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// 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 <iostream>
#include <unistd.h>
#include <cstdlib>
#include <stdexcept>

using namespace std;

class AsservTrackerC : public AsservTracker
{
    int s;
  public:
    AsservTrackerC (void) : s (0) { }
    // Appel�e lors d'une mise � 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 (d�sactive l'asservissement)\n"
	" v <vg> <vd>  vitesse gauche (vg) et droite (vd) en unit� de la\n"
	"              carte d'asservissement\n"
	" <timeout>    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;
      }
}