// test_asserv.cc // marvin - programme du robot 2006. {{{ // // Copyright (C) 2006 Nicolas Schodet // // 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 "asserv.hh" #include "tester/tester.hh" #include "timer/timer.hh" #include #include #include class TestAsserv : public Tester, public Asserv::Receiver { private: Asserv asserv_; int seq_; bool ok_; public: /// Constructor. TestAsserv (int argc, char **argv) : Tester (argc, argv), asserv_ (*this), seq_ (0), ok_ (true) { } /// Next seq number. inline void nextSeq (void) { seq_++; if (seq_ > 250) seq_ = 1; } /// Speed controlled position consign offset, handle seq. void speedTo (double t, double a) { nextSeq (); ok_ = false; asserv_.speedTo (t, a, seq_); } /// Speed controlled angle consign offset, handle seq. void speedAngle (double a) { nextSeq (); ok_ = false; asserv_.speedAngle (a, seq_); } /// Find a hole, handle seq. void findHole (void) { nextSeq (); ok_ = false; asserv_.findHole (seq_); } /// Wait. void wait (int ms) { int t, stop; t = Timer::getProgramTime (); stop = t + ms; while (t < stop) { asserv_.wait (stop - t); t = Timer::getProgramTime (); } } /// Called after each command called. void postcall (void) { while (!asserv_.wait () || !ok_) ; } /// Executed before checking/running commands. Good place to add command /// to the interpreter. void preRun (void) { Interpreter &i = getInterpreter (); i.add ("wait", Interpreter::memFunc (*this, &TestAsserv::wait), "wait MS\nwait for a delay in millisecond"); i.add ("reset", Interpreter::memFunc (asserv_, &Asserv::reset), "reset\nreset the asserv board"); i.add ("pwm", Interpreter::memFunc (asserv_, &Asserv::pwm), "pwm LEFT RIGHT\n" "directly set pwm values, use with caution"); i.add ("offset", Interpreter::memFunc (asserv_, &Asserv::offset), "offset THETA(mm) ALPHA(mm)\n" "add value to current position, use for pid callibration"); i.add ("speed", Interpreter::memFunc (asserv_, &Asserv::speed), "speed THETA ALPHA\n" "unlimited speed consign"); i.add ("speedTo", Interpreter::memFunc (*this, &TestAsserv::speedTo), "speedTo THETA(mm) ANGLE(mm)\n" "speed consign limited in distance"); i.add ("speedAngle", Interpreter::memFunc (*this, &TestAsserv::speedAngle), "speedAngle ANGLE(rad)\n" "speed consign limited in angle"); i.add ("findHole", Interpreter::memFunc (*this, &TestAsserv::findHole), "findHole\nfind a hole"); i.add ("setPos", Interpreter::memFunc (asserv_, &Asserv::setPos), "setPos X(mm) Y(mm) A(rad)\n" "set current position"); i.add ("setXPos", Interpreter::memFunc (asserv_, &Asserv::setYPos), "setPos X(mm)\n" "set current X position"); i.add ("setYPos", Interpreter::memFunc (asserv_, &Asserv::setXPos), "setPos Y(mm)\n" "set current Y position"); i.add ("setAngle", Interpreter::memFunc (asserv_, &Asserv::setAngle), "setPos A(rad)\n" "set current angle"); i.add ("storeParams", Interpreter::memFunc (asserv_, &Asserv::storeParams), "storeParams\nstore parameters to eeprom"); i.add ("clearParams", Interpreter::memFunc (asserv_, &Asserv::clearParams), "clearParams\nclear parameters stored in eeprom"); i.add ("_postcall", Interpreter::memFunc (*this, &TestAsserv::postcall)); } /// Executed after running commands. void postRun (void) { asserv_.reset (); } void receiveAck (int seq) { if (seq != seq_) std::cout << "spurious "; std::cout << "ack received" << std::endl; asserv_.ack (seq); ok_ = true; } void receiveCounterStat (int l, int r) { std::cout << "C " << l << ' ' << r << std::endl; } void receivePos (double x, double y, double a) { std::cout << "X " << x << ' ' << y << ' ' << a << std::endl; } void receiveSpeedStat (int t, int a) { std::cout << "S " << t << ' ' << a << std::endl; } void receivePosStat (int te, int ti, int ae, int ai) { std::cout << "P " << te << ' ' << ti << ' ' << ae << ' ' << ai << std::endl; } void receivePwmStat (int l, int r) { std::cout << "W " << l << ' ' << r << std::endl; } void receiveTimerStat (const int *t, int tn) { std::cout << "T "; std::copy (t, t + tn, std::ostream_iterator (std::cout, " ")); } void receiveInPort (unsigned int port) { std::cout << "I " << std::hex << std::setw (4) << std::setfill ('0') << port << std::dec << std::endl; } }; int main (int argc, char **argv) { try { TestAsserv ta (argc, argv); ta.run (); } catch (const std::exception &e) { std::cerr << e.what () << std::endl; } }