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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 
		("rvbStat", Interpreter::memFunc (es_, &Es::setRVBSensorsStat),
		 "Enable RVB Sensors raw stats (mask, freq)");
	    interpreter.add
		("colorStat", Interpreter::memFunc (es_, &Es::setRVBSniffStat),
		 "Enable RVB Sensors color stats (mask, freq)");
	    interpreter.add
		("ballStat", Interpreter::memFunc (es_, &Es::setRVBBallStat),
		 "Enable Ball stats (num, freq)\n"
		 "  - num  : sensor number (7 or 8)");
	    interpreter.add
		("colorRef", Interpreter::memFunc (es_, &Es::setRefColor),
		 "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
		("turbMin", Interpreter::memFunc (es_, &Es::init2Barillet),
		 "Turbine minimal speed ()");
	    interpreter.add
		("turbDep", Interpreter::memFunc (es_, &Es::deposeBalle),
		 "Drop a ball at the rear ()");
	    interpreter.add
		("barGoTo", Interpreter::memFunc (es_, &Es::rotationBarillet),
		 "Barillet go to position (pos)\n"
		 "  - pos  : in 40� of a round");
	    interpreter.add
		("barSleep", Interpreter::memFunc (es_, &Es::barilletSleep),
		 "Barillet in sleep mode (low speed turbine)");
	    interpreter.add
		("statAck", Interpreter::memFunc (es_, &Es::setAckStat),
		 "Set ack stat (freq)");
	    interpreter.add
		("statMain", Interpreter::memFunc (es_, &Es::setMainStat),
		 "Set main stat (freq)");
	    interpreter.add ("_postcall",
		   Interpreter::memFunc (*this, &TestEs::postcall));
	}
};

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