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// 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 <iostream>

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
	    ("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 ("ascenseur", Interpreter::memFunc(es_,
							   &Es::bouge_ascenceur),"Set sens , vitesse , tps\n" "sens : 0 UP 1 DOWN\n" "vit and tps : en hex");

	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;
    }
}