157 lines
6.7 KiB
C++
157 lines
6.7 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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int main(void)
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{
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Aria::init();
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ArLog::log(ArLog::Normal, "\nTesting ArTime with large values:");
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ArTime startLarge, testlarge;
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ArLog::log(ArLog::Normal, "Setting an ArTime object \"startLarge\" to now...");
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startLarge.setToNow();
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ArLog::log(ArLog::Normal, "mSecSince %ld secSince %ld",
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startLarge.mSecSince(), startLarge.secSince());
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long adding=pow(2,31) - 10 * 1000;
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ArLog::log(ArLog::Normal, "Adding %d milliseconds", adding);
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startLarge.addMSec(adding);
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ArLog::log(ArLog::Normal, "mSecSince %ld secSince %ld",
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startLarge.mSecSince(), startLarge.secSince());
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ArLog::log(ArLog::Normal, "mSecSinceLL %lld secSinceLL %lld",
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startLarge.mSecSinceLL(), startLarge.secSinceLL());
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ArLog::log(ArLog::Normal, "Adding %d milliseconds", adding);
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startLarge.addMSec(adding);
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ArLog::log(ArLog::Normal, "mSecSince %ld secSince %ld",
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startLarge.mSecSince(), startLarge.secSince());
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ArLog::log(ArLog::Normal, "mSecSinceLL %lld secSinceLL %lld",
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startLarge.mSecSinceLL(), startLarge.secSinceLL());
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ArLog::log(ArLog::Normal, "\nTesting platform localtime (broken-down) struct:");
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struct tm t;
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ArUtil::localtime(&t);
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ArLog::log(ArLog::Normal, "ArUtil::localtime() returned: year=%d mon=%d mday=%d hour=%d min=%d sec=%d",
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t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
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time_t yesterday = time(NULL) - (24*60*60) ;
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ArUtil::localtime(&yesterday, &t);
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ArLog::log(ArLog::Normal, "ArUtil::localtime(time(NULL) - 24hours, struct tm*) returned: year=%d mon=%d mday=%d hour=%d min=%d sec=%d",
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t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
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ArLog::log(ArLog::Normal, "\nCurrent time as strings:");
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char year[5], month[3], day[3], hour[3], min[3], sec[3];
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ArUtil::putCurrentYearInString(year, 5);
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ArUtil::putCurrentMonthInString(month, 3);
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ArUtil::putCurrentDayInString(day, 3);
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ArUtil::putCurrentHourInString(hour, 3);
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ArUtil::putCurrentMinuteInString(min, 3);
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ArUtil::putCurrentSecondInString(sec, 3);
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ArLog::log(ArLog::Normal, " Year:%s, Month:%s, Day:%s, Hour:%s, Min:%s, Sec:%s",
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year, month, day, hour, min, sec);
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ArLog::log(ArLog::Normal, "\nTesting ArTime:");
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ArTime start, test;
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ArLog::log(ArLog::Normal, "Setting an ArTime object \"start\" to now...");
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start.setToNow();
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start.log();
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ArLog::log(ArLog::Normal, "Sleeping 4 secs");
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ArUtil::sleep(4000);
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ArLog::log(ArLog::Normal, "Setting an ArTime object \"test\" to now...");
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test.setToNow();
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test.log();
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ArLog::log(ArLog::Normal, "ms of \"test\" since start %ld", test.mSecSince(start));
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ArLog::log(ArLog::Normal, "seconds \"test\" since start %ld", test.secSince(start));
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ArLog::log(ArLog::Normal, "ms of start since \"test\" %ld", start.mSecSince(test));
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ArLog::log(ArLog::Normal, "seconds \"start\" test %ld", start.secSince(test));
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ArLog::log(ArLog::Normal, "\"start\" is before \"test\"? %d", test.isBefore(start));
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ArLog::log(ArLog::Normal, "\"start\" is after \"test\"? %d", test.isAfter(start));
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ArLog::log(ArLog::Normal, "\"test\" is before \"start\"? %d", start.isBefore(test));
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ArLog::log(ArLog::Normal, "\"test\" is after \"start\"? %d", start.isAfter(test));
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ArLog::log(ArLog::Normal, "ms from \"start\" to now %ld", start.mSecTo());
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ArLog::log(ArLog::Normal, "s from \"start\" to now %ld", start.secTo());
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ArLog::log(ArLog::Normal, "ms since \"start\" %ld", start.mSecSince());
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ArLog::log(ArLog::Normal, "s since \"start\" %ld", start.secSince());
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ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
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ArLog::log(ArLog::Normal, "s from \"test\" stamp to now %ld", test.secTo());
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ArLog::log(ArLog::Normal, "Testing addMSec, adding 200 mSec");
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test.addMSec(200);
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ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
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ArLog::log(ArLog::Normal, "Testing addMSec, subtracting 300 mSec");
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test.addMSec(-300);
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ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
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ArLog::log(ArLog::Normal, "Testing addMSec, adding 20.999 seconds");
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test.addMSec(20999);
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ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
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ArLog::log(ArLog::Normal, "Testing addMSec, subtracting 23.5 seconds");
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test.addMSec(-23500);
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ArLog::log(ArLog::Normal, "ms from \"test\" stamp to now %ld", test.mSecTo());
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ArTime timeDone;
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ArLog::log(ArLog::Normal, "Setting ArTime object \"done\" to now.");
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timeDone.setToNow();
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timeDone.addMSec(1000);
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ArLog::log(ArLog::Normal, "Making sure the add works in the right direction, adding a second to a timestamp set now");
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ArLog::log(ArLog::Normal, "Reading: %ld", timeDone.mSecTo());
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ArLog::log(ArLog::Normal, "Sleeping 20 ms");
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ArUtil::sleep(20);
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ArLog::log(ArLog::Normal, "Reading: %ld", timeDone.mSecTo());
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ArLog::log(ArLog::Normal, "Sleeping 2 seconds");
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ArUtil::sleep(2000);
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ArLog::log(ArLog::Normal, "Reading: %ld", timeDone.mSecTo());
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/*
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puts("\nslamming ArUtil::localtime() from a bunch of threads with the same input time...");
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time_t now = time(NULL);
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class LocaltimeTestThread : public virtual ArASyncTask
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{
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private:
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time_t time;
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public:
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LocaltimeTestThread(time_t t) : time(t) {}
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virtual void *runThread(void *) {
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struct tm t;
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ArUtil::localtime(&time, &t);
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ArLog::log(ArLog::Normal, "ArUtil::localtime() returned: year=%d mon=%d mday=%d hour=%d min=%d sec=%d", t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
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return 0;
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}
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};
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for(int i = 0; i < 200; ++i)
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(new LocaltimeTestThread(now))->runAsync();
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ArUtil::sleep(5000);
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*/
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ArLog::log(ArLog::Normal, "test is done.");
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}
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