int
ACE_TMAIN(int argc, ACE_TCHAR *argv[])
{
ACE_DEBUG ((LM_DEBUG, "---------------------------------------------\n"));
ACE_DEBUG ((LM_DEBUG, "Running the Stub Tests.\n"));
try
{
// Retrieve the ORB.
CORBA::ORB_var orb = CORBA::ORB_init (argc,
argv);
test_forward (orb.in());
test_forward_permanent (orb.in());
test_forward_permanent_mix (orb.in());
}
catch (const CORBA::SystemException& sysex)
{
sysex._tao_print_exception ("Unexpected system Exception!!\n");
return -1;
}
catch (const CORBA::Exception& ex)
{
ex._tao_print_exception ("Unexpected CORBA Exception!\n");
return -1;
}
ACE_DEBUG ((LM_DEBUG, "Stub Tests Successfully Completed!\n"));
ACE_DEBUG ((LM_DEBUG, "---------------------------------------------\n"));
return 0;
}
void test_geometry(std::string const& wkt)
{
G geo;
bg::read_wkt(wkt, geo);
typedef typename boost::range_const_iterator<G>::type normal_iterator;
typedef bg::circular_iterator<normal_iterator> circular_iterator;
circular_iterator end(boost::end(geo));
// 2: start somewhere in the middle (first == test before)
test_forward(geo, end, 0, "12345");
test_forward(geo, end, 1, "23451");
test_forward(geo, end, 2, "34512");
test_forward(geo, end, 3, "45123");
test_forward(geo, end, 4, "51234");
test_backward(geo, end, 0, "15432");
test_backward(geo, end, 1, "21543");
test_backward(geo, end, 2, "32154");
test_backward(geo, end, 3, "43215");
test_backward(geo, end, 4, "54321");
// 4: check copy behaviour
G copy;
normal_iterator start = boost::begin(geo) + 2;
circular_iterator it(boost::begin(geo), boost::end(geo), start);
std::copy<circular_iterator>(it, end, std::back_inserter(copy));
std::ostringstream out;
for (normal_iterator cit = boost::begin(copy); cit != boost::end(copy); ++cit)
{
out << bg::get<0>(*cit);
}
BOOST_CHECK_EQUAL(out.str(), "34512");
}
static int
run_test (int /*unused*/, char* /*unused*/ [])
{
test_identity ();
#if !defined _RWSTD_NO_RVALUE_REFERENCES
test_forward ();
test_move ();
#else // no rvalue references
rw_warn (0, 0, __LINE__,
"No compiler support for rvalue references; tests disabled.");
#endif // !defined _RWSTD_NO_RVALUE_REFERENCES
return 0;
}
void receive_task(){
if(Receive_String_Ready){
//forward step by step
if(received_string[0] == '+'){
SpeedValue_left += inc;
SpeedValue_right += inc;
mMove(SpeedValue_left,SpeedValue_right);
USART_puts(USART3, "left:");
USART_putd(USART3, SpeedValue_left);
USART_puts(USART3, " right:");
USART_putd(USART3, SpeedValue_right);
USART_puts(USART3, "\r\n");
}
//backward step by step
else if(received_string[0] == '-'){
SpeedValue_left -= inc;
SpeedValue_right -= inc;
mMove(SpeedValue_left, SpeedValue_right);
USART_puts(USART3, "left:");
USART_putd(USART3, SpeedValue_left);
USART_puts(USART3, " right:");
USART_putd(USART3, SpeedValue_right);
USART_puts(USART3, "\r\n");
}
//forward
else if(received_string[0] == 'p'){
forward();
}
//PID
else if(received_string[0] == 'f'){
test_PID_forward();
}
//backward
else if(received_string[0] == 'b'){
test_PID_backward();
}
//left
else if(received_string[0] == 'l'){
test_PID_left();
}
//right
else if(received_string[0] == 'r'){
test_PID_right();
}
//stop
else if(received_string[0] == 's'){
stop();
}
//Linear Acturator
else if(received_string[0] == 'a'){
USART_puts(USART3, "Actu_A_up");
set_linearActuator_A_cmd(LINEAR_ACTU_CW);
USART_puts(USART3, "\r\n");
}
else if(received_string[0] == 'n'){
USART_puts(USART3, "Actu_A_down");
//set_linearActuator_A_cmd(LINEAR_ACTU_CCW);
USART_puts(USART3, "\r\n");
set_linearActuator_A_cmd(LINEAR_ACTU_CCW);
}
else if(received_string[0] == 'd'){
USART_puts(USART3, "Actu_A_stop");
//set_linearActuator_A_cmd(LINEAR_ACTU_CCW);
USART_puts(USART3, "\r\n");
set_linearActuator_A_cmd(LINEAR_ACTU_STOP);
}
else if(received_string[0] == 'u'){
USART_puts(USART3, "Actu_B_up");
set_linearActuator_B_cmd(LINEAR_ACTU_CW);
USART_puts(USART3, "\r\n");
}
else if(received_string[0] == 'k'){
USART_puts(USART3, "Actu_B_down");
//set_linearActuator_B_cmd(LINEAR_ACTU_CCW);
USART_puts(USART3, "\r\n");
set_linearActuator_B_cmd(LINEAR_ACTU_CCW);
}
else if(received_string[0] == 'w'){
USART_puts(USART3, "Actu_B_stop");
//set_linearActuator_B_cmd(LINEAR_ACTU_CCW);
USART_puts(USART3, "\r\n");
set_linearActuator_B_cmd(LINEAR_ACTU_STOP);
}
//get encoder
else if(received_string[0] == 'e'){
getEncoder();
}
//test
else if(received_string[0] == 't'){
test_forward();
}
}
}
void test_NumericalDiff()
{
CALL_SUBTEST(test_forward());
CALL_SUBTEST(test_central());
}
