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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 "parser/parser.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 (const Parser::AnyList & al, bool dryrun)
      {
	Parser::AnyList::const_iterator it = al.begin();
	// arguments envoy� � la fonctions Proto::send
	int arg[6];
	// command avr
	char command = any_cast<char> (*it);
	// format des arguments
	std::string format = any_cast<std::string> (*++it);
	// R�cup�ration des arguments
	for (unsigned i = 0; i < 6; ++i)
	  {
	    if(i < al.size() - 2)
		arg[i] = any_cast<int> (*++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;
      }
}