test.cc

机器人仿真平台,和stage配合运行

/***************************************************************************
 * Desc: Test program for the Player C client
 * Author: Andrew Howard
 * Date: 13 May 2002
 # CVS: $Id: test.cc,v 1.17.2.3 2003/05/23 21:23:44 gerkey Exp $
 **************************************************************************/

#include "playerclient.h"
#include "test.h"

#include <unistd.h>

bool use_stage;

int main(int argc, const char *argv[])
{
  const char *host;
  int port;
  int i;
  char *arg;
  const char *device, *sindex; int index;
  PlayerClient client;


  // Default host, port
  host = "localhost";
  port = 6665;

  // Read program options
  for (i = 1; i < argc; i++)
  {
    if (strcmp(argv[i], "-h") == 0)
    {
      if(++i >= argc)
      {
        puts("missing hostname");
        exit(-1);
      }
      host = argv[i];
    }
    else if (strcmp(argv[i], "-p") == 0)
    {
      if(++i >= argc)
      {
        puts("missing port");
        exit(-1);
      }
      port = atoi(argv[i]);
    }
    else if(!strcmp(argv[i],"-stage"))
      use_stage = true;
  }
  
  printf("host [%s:%d]\n", host, port);
  
  TEST("connecting");
  if(client.Connect(host,port) != 0)
  {
    FAIL();
    return -1;
  }
  PASS();

  // Run the tests
  for (i = 1; i < argc; i++)
  {
    if (strncmp(argv[i], "--", 2) != 0)
      continue;

    // Get device name and index
    arg = strdup(argv[i]);
    device = strtok(arg + 2, ":");
    sindex = strtok(NULL, "");
    index = (sindex ? atoi(sindex) : 0);
    
    // Power device - a simple one to start with
    if(strcmp(device, "power") == 0 || strcmp(device, "all") == 0)
      test_power(&client, index);
    
    // DIO device
    if(strcmp(device, "dio") == 0 || strcmp(device, "all") == 0)
      test_dio(&client, index);

    // Position device
    if (strcmp(device, "position") == 0 || strcmp(device, "all") == 0)
      test_position(&client, index);

    // Position device - position control mode
    // not many robots support this mode but Stage's position model does.
    if (strcmp(device, "position_control") == 0 || strcmp(device, "all") == 0)
      test_position_control(&client, index);
    
    // Sonar device
    if(strcmp(device, "sonar") == 0 || strcmp(device, "all") == 0)
      test_sonar(&client, index);
    
    // Laser device
    if(strcmp(device, "laser") == 0 || strcmp(device, "all") == 0)
      test_laser(&client, index);
    
    // Fiducial finder device
    if(strcmp(device, "fiducial") == 0 || strcmp(device, "all") == 0)
      test_fiducial(&client, index);

    // PTZ device
    if(strcmp(device, "ptz") == 0 || strcmp(device, "all") == 0)
      test_ptz(&client, index);
    
    // Speech device
    if(strcmp(device, "speech") == 0 || strcmp(device, "all") == 0)
      test_speech(&client, index);
    
    // Vision device
    if(strcmp(device, "vision") == 0 || strcmp(device, "all") == 0)
      test_vision(&client, index);
    
    
    // GPS device
    if(strcmp(device, "gps") == 0 || strcmp(device, "all") == 0)
      test_gps(&client, index);
    
    // Gripper device
    if(strcmp(device, "gripper") == 0 || strcmp(device, "all") == 0)
      test_gripper(&client, index);

    // Ground truth device
    if(strcmp(device, "truth") == 0 || strcmp(device, "all") == 0)
      test_truth(&client, index);

    // Laserbeacon device
    if(strcmp(device, "laserbeacon") == 0 || strcmp(device, "all") == 0)
      test_lbd(&client, index);
    
    // Comms device
    if(strcmp(device, "comms") == 0 || strcmp(device, "all") == 0)
      test_broadcast(&client, index);
    
    // Bumper
    if(strcmp(device, "bumper") == 0 || strcmp(device, "all") == 0)
      test_bumper(&client, index);
    
    // WiFi
    if(strcmp(device, "wifi") == 0 || strcmp(device, "all") == 0)
      test_wifi(&client, index);

    if(strcmp(device, "mcom") == 0 || strcmp(device, "all") == 0)
      test_mcom(&client, index);

    if(strcmp(device, "localize") == 0 || strcmp(device, "all") == 0)
      test_localize(&client, index);

    if(strcmp(device, "audiodsp") == 0 || strcmp(device, "all") == 0)
      test_audiodsp(&client, index);

    if(strcmp(device, "audiomixer") == 0 || strcmp(device, "all") == 0)
      test_audiomixer(&client, index);


    // BPS device
    /*
    if(strcmp(device, "bps") == 0 || strcmp(device, "all") == 0)
      test_bps(&client, index);
     */

    /*
    // IDAR device
    if(strcmp(device, "idar") == 0 || strcmp(device, "all") == 0)
      test_idar(&client, index);

    // IDAR turret device
    if(strcmp(device, "idarturret") == 0 || strcmp(device, "all") == 0)
      test_idarturret(&client, index);
      */

    free(arg);
  }
    
  TEST("disconnecting");
  if(client.Disconnect() != 0)
  {
    FAIL();
    return -1;
  }
  PASS();
  
  return 0;
}