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#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 <iostream>
#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 <cmd> <args...>  envois une commande\n"
	" w <ms>             attend pendant un nombre de millisecondes\n"
	" ?                  affiche cet �cran 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 diff�rents cas/types de robot
				if (++i > argc)
				    throw std::runtime_error ("syntax error");
				if (argv[i][0] == '0')
				  {
				    // Pour un robot qui n'est pas fiable en
				    // asservissement
				    ai_.initBalNonFiable();
				    // XXX Diff�rents types d'ai
				  }
				if (argv[i][0] == '1')
				  {
				    ai_.initBalFiable ();
				  }
				if (argv[i][0] == '2')
				  {
				    ai_.initTest ();
				  }
				break;
			    case 'j':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				if(argv[i][0] == '0')
				{
				    std::cout << "Attente de l'entr�e 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