// 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("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 ("_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; } }