// 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 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; } }