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authorhaller2006-05-15 21:45:09 +0000
committerhaller2006-05-15 21:45:09 +0000
commit449ff51e3db5d2292cecb938f68cfec322249b7a (patch)
tree3145c2b42b6f83a5e534c1386ddf685b95dc15bf /i/marvin
parentfa04a23b27eb020dce323d6c0d8f754b182db4ac (diff)
* Importation de la classe es
* Dégraissage au lance-flamme de es * création d'un test_es * Ajout du Makefile.defs pour es * Ajout du répertoires es dans src/Makefile.defs * Modif de Makefile.defs de proto parce que les OBJECTS sentaient pas bons * Passage de Config de Tester en protected pour que les classes à tester puissent la manger
Diffstat (limited to 'i/marvin')
-rw-r--r--i/marvin/src/Makefile.defs2
-rw-r--r--i/marvin/src/es/Makefile.defs5
-rw-r--r--i/marvin/src/es/es.cc68
-rw-r--r--i/marvin/src/es/es.hh63
-rw-r--r--i/marvin/src/es/test_es.cc58
-rw-r--r--i/marvin/src/proto/Makefile.defs5
-rw-r--r--i/marvin/src/tester/tester.cc4
-rw-r--r--i/marvin/src/tester/tester.hh5
8 files changed, 202 insertions, 8 deletions
diff --git a/i/marvin/src/Makefile.defs b/i/marvin/src/Makefile.defs
index a811e44..077f133 100644
--- a/i/marvin/src/Makefile.defs
+++ b/i/marvin/src/Makefile.defs
@@ -24,7 +24,7 @@ SUBDIRS = utils utils/meta \
interpreter config tester \
log serial timer \
data scheduler \
- proto asserv \
+ proto asserv es \
motor socket
# Rpertoire o placer les objets.
diff --git a/i/marvin/src/es/Makefile.defs b/i/marvin/src/es/Makefile.defs
new file mode 100644
index 0000000..66a4e6f
--- /dev/null
+++ b/i/marvin/src/es/Makefile.defs
@@ -0,0 +1,5 @@
+PROGRAMS += test_es
+
+es_OBJECTS = es.o
+
+test_es_OBJECTS = test_es.o $(es_OBJECTS) $(tester_OBJECTS) $(proto_OBJECTS)
diff --git a/i/marvin/src/es/es.cc b/i/marvin/src/es/es.cc
new file mode 100644
index 0000000..4b561cf
--- /dev/null
+++ b/i/marvin/src/es/es.cc
@@ -0,0 +1,68 @@
+// es.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 "es/es.hh"
+#include "config/config.hh"
+
+/// Constructeur
+Es::Es (const Config & config)
+ :proto_(*this), log_("Es")
+{
+ // Rcupration des valeurs de configuration dans le fichier
+ loadConfig(config);
+ proto_.open(tty_);
+}
+
+void Es::init(void)
+{
+ // On reset l'AVR
+ proto_.send('z');
+}
+
+bool
+Es::wait(int timeout /*-1*/)
+{
+ return proto_.wait(timeout);
+}
+
+/// Rcupre le File Descriptor
+int Es::getFd(void)
+{
+ return proto_.getFd();
+}
+
+void Es::loadConfig(const Config & config)
+{
+ tty_ = config.get<std::string>("es.tty");
+}
+
+void Es::receive(char command, const Proto::Frame & frame)
+{
+}
+
+bool Es::sync(void)
+{
+ return proto_.sync();
+}
diff --git a/i/marvin/src/es/es.hh b/i/marvin/src/es/es.hh
new file mode 100644
index 0000000..b4bf5b3
--- /dev/null
+++ b/i/marvin/src/es/es.hh
@@ -0,0 +1,63 @@
+#ifndef es_hh
+#define es_hh
+// es.hh
+// 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 "proto/proto.hh"
+
+#include <string>
+
+class Config;
+
+/// Gre la carte es et ses capteurs et actionneurs
+class Es : public Proto::Receiver
+{
+ private:
+ // Objet Proto de communication vers la carte es
+ Proto proto_;
+ // le tty est ...
+ std::string tty_;
+ /// Systme de log
+ Log log_;
+
+ public:
+ /// Constructeur
+ Es (const Config & config);
+ /// Initialise les capteurs et actionneurs
+ void init(void);
+ /// On attend ...
+ bool wait(int timeout = -1);
+ /// Rcupre le File Descriptor
+ int getFd(void);
+ /// dfinition du receiver::receive
+ void receive(char command, const Proto::Frame & frame);
+ /// sync..
+ bool sync(void);
+ private:
+ /// Charge les paramtre du fichier de config
+ void loadConfig(const Config & config);
+};
+
+#endif // es_hh
diff --git a/i/marvin/src/es/test_es.cc b/i/marvin/src/es/test_es.cc
new file mode 100644
index 0000000..be60620
--- /dev/null
+++ b/i/marvin/src/es/test_es.cc
@@ -0,0 +1,58 @@
+// test_es.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Nicolas Haller
+//
+// Robot APB Team/Efrei 2006.
+// 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 "es/es.hh"
+
+class TestEs : public Tester
+{
+ private:
+ Es es_;
+ public:
+ // Constructor
+ TestEs (int argc, char ** argv)
+ : Tester (argc, argv), es_(config_) { }
+ void preRun (void)
+ {
+ Interpreter &interpreter = getInterpreter ();
+ // Add functions.
+ interpreter.add ("z", Interpreter::memFunc ( es_, &Es::init ), "Fonction reset ()");
+ interpreter.add ("w", Interpreter::memFunc ( es_, &Es::wait ), "Fonction wait ()");
+ }
+};
+
+ int
+main (int argc, char **argv)
+{
+ try
+ {
+ TestEs te (argc, argv);
+ te.run ();
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ }
+}
diff --git a/i/marvin/src/proto/Makefile.defs b/i/marvin/src/proto/Makefile.defs
index ffad4dc..1b13568 100644
--- a/i/marvin/src/proto/Makefile.defs
+++ b/i/marvin/src/proto/Makefile.defs
@@ -1,6 +1,5 @@
PROGRAMS += test_proto
-proto_OBJECTS = proto.o
+proto_OBJECTS = proto.o $(serial_OBJECTS) $(log_OBJECTS) $(utils_OBJECTS) $(timer_OBJECTS)
-test_proto_OBJECTS = test_proto.o $(proto_OBJECTS) $(utils_OBJECTS) \
- $(serial_OBJECTS) $(timer_OBJECTS) $(log_OBJECTS)
+test_proto_OBJECTS = test_proto.o $(proto_OBJECTS)
diff --git a/i/marvin/src/tester/tester.cc b/i/marvin/src/tester/tester.cc
index 2532f7b..61f577e 100644
--- a/i/marvin/src/tester/tester.cc
+++ b/i/marvin/src/tester/tester.cc
@@ -31,8 +31,8 @@
/// Constructor.
Tester::Tester (int argc, char **argv, const std::string &description)
- : config_ (argc, argv), program_(argv[0]), description_ (description),
- showCmd_ (false)
+ : program_(argv[0]), description_ (description),
+ showCmd_ (false), config_ (argc, argv)
{
// Parse command line
getOpt (argc, argv);
diff --git a/i/marvin/src/tester/tester.hh b/i/marvin/src/tester/tester.hh
index ef97287..b9aa312 100644
--- a/i/marvin/src/tester/tester.hh
+++ b/i/marvin/src/tester/tester.hh
@@ -38,8 +38,6 @@ class Tester
/// DataCircularBufferFactory for beeing destruct at the end of the program.
/// Note : it must stay at the begining of the class !
DataCircularBufferFactory dbc;
- /// The config.
- Config config_;
/// The interperter.
Interpreter interpreter_;
/// Program name.
@@ -56,6 +54,9 @@ class Tester
void listCmd (void) const;
/// Show commands instead of run them.
bool showCmd_;
+ protected:
+ /// The config.
+ Config config_;
public:
/// Constructor.
Tester (int argc, char ** argv, const std::string &description = "");