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Diffstat (limited to 'i/marvin/src/es/test_es.cc')
-rw-r--r--i/marvin/src/es/test_es.cc93
1 files changed, 90 insertions, 3 deletions
diff --git a/i/marvin/src/es/test_es.cc b/i/marvin/src/es/test_es.cc
index be60620..13ca8a3 100644
--- a/i/marvin/src/es/test_es.cc
+++ b/i/marvin/src/es/test_es.cc
@@ -25,11 +25,32 @@
#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)
@@ -38,12 +59,78 @@ class TestEs : public Tester
{
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 ()");
+ 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
+ ("rvbStat", Interpreter::memFunc (es_, &Es::setRVBSensorsStat),
+ "Enable RVB Sensors raw stats (mask, freq)");
+ interpreter.add
+ ("colorStat", Interpreter::memFunc (es_, &Es::setRVBSniffStat),
+ "Enable RVB Sensors color stats (mask, freq)");
+ interpreter.add
+ ("ballStat", Interpreter::memFunc (es_, &Es::setRVBBallStat),
+ "Enable Ball stats (num, freq)\n"
+ " - num : sensor number (7 or 8)");
+ interpreter.add
+ ("colorRef", Interpreter::memFunc (es_, &Es::setRefColor),
+ "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
+ ("turbMin", Interpreter::memFunc (es_, &Es::init2Barillet),
+ "Turbine minimal speed ()");
+ interpreter.add
+ ("turbDep", Interpreter::memFunc (es_, &Es::deposeBalle),
+ "Drop a ball at the rear ()");
+ interpreter.add
+ ("barGoTo", Interpreter::memFunc (es_, &Es::rotationBarillet),
+ "Barillet go to position (pos)\n"
+ " - pos : in 40 of a round");
+ interpreter.add
+ ("barSleep", Interpreter::memFunc (es_, &Es::barilletSleep),
+ "Barillet in sleep mode (low speed turbine)");
+ interpreter.add
+ ("statAck", Interpreter::memFunc (es_, &Es::setAckStat),
+ "Set ack stat (freq)");
+ interpreter.add
+ ("statMain", Interpreter::memFunc (es_, &Es::setMainStat),
+ "Set main stat (freq)");
+ interpreter.add ("_postcall",
+ Interpreter::memFunc (*this, &TestEs::postcall));
}
};
- int
+int
main (int argc, char **argv)
{
try