91 lines
2.3 KiB
C++
91 lines
2.3 KiB
C++
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#include <iostream>
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#include "../../src/definitions.h"
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#include "../../src/robot.h"
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#include <ctime>
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#define NB_TEST 50
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#define NB_RETRIES_MAX 5
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#define DELAY_BETWEEN_RETRIES 10000 // 10 ms
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#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
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int nb_retries;
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int nb_test;
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int laststatus;
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int nb_success;
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int nb_timeout;
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int nb_unknown_cmd;
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int flipflop;
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int main() {
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if (open_communication_robot("/dev/ttyUSB0") != 0) {
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std::cout << "Unable to open com port" << std::endl;
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return -1;
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}
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std::cout << "Debut du test de stress" << std::endl;
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time_t t_debut, t_fin;
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struct tm *tm_debut, *tm_fin;
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time(&t_debut);
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tm_debut = (struct tm*)malloc (sizeof(struct tm));
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tm_debut = localtime((const time_t*)&t_debut);
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std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
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nb_retries=-1;
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do {
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usleep(DELAY_BETWEEN_RETRIES);
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nb_retries++;
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laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
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} while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
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if(nb_retries == NB_RETRIES_MAX) {
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std::cout << "Unable to start robot" <<std::endl;
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return -1;
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}
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nb_success =0;
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nb_timeout =0;
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nb_unknown_cmd =0;
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flipflop = 0;
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for (nb_test=0; nb_test < NB_TEST; nb_test++) {
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nb_retries=-1;
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do {
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usleep(DELAY_BETWEEN_RETRIES);
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nb_retries++;
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if (flipflop == 0) {
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laststatus = send_command_to_robot(DMB_TURN, "100");
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} else {
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laststatus = send_command_to_robot(DMB_TURN, "-100");
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}
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} while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
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if (flipflop ==0) flipflop=1;
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else flipflop =0;
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if (laststatus == 0) nb_success++;
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else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
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else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
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std::cout << "Test " << nb_test << " [s " << nb_success
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<< ": t " << nb_timeout << ": u " << nb_unknown_cmd
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<< "]"<< "\x1B" <<"[30D"<<std::flush;
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usleep(DELAY_BETWEEN_TEST);
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}
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time(&t_fin);
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tm_fin = (struct tm*)malloc (sizeof(struct tm));
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tm_fin = localtime((const time_t*)&t_fin);
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std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
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return 0;
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}
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