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// 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 <iostream>
#include <stdexcept>

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 ();
	    // R�cup�re le tty de config
	    proto_.open(config_.get<std::string>("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 � rien
	    strtok(string, " ");
	    // On r�cup�re le format
	    format = strtok(0, " ");
	    if(!format)
		throw std::runtime_error("La commande n'a pas de format");
	    // On r�cup�re 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;
      }
}