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authorhaller2006-05-21 22:01:50 +0000
committerhaller2006-05-21 22:01:50 +0000
commitd6dd6bfa014012c4c9ef322a2a4c3e0157ef9eeb (patch)
treeec96c516dab017f9ec9ac37cca89110a84be7b4f /i
parent080f4918a072c8677c52d33eda2c32d087889209 (diff)
* Destruction du vieux test_proto
* Codage des fonctions présentes dans le main.c de la carte es dans Es
Diffstat (limited to 'i')
-rw-r--r--i/marvin/src/es/es.cc72
-rw-r--r--i/marvin/src/es/es.hh26
-rw-r--r--i/marvin/src/proto/test_proto.cc.old124
3 files changed, 97 insertions, 125 deletions
diff --git a/i/marvin/src/es/es.cc b/i/marvin/src/es/es.cc
index 0e93d0f..8454ac5 100644
--- a/i/marvin/src/es/es.cc
+++ b/i/marvin/src/es/es.cc
@@ -59,10 +59,82 @@ void Es::loadConfig(const Config & config)
tty_ = config.get<std::string>("es.tty");
}
+// Envoie de la config des sensors RVB
+void Es::setRVBSensorsConfig(int false_ic, int max_ov)
+{
+ proto_.send('p',"bw", false_ic, max_ov);
+}
+
+// Envoie de la config des sniff RVB
+void Es::setRVBSniffConfig(int ref_ratio)
+{
+ proto_.send('x', "b", ref_ratio);
+}
void Es::receive(char command, const Proto::Frame & frame)
{
}
+// Règle les stats des sensors RVB
+void Es::setRVBSensorsStat(int mask_captor, int freq)
+{
+ proto_.send('S', "wb", mask_captor, freq);
+}
+
+// règle la couleur actuelle comme référente
+void Es::setRefColor(int mask_captor, int mode)
+{
+ proto_.send('r', "wb", mask_captor, mode);
+}
+
+/// Règle les stats si le "sensors is seen"
+// XXX Faudra lui filer un vrai nom quand même
+void Es::setRVBSeenStat(int mask_captor, int freq)
+{
+ proto_.send('A', "wb", mask_captor, freq);
+}
+
+// Discute avec les servo...
+void Es::setServoPos(int servoNb, int servoPos)
+{
+ proto_.send('m', "bb", servoNb, servoPos);
+}
+
+// Règle la vitesse des turbines
+void Es::setTurbineSpeed(int turbNb, int speed)
+{
+ proto_.send('v', "bw", turbNb, speed);
+}
+
+// Règle le sens de rotation du barillet
+void Es::setTheMeaningOfRotationOfBarillet(int answer)
+{
+ proto_.send('w', "b", answer);
+}
+
+// Init n°2 of barillet
+void Es::init2Barillet(void)
+{
+ proto_.send('g');
+}
+
+// Dépose une balle du barillet
+void Es::deposeBalle(void)
+{
+ proto_.send('d');
+}
+
+/// Extrait une balle
+void Es::extraitBalle(void)
+{
+ proto_.send('e');
+}
+
+/// Rotation du barillet
+void Es::rotationBarillet(int posFinal)
+{
+ proto_.send('t', "b", posFinal);
+}
+
bool Es::sync(void)
{
return proto_.sync();
diff --git a/i/marvin/src/es/es.hh b/i/marvin/src/es/es.hh
index b4bf5b3..deb9771 100644
--- a/i/marvin/src/es/es.hh
+++ b/i/marvin/src/es/es.hh
@@ -58,6 +58,30 @@ class Es : public Proto::Receiver
private:
/// Charge les paramètre du fichier de config
void loadConfig(const Config & config);
+ /// Envoie de la config des sensors RVB
+ void setRVBSensorsConfig(int false_ic, int max_ov);
+ /// Envoie de la config des sniff RVB
+ void setRVBSniffConfig(int ref_ratio);
+ /// Règle les stats des sensors RVB
+ void setRVBSensorsStat(int mask_captor, int freq);
+ /// règle la couleur actuelle comme référente
+ void setRefColor(int mask_captor, int mode);
+ /// Règle les stats si le "sensors is seen"
+ // XXX Faudra lui filer un vrai nom quand même
+ void setRVBSeenStat(int mask_captor, int freq);
+ /// Discute avec les servo...
+ void setServoPos(int servoNb, int servoPos);
+ /// Règle la vitesse des turbines
+ void setTurbineSpeed(int turbNb, int speed);
+ /// Règle le sens de rotation du barillet
+ void setTheMeaningOfRotationOfBarillet(int answer);
+ /// Init n°2 of barillet
+ void init2Barillet(void);
+ /// Dépose une balle du barillet
+ void deposeBalle(void);
+ /// Extrait une balle
+ void extraitBalle(void);
+ /// Rotation du barillet
+ void rotationBarillet(int posFinal);
};
-
#endif // es_hh
diff --git a/i/marvin/src/proto/test_proto.cc.old b/i/marvin/src/proto/test_proto.cc.old
deleted file mode 100644
index 9ec119d..0000000
--- a/i/marvin/src/proto/test_proto.cc.old
+++ /dev/null
@@ -1,124 +0,0 @@
-// test_proto.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 "proto.hh"
-#include "timer/timer.hh"
-
-#include <iostream>
-#include <stdexcept>
-
-/// Classe de test pour proto.
-class TestProto : public Proto::Receiver
-{
- void receive (char command, const Proto::Frame &frame)
- {
- std::cout << "received " << frame << std::endl;
- }
-};
-
-/// Affiche un memo de suntaxe.
-void
-syntax (void)
-{
- std::cout << "test_proto - test la classe de protocol série.\n"
- "Syntaxe : test_proto <tty> <...>\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;
- }
- TestProto testProto;
- Proto proto (testProto);
- proto.open (argv[1]);
- i = 2;
- while (i < argc)
- {
- bool reliable = true;
- switch (argv[i][0])
- {
- case 'S':
- reliable = false;
- // no break;
- case 's':
- {
- if (i + 2 >= argc)
- throw std::runtime_error ("syntax error");
- unsigned a;
- int arg[4];
- char c = argv[++i][0];
- const char *format = argv[++i];
- if (i + static_cast<int> (strlen (format)) >= argc)
- throw std::runtime_error ("syntax error");
- for (a = 0; a < 4 && a < strlen (format); a++)
- arg[a] = atoi (argv[++i]);
- proto.send (c, format, arg[0], arg[1], arg[2], arg[3],
- reliable);
- while (!proto.wait (-1))
- ;
- }
- 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)
- {
- proto.wait (stop - t);
- t = Timer::getProgramTime ();
- }
- break;
- }
- case '?':
- proto.close ();
- 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;
-}