// 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 "parser/parser.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 (const Parser::AnyList & al, bool dryrun) { Parser::AnyList::const_iterator it = al.begin(); // arguments envoyé à la fonctions Proto::send int arg[6]; // command avr char command = any_cast (*it); // format des arguments std::string format = any_cast (*++it); // Récupération des arguments for (unsigned i = 0; i < 6; ++i) { if(i < al.size() - 2) arg[i] = any_cast (*++it); else arg[i] = 0; } if (!dryrun) proto_.send(command, format.c_str(), 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; } }