// test_proto.cc // robert - programme du robot 2006. {{{ // // Copyright (C) 2005 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 "proto.hh" #include "timer/timer.hh" #include "tester/tester.hh" #include #include class TestProto : public Tester, Proto::Receiver { private: Proto proto_; public: // Constructor TestProto (int argc, char ** argv) : Tester (argc, argv), proto_(*this){} void preRun (void) { Interpreter &interpreter = getInterpreter (); // Récupère le tty de config proto_.open(config_.get("testProto.tty")); // Add functions. interpreter.add ("s", Interpreter::memFunc ( *this, &TestProto::send ), "Fonction send (string commande, string format, int arg...)"); interpreter.add ("w", Interpreter::memFunc ( proto_, &Proto::wait ), "Fonction wait ()"); } void postRun(void) { proto_.close(); } void receive (char command, const Proto::Frame &frame) { std::cout << "received " << frame << std::endl; } void send (std::string str) { char command = str[0]; char *format; int arg[6]; int nbArg = 0; char *temp; char *string = new char[str.size() + 1]; strcpy(string, str.c_str()); // On fait un strtok qui sert à rien strtok(string, " "); // On récupère le format format = strtok(0, " "); if(!format) throw std::runtime_error("La commande n'a pas de format"); // On récupère les arguments for(; nbArg < 6; nbArg++) { if((temp = strtok(0, " "))) break; else arg[nbArg] = atoi(temp); } for(;nbArg < 6; nbArg++) arg[nbArg] = 0; proto_.send(command, format, arg[0], arg[1], arg[2], arg[3], arg[4], arg[5]); } }; int main (int argc, char **argv) { try { TestProto tp (argc, argv); tp.run (); } catch (const std::exception &e) { std::cerr << e.what () << std::endl; } }