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// test_motor.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 "config/config.hh"
#include "motor/motor.hh"
#include "timer/timer.hh"

#include <iostream>

/// Affiche un memo de suntaxe.
    void
syntax (void)
{
    std::cout << "test_motor - test la classe motor.\n"
	"Syntaxe : test_motor <...>\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);
	Motor motor(config);
	i = 1;
	while (i < argc)
	{
	    switch (argv[i][0])
	    {
		case 's':
		    {
			switch(argv[++i][0])
			{
			    case 'z':
				motor.init();
				break;
			    case 's':
				motor.stop();
				break;
			    case 'P':
				std::cout << "position:\n" <<
				    "X: " << motor.getX() <<
				    " Y: " << motor.getY() <<
				    " A: " << motor.getA() << std::endl;
				break;
			    case 'g':
				if(++i + 2 > argc)
				    throw std::runtime_error("syntax error");
				motor.goTo(strtod(argv[i], 0),
					   strtod(argv[i + 1], 0),
					   strtod(argv[i + 2], 0));
				i += 2;
				break;
			    case 'r':
				motor.recalage();
				break;
			    case 'I':
				std::cout << "Moteur idle? "
				          << (motor.idle() ? "true" : "false")
					  << std::endl;
				break;
			    case 'l':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				motor.linearMove(strtod(argv[i],0));
				break;
			    case 'a':
				if(++i > argc)
				    throw std::runtime_error("syntax error");
				motor.rotation(strtod(argv[i], 0));
				break;
			    case 'J':
				std::cout << "Etat du Jack: " << (motor.jackState() ? "Retir�" : "Dedans") << std::endl;
				break;
			    case 'C':
				std::cout << "Couleur S�lectionn�: " << (motor.colorState() ? "Rouge" : "Vert") << std::endl;
				break;
			    case 'L':
				while(!motor.idle())
				{
				    motor.wait(-1);
				    motor.sync();
				}
				break;
			}
			motor.sync();
			while(!motor.idle())
			{
			    motor.wait(-1);
			    motor.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)
			{
			    motor.wait (stop - t);
			    t = Timer::getProgramTime ();
			    motor.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;
}