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authorhaller2005-11-17 11:10:17 +0000
committerhaller2005-11-17 11:10:17 +0000
commitda4a77ff094a0dc74414ec1de2cac08e8b7b60f4 (patch)
tree402c39246c164af44648fd98d2ea85500d58df58 /i/marvin/src/asserv/test_asserv.cc
parent164d8870bc058450e6967a594dd9033d088316af (diff)
Importation brut du code récupérable de robert
Diffstat (limited to 'i/marvin/src/asserv/test_asserv.cc')
-rw-r--r--i/marvin/src/asserv/test_asserv.cc348
1 files changed, 348 insertions, 0 deletions
diff --git a/i/marvin/src/asserv/test_asserv.cc b/i/marvin/src/asserv/test_asserv.cc
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+++ b/i/marvin/src/asserv/test_asserv.cc
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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 écran 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;
+}