89 lines
2.8 KiB
C++
89 lines
2.8 KiB
C++
|
/*
|
||
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
||
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
||
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
||
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
||
|
|
|
||
|
|
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
|
||
|
|
|
||
|
|
If you wish to redistribute ARIA under different terms, contact
|
||
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
||
|
|
robots@mobilerobots.com or
|
||
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
||
|
|
*/
|
||
|
|
#include "Aria.h"
|
||
|
|
|
||
|
|
class TestAction : public ArAction
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
TestAction(const char * name, const char * description = "") :
|
||
|
|
ArAction(name, description) {}
|
||
|
|
virtual ~TestAction(void) {}
|
||
|
|
ArActionDesired *fire(ArActionDesired currentDesired) { return NULL; }
|
||
|
|
};
|
||
|
|
|
||
|
|
int main(void)
|
||
|
|
{
|
||
|
|
Aria::init();
|
||
|
|
|
||
|
|
TestAction act0("0");
|
||
|
|
TestAction act1("1");
|
||
|
|
TestAction act2("2");
|
||
|
|
|
||
|
|
TestAction act3("3");
|
||
|
|
TestAction act4("4");
|
||
|
|
TestAction act5("5");
|
||
|
|
|
||
|
|
ArAction *act;
|
||
|
|
ArRobot robot;
|
||
|
|
|
||
|
|
|
||
|
|
robot.addAction(&act2, 100);
|
||
|
|
robot.addAction(&act1, 100);
|
||
|
|
robot.addAction(&act0, 100);
|
||
|
|
robot.addAction(&act4, 50);
|
||
|
|
robot.addAction(&act3, 75);
|
||
|
|
robot.addAction(&act5, -30);
|
||
|
|
|
||
|
|
printf("###First the action list should print with 6\n");
|
||
|
|
printf("--------------------------------------------------------------\n");
|
||
|
|
robot.logActions();
|
||
|
|
|
||
|
|
printf("###Then the action list should print with 5 (lacking number 4)\n");
|
||
|
|
printf("--------------------------------------------------------------\n");
|
||
|
|
robot.remAction(&act4);
|
||
|
|
robot.logActions();
|
||
|
|
|
||
|
|
printf("###Then the action list should print with 4 (lacking number 1)\n");
|
||
|
|
printf("--------------------------------------------------------------\n");
|
||
|
|
robot.remAction("1");
|
||
|
|
robot.logActions();
|
||
|
|
|
||
|
|
printf("###Then the action list should again print with 4\n");
|
||
|
|
printf("--------------------------------------------------------------\n");
|
||
|
|
robot.logActions();
|
||
|
|
|
||
|
|
printf("###Now action 0 should be printed.\n");
|
||
|
|
if ((act = robot.findAction("0")) != NULL)
|
||
|
|
act->log();
|
||
|
|
|
||
|
|
printf("###Now action 3 should be printed.\n");
|
||
|
|
if ((act = robot.findAction("3")) != NULL)
|
||
|
|
act->log();
|
||
|
|
|
||
|
|
printf("end of program.\n");
|
||
|
|
Aria::exit(0);
|
||
|
|
}
|