test_position.cc

机器人仿真平台,和stage配合运行

/*
 * $Id: test_position.cc,v 1.8.2.2 2003/05/23 21:23:44 gerkey Exp $
 *
 * a test for the C++ PositionProxy
 */

#include "playerclient.h"
#include "test.h"
#include <unistd.h>

int
test_position(PlayerClient* client, int index)
{
  unsigned char access;
  PositionProxy pp(client,index,'c');

  printf("device [position] index [%d]\n", index);

  TEST("subscribing (read/write)");
  if((pp.ChangeAccess(PLAYER_ALL_MODE,&access) < 0) ||
     (access != PLAYER_ALL_MODE))
  {
    FAIL();
    printf("DRIVER: %s\n", pp.driver_name);
    printf("access:%d\n", access);
    return -1;
  }
  PASS();

  printf("DRIVER: %s\n", pp.driver_name);

  // wait for P2OS to start up
  for(int i=0;i<20;i++)
    client->Read();

  for(int t = 0; t < 3; t++)
  {
    TEST1("reading data (attempt %d)", t);

    if(client->Read() < 0)
    {
      FAIL();
      return(-1);
    }

    PASS();

    pp.Print();
  }

  const int ox = 100, oy = -200;
  const unsigned short oa = 180;
  
  TEST("Setting odometry" );
  if( pp.SetOdometry(ox, oy, oa) < 0 )
    {
      FAIL();
      return(-1);
    }
  
  printf("\n - initial \t[%d %d %u]\n"
	 " - requested \t[%d %d %u]\n", 
	 pp.xpos, pp.ypos, pp.theta, 
	 ox, oy, oa );
  
  
  for( int s=0; s<10; s++ )
    {
      client->Read();
      printf( " - reading \t[%d %d %u]\r", 
	      pp.xpos, pp.ypos, pp.theta );
      fflush(stdout);
    }
  
  puts("");

  if( pp.xpos != ox || pp.ypos != oy || pp.theta != oa )
    {
      FAIL();
      //return(-1);
    }
  else
    PASS();
  
  TEST("resetting odometry");
  if(pp.ResetOdometry() < 0)
  {
    FAIL();
    return(-1);
  }
  sleep(1);
  PASS();

  TEST("enabling motors");
  if(pp.SetMotorState(1) < 0)
  {
    FAIL();
    return(-1);
  }
  PASS();

  TEST("moving forward");
  if(pp.SetSpeed(100,0) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("moving backward");
  if(pp.SetSpeed(-100,0) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("moving left");
  if(pp.SetSpeed(0,100,0) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("moving right");
  if(pp.SetSpeed(0,-100,0) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("turning right");
  if(pp.SetSpeed(0,-25) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("turning left");
  if(pp.SetSpeed(0,25) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("moving left and anticlockwise (testing omnidrive)");
  if( pp.SetSpeed( 0, 100, 45 ) < 0 )
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();


  TEST("moving right and clockwise (testing omnidrive)");
  if( pp.SetSpeed( 0, -100, -45 ) < 0 )
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("stopping");
  if(pp.SetSpeed(0,0) < 0)
    {
      FAIL();
      return(-1);
    }
  sleep(3);
  PASS();

  TEST("disabling motors");
  if(pp.SetMotorState(0) < 0)
  {
    FAIL();
    return(-1);
  }
  sleep(1);
  PASS();

  TEST("changing to separate velocity control");
  if(pp.SelectVelocityControl(1) < 0)
  {
    FAIL();
    return(-1);
  }
  sleep(1);
  PASS();

  TEST("changing to direct wheel velocity control");
  if(pp.SelectVelocityControl(0) < 0)
  {
    FAIL();
    return(-1);
  }
  sleep(1);
  PASS();

  TEST("resetting odometry");
  if(pp.ResetOdometry() < 0)
  {
    FAIL();
    return(-1);
  }
  sleep(1);
  PASS();

  TEST("unsubscribing");
  if((pp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
     (access != PLAYER_CLOSE_MODE))
  {
    FAIL();
    return -1;
  }

  PASS();

  return(0);
}