoi (argv[i++]);
		    if (s == 0)
		      {
			syntax ();
			return 1;
		      }
		    std::cout << "test: sleep " << s << std::endl;
		    int start;
		    start = Date::getInstance ().start ();
		    while (Date::getInstance ().start () < start + s)
		      {
			a.ok ();
			gspp.update ();
			Date::wait (50);
		      }
		    break;
		  }
	      }
	    a.waitOk ();
	    gspp.update ();
	  }
	return 0;
      }
    catch (const std::exception &e)
      {
	std::cerr << e.what () << std::endl;
	return 1;
      }
}