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// test_ai.cc
// marvin - programme du robot 2006. {{{
//
// Copyright (C) 2006 Dufour J�r�my
//
// Robot APB Team/Efrei 2004.
//        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 "ai/ai.hh"
#include "timer/timer.hh"

class TestAi : public Tester
{
  private:
    Ai ai_;
    /// Called after each command
    void postcall (void)
      {
	while (!ai_.update ())
	    ;
      }
    /// Wait.
    void wait (int ms)
      {
	int t, stop;
	t = Timer::getProgramTime ();
	stop = t + ms;
	while (t < stop)
	  {
	    ai_.temporisation (stop - t);
	    t = Timer::getProgramTime ();
	  }
      }
  public:
    TestAi(int argc, char ** argv)
	:Tester(argc, argv), ai_(config_)
	  {}
    void preRun (void)
      {
	Interpreter &interpreter = getInterpreter();
	// Add functions
	interpreter.add("init", Interpreter::memFunc(ai_, &Ai::init),
			"Initialise le robal(void)");
	interpreter.add("prepare", Interpreter::memFunc(ai_, &Ai::prepare),
			"Lance la proc�dure pr�-Match");
	interpreter.add("afterMatch", Interpreter::memFunc(ai_,
							   &Ai::afterMatch),
			"Lance la proc�dure post match");
	interpreter.add("stop", Interpreter::memFunc(ai_, &Ai::stop),
			"Stop le robal(void)");
	interpreter.add("tempo", Interpreter::memFunc(ai_,
						      &Ai::temporisation),
			"On temporise(int msec)");
	interpreter.add("jack", Interpreter::memFunc(ai_, &Ai::waitJack),
			"On attend que le jack sorte/rentre(bool sorte)");
	interpreter.add("sensors", Interpreter::memFunc(ai_,
							&Ai::referenceSensors),
			"Initialise les capteurs RVB(void)");
	interpreter.add("homologation", Interpreter::memFunc(ai_,
							     &Ai::progHomoloRobal),
			"Programme d'homologation du robal");
	interpreter.add("match", Interpreter::memFunc(ai_, &Ai::progMatch),
			"Programme de match qui d�chire du robal");
	interpreter.add("findHoleBasic", Interpreter::memFunc(ai_, &Ai::motorBasicFindHole),
			"Find a hole, basic version");
	interpreter.add ("_postcall",
			 Interpreter::memFunc (*this, &TestAi::postcall));
      }
    void postRun(void)
      {
	// On init le robal histoire de ...
	ai_.init();
      }
};

int main (int argc, char **argv)
{
    try
    {
      TestAi ta(argc, argv);
      ta.run ();
    }
    catch (const std::exception &e)
    {
	std::cerr << e.what () << std::endl;
    }
}