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authorbecquet2007-05-10 18:49:20 +0000
committerbecquet2007-05-10 18:49:20 +0000
commit8f486613be58ced269db1d437e560c16558604e8 (patch)
tree41e94b2122a118cb06abf6fc2a0038cd1dfbec4a /i/chuck/src/serial/test_serial.cc
parent4daa2c76c2a028e4b2c8ab379e7d1e0f535a0a31 (diff)
Création de chuck, le programme du robot 2007.
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+// test_serial.cc - Programme de test pour le port série.
+// robert - programme du robot 2005. {{{
+//
+// Copyright (C) 2005 Nicolas Schodet
+//
+// 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 "serial.hh"
+//#include "date/date.hh"
+
+#include <iostream>
+
+void
+syntax (void)
+{
+ std::cout << "test_serial ttyname commandes... - Test la classe Serial.\n"
+ " a carte d'asservissement.\n"
+ " e échèle de 0 à 255 puis 0...\n"
+ " <val> envois une valeur." << std::endl;
+}
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ if (argc < 3)
+ {
+ syntax ();
+ return 1;
+ }
+ Serial s;
+ s.open (argv[1]);
+ switch (argv[2][0])
+ {
+ case 'a':
+ s.write ("!g1\r", 3);
+ //Date::getInstance ().wait (1000);
+ s.write ("!v0303\r", 7);
+ //Date::getInstance ().wait (5000);
+ s.write ("!s\r", 3);
+ break;
+ case 'e':
+ while (1)
+ {
+ for (int i = 0; i < 256; ++i)
+ {
+ std::cout << i << std::endl;
+ s.putchar (i);
+ //Date::getInstance ().wait (100);
+ }
+ for (int i = 255; i >= 0; --i)
+ {
+ std::cout << i << std::endl;
+ s.putchar (i);
+ //Date::getInstance ().wait (100);
+ }
+ }
+ break;
+ default:
+ int i = atoi (argv[2]);
+ std::cout << i << std::endl;
+ s.putchar (i);
+ break;
+ }
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ return 1;
+ }
+}