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authorbecquet2007-05-10 18:49:20 +0000
committerbecquet2007-05-10 18:49:20 +0000
commit8f486613be58ced269db1d437e560c16558604e8 (patch)
tree41e94b2122a118cb06abf6fc2a0038cd1dfbec4a /i/chuck/src/ai/test_ai.cc
parent4daa2c76c2a028e4b2c8ab379e7d1e0f535a0a31 (diff)
Création de chuck, le programme du robot 2007.
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+// test_ai.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Dufour Jérémy
+//
+// 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 "tester/tester.hh"
+#include "ai/ai.hh"
+#include "timer/timer.hh"
+
+class TestAi : public Tester
+{
+ private:
+ Ai ai_;
+ /// Called after each command
+ void postcall (void)
+ {
+ while (!ai_.update ())
+ ;
+ }
+ /// Wait.
+ void wait (int ms)
+ {
+ int t, stop;
+ t = Timer::getProgramTime ();
+ stop = t + ms;
+ while (t < stop)
+ {
+ ai_.temporisation (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ }
+ public:
+ TestAi(int argc, char ** argv)
+ :Tester(argc, argv), ai_(config_)
+ {}
+ void preRun (void)
+ {
+ Interpreter &interpreter = getInterpreter();
+ // Add functions
+ interpreter.add("init", Interpreter::memFunc(ai_, &Ai::init),
+ "Initialise le robal(void)");
+ interpreter.add("prepare", Interpreter::memFunc(ai_, &Ai::prepare),
+ "Lance la procédure pré-Match");
+ interpreter.add("afterMatch", Interpreter::memFunc(ai_,
+ &Ai::afterMatch),
+ "Lance la procédure post match");
+ interpreter.add("stop", Interpreter::memFunc(ai_, &Ai::stop),
+ "Stop le robal(void)");
+ interpreter.add("tempo", Interpreter::memFunc(ai_,
+ &Ai::temporisation),
+ "On temporise(int msec)");
+ interpreter.add("jack", Interpreter::memFunc(ai_, &Ai::waitJack),
+ "On attend que le jack sorte/rentre(bool sorte)");
+ interpreter.add("sensors", Interpreter::memFunc(ai_,
+ &Ai::referenceSensors),
+ "Initialise les capteurs RVB(void)");
+ interpreter.add("homologation", Interpreter::memFunc(ai_,
+ &Ai::progHomoloRobal),
+ "Programme d'homologation du robal");
+ interpreter.add("match", Interpreter::memFunc(ai_, &Ai::progMatch),
+ "Programme de match qui déchire du robal");
+ interpreter.add("findHoleBasic", Interpreter::memFunc(ai_, &Ai::motorBasicFindHole),
+ "Find a hole, basic version");
+ interpreter.add ("_postcall",
+ Interpreter::memFunc (*this, &TestAi::postcall));
+ }
+ void postRun(void)
+ {
+ // On init le robal histoire de ...
+ ai_.init();
+ }
+};
+
+int main (int argc, char **argv)
+{
+ try
+ {
+ TestAi ta(argc, argv);
+ ta.run ();
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ }
+}