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+// 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"
+#include "timer/timer.hh"
+
+#include <iostream>
+
+class TestEs : public Tester
+{
+ private:
+ Es es_;
+ /// Called after each command called.
+ void postcall (void)
+ {
+ while (!es_.wait ())
+ ;
+ }
+ /// Wait.
+ void wait (int ms)
+ {
+ int t, stop;
+ t = Timer::getProgramTime ();
+ stop = t + ms;
+ while (t < stop)
+ {
+ es_.wait (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ }
+ public:
+ // Constructor
+ TestEs (int argc, char ** argv)
+ : Tester (argc, argv), es_(config_) { }
+ void preRun (void)
+ {
+ Interpreter &interpreter = getInterpreter ();
+ // Add functions.
+ interpreter.add ("reset", Interpreter::memFunc (es_, &Es::reset),
+ "Reset ()");
+ interpreter.add ("wait", Interpreter::memFunc (*this, &TestEs::wait),
+ "Blocking wait (time)\n"
+ " - time : time to wait in ms");
+ interpreter.add
+ ("colorRef", Interpreter::memFunc (es_, &Es::refColor),
+ "Reference current color as green for sensors (mask)");
+ interpreter.add
+ ("rvbAll", Interpreter::memFunc (es_, &Es::enableAllSensors),
+ "Drop a ball at the rear ()");
+ interpreter.add
+ ("servoPos", Interpreter::memFunc (es_, &Es::setServoPos),
+ "Set servo position (mask, pos)");
+ interpreter.add
+ ("sharpUp", Interpreter::memFunc (es_, &Es::setSharpUpdate),
+ "Set sharp update frequency (mask, freq)");
+ interpreter.add
+ ("sharpStat", Interpreter::memFunc (es_, &Es::setSharpStat),
+ "Set sharp stats (mask, freq)");
+ interpreter.add
+ ("sharpThreshold", Interpreter::memFunc (es_, &Es::setSharpThreshold),
+ "Set sharp threshold (num, high, low)\n"
+ " - num : sharp number (1-3)\n"
+ " - high : high threshold\n"
+ " - low : low threshold");
+ interpreter.add
+ ("lcdPrint", Interpreter::memFunc (es_, &Es::lcdPrint),
+ "Print a message (32 char max) onto the LCD (message)");
+ interpreter.add
+ ("lcdKey", Interpreter::memFunc (es_, &Es::lcdGetKey),
+ "Set stat for key if pressed (freq)");
+ interpreter.add
+ ("turbSpeed", Interpreter::memFunc (es_, &Es::setTurbineSpeed),
+ "Set turbine speed (num, speed)\n"
+ " - num : 1 front, 2 rear\n"
+ " - speed : 256 - 819");
+ interpreter.add
+ ("turbMinSpeed", Interpreter::memFunc (es_,
+ &Es::barilletDebutLancement),
+ "Turbine minimal speed ()");
+ interpreter.add
+ ("turbFrontFull", Interpreter::memFunc (es_,
+ &Es::barilletLancement),
+ "Turbine front full speed ()");
+ interpreter.add
+ ("barSleep", Interpreter::memFunc (es_, &Es::barilletSleep),
+ "Barillet in sleep mode (low speed turbine)");
+ interpreter.add
+ ("turbDepose", Interpreter::memFunc (es_, &Es::deposeBalle),
+ "Drop a ball at the rear ()");
+ interpreter.add
+ ("barDropWhite", Interpreter::memFunc (es_, &Es::dropWhiteBall),
+ "drop une balle blanche");
+ interpreter.add("barDropBlack", Interpreter::memFunc (es_,
+ &Es::dropBlackBall),
+ "drop une balle noire");
+ interpreter.add("barSetEmpty", Interpreter::memFunc (es_,
+ &Es::setEmptyHoleFront),
+ "met un trou vide en position avale une balle");
+ interpreter.add
+ ("barExtract", Interpreter::memFunc (es_, &Es::extraitBalle),
+ "Extract a ball ()");
+ interpreter.add
+ ("barInit", Interpreter::memFunc (es_, &Es::barilletInit),
+ "Init barillet ()");
+ interpreter.add
+ ("barGoTo", Interpreter::memFunc (es_, &Es::rotationBarillet),
+ "Barillet go to position (pos)\n"
+ " - pos : in 40 of a round");
+ interpreter.add
+ ("barPurge", Interpreter::memFunc (es_, &Es::barilletEmpty),
+ "Extract a ball ()");
+ interpreter.add ("_postcall",
+ Interpreter::memFunc (*this, &TestEs::postcall));
+ }
+ void postRun (void)
+ {
+ es_.reset ();
+ }
+};
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ TestEs te (argc, argv);
+ te.run ();
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ }
+}