From 8f486613be58ced269db1d437e560c16558604e8 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 10 May 2007 18:49:20 +0000 Subject: Création de chuck, le programme du robot 2007. --- i/chuck/src/ai/test_ai.cc | 105 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 105 insertions(+) create mode 100644 i/chuck/src/ai/test_ai.cc (limited to 'i/chuck/src/ai/test_ai.cc') diff --git a/i/chuck/src/ai/test_ai.cc b/i/chuck/src/ai/test_ai.cc new file mode 100644 index 0000000..6a7d09f --- /dev/null +++ b/i/chuck/src/ai/test_ai.cc @@ -0,0 +1,105 @@ +// test_ai.cc +// marvin - programme du robot 2006. {{{ +// +// Copyright (C) 2006 Dufour Jérémy +// +// Robot APB Team/Efrei 2004. +// 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 "ai/ai.hh" +#include "timer/timer.hh" + +class TestAi : public Tester +{ + private: + Ai ai_; + /// Called after each command + void postcall (void) + { + while (!ai_.update ()) + ; + } + /// Wait. + void wait (int ms) + { + int t, stop; + t = Timer::getProgramTime (); + stop = t + ms; + while (t < stop) + { + ai_.temporisation (stop - t); + t = Timer::getProgramTime (); + } + } + public: + TestAi(int argc, char ** argv) + :Tester(argc, argv), ai_(config_) + {} + void preRun (void) + { + Interpreter &interpreter = getInterpreter(); + // Add functions + interpreter.add("init", Interpreter::memFunc(ai_, &Ai::init), + "Initialise le robal(void)"); + interpreter.add("prepare", Interpreter::memFunc(ai_, &Ai::prepare), + "Lance la procédure pré-Match"); + interpreter.add("afterMatch", Interpreter::memFunc(ai_, + &Ai::afterMatch), + "Lance la procédure post match"); + interpreter.add("stop", Interpreter::memFunc(ai_, &Ai::stop), + "Stop le robal(void)"); + interpreter.add("tempo", Interpreter::memFunc(ai_, + &Ai::temporisation), + "On temporise(int msec)"); + interpreter.add("jack", Interpreter::memFunc(ai_, &Ai::waitJack), + "On attend que le jack sorte/rentre(bool sorte)"); + interpreter.add("sensors", Interpreter::memFunc(ai_, + &Ai::referenceSensors), + "Initialise les capteurs RVB(void)"); + interpreter.add("homologation", Interpreter::memFunc(ai_, + &Ai::progHomoloRobal), + "Programme d'homologation du robal"); + interpreter.add("match", Interpreter::memFunc(ai_, &Ai::progMatch), + "Programme de match qui déchire du robal"); + interpreter.add("findHoleBasic", Interpreter::memFunc(ai_, &Ai::motorBasicFindHole), + "Find a hole, basic version"); + interpreter.add ("_postcall", + Interpreter::memFunc (*this, &TestAi::postcall)); + } + void postRun(void) + { + // On init le robal histoire de ... + ai_.init(); + } +}; + +int main (int argc, char **argv) +{ + try + { + TestAi ta(argc, argv); + ta.run (); + } + catch (const std::exception &e) + { + std::cerr << e.what () << std::endl; + } +} -- cgit v1.2.3