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// test_asserv.cc
// 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.
//
// }}}

#include "asserv.hh"
#include "config/config.hh"
#include "timer/timer.hh"

#include<stdexcept>
#include<cstdlib>
#include<cmath>

/// Classe de test pour asserv.
class TestAsserv : public Asserv::Receiver
{
    void receiveCounter (double lMotor, double rMotor)
    {
	std::cout << "C:" << "lMotor:" << lMotor << " rMotor:" << rMotor << std::endl;
    }
    
    void receivePosX (double xPos)
    {
	std::cout << "X:" << "XPos:" << xPos << std::endl;
    }
    
    void receivePosY (double yPos)
    {
	std::cout << "Y:" << "yPos:" << yPos << std::endl;
    }
    
    void receivePosA (double aPos)
    {
	std::cout << "A:" << " aPosR: " << aPos << " aPosD: " << aPos / (2 * M_PI) * 360 << std::endl;
    }
    
    void receiveSpeedStat (int leftError, int leftInt, int rightError, int rightInt)
    {
	std::cout << "S:" << " leftError: " << leftError << "leftInt: " << 
	    leftInt << " rightError: " << rightError <<
	    " rightInt: " << rightInt << std::endl;
    }
    
    void receivePwm (double leftPwm, double rightPwm)
    {
	std::cout << "W:" << "leftPwm" << leftPwm << " rightPwm:" << rightPwm << std::endl;
    }
    
    void receiveTiming (int motorTimer4, int motorTimer3,
	    int motorTimer2, int motorTimer1, 
	    int motorTimer0 )
    {
	std::cout << "T:" << " motorTimer4: " << motorTimer4 << " motorTimer3: " 
	    	  << motorTimer3 << " motorTimer2: " << motorTimer2
		  << " motorTimer1: " << motorTimer1 << " motorTimer0: "
		  << motorTimer0 << std::endl;
    }
    
    void receiveInPort (int port)
    {
	std::cout << "P:" << "state:" << port << std::endl;
    }
    
    void receiveSharp (int sharp0, int sharp1, int sharp2)
    {
	std::cout << "t:" << "sharp0:" << sharp0 << " sharp1:" << sharp1
	    	  << " sharp2:" << sharp2 << std::endl;
    }

    void done (void)
    {
	std::cout << "F:" << "J'ai fini!!" << std::endl;
    }
    
};

/// Affiche un memo de suntaxe.
    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);
	TestAsserv testAsserv;
	Asserv asserv(config, testAsserv);
	i = 1;
	while (i < argc)
	{
	    switch (argv[i][0])
	    {
		case 's':
		    {
			switch(argv[++i][0])
			{
			    case 'z':
				asserv.reset();
				break;
			    case 'l':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.linearMove(strtod(argv[i], 0));
				break;
			    case 'a':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.angularMove(strtod(argv[i], 0));
				break;
			    case 'g':
				if(++i + 1 > argc)
				    throw std::runtime_error("syntax error");
				asserv.goToPosition(strtod(argv[i], 0),
						    strtod(argv[i + 1], 0));
				i++;
				break;
			    case 'f':
				if(++i  + 1 > argc)
				    throw std::runtime_error("syntax error");
				switch(argv[i][0])
				{
				    case 'd':
					asserv.fuckTheWall(strtod(argv[i + 1], 0));
					break;
				    case 'i':
					asserv.fuckTheWall(atoi(argv[i + 1]));
					break;
				    default:
					throw std::runtime_error("syntax error");
					break;
				}
				i++;
				break;
			    case 's':
				if(++i + 2 > argc)
				    throw std::runtime_error("syntax error");
				switch(argv[i][0])
				{
				    case 'd':
					i++;
					asserv.setSpeed(strtod(argv[i], 0), strtod(argv[i + 1], 0));
					break;
				    case 'i':
					i++;
					asserv.setSpeed(atoi(argv[i]), atoi(argv[i + 1]));
					break;
				    default:
					throw std::runtime_error("syntax error");
					break;
				}
				i++;
				break;
			    case 'w':
				if(++i + 1 > argc)
				    throw std::runtime_error("syntax error");
				asserv.setPwm(strtol(argv[i], 0, 10), strtol(argv[i + 1], 0, 10));
				i++;
				break;
			    case 'F':
				asserv.finishAck();
				break;
			    case 'C':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statCounter(strtol(argv[i], 0, 10));
				break;
			    case 'X':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statPosition(strtol(argv[i], 0, 10));
				break;
			    case 'S':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statMotor(strtol(argv[i], 0, 10));
				break;
			    case 'W':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statPwm(strtol(argv[i], 0, 10));
				break;
			    case 'T':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statTiming(strtol(argv[i], 0, 10));
				break;
			    case 'P':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statInPort(strtol(argv[i], 0, 10));
				break;
				
			    case 'H':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				asserv.statSharp(atoi(argv[i]));
				break;

			    case 'p':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				switch(argv[i][0])
				{
				    case 'x':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setXPos(strtod(argv[i], 0));
					break;
				    case 'y':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setYPos(strtod(argv[i], 0));
					break;
				    case 'a':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setAngle(strtod(argv[i], 0));
					break;
				    case 'f':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setFooting(strtol(argv[i], 0, 10));
					break;
				    case 'e':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setEpsilon(strtod(argv[i], 0));
					break;
				    case 'p':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setKp(strtol(argv[i], 0, 10));
					break;
				    case 'i':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setKi(strtol(argv[i], 0, 10));
					break;
				    case 'd':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setKd(strtol(argv[i], 0, 10));
					break;
				    case 'E':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setESat(strtol(argv[i], 0, 10));
					break;
				    case 'I':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setSpeedIntMax(strtol(argv[i], 0, 10));
					break;
				    case 's':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setDSample(strtol(argv[i], 0, 10));
					break;
				    case 'A':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setAccel(strtol(argv[i], 0, 10));
					break;
				    case 'm':
					if(++i > argc)
					    throw std::runtime_error("syntax error");
					asserv.setMaxSpeed(strtol(argv[i], 0, 10),
							   strtol(argv[i + 1], 0, 10));
					i++;
					break;
				    case 'W':
					if (++i + 1 > argc)
					    throw std::runtime_error("syntax error");
					asserv.setInvPwm(atoi(argv[i]), atoi(argv[i + 1]));
					i++;
					break;
				}
			}
			asserv.sync();
			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)
			{
			    asserv.wait (stop - t);
			    t = Timer::getProgramTime ();
			    asserv.sync();
			}
			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;
}