89 lines
2.8 KiB
C++
89 lines
2.8 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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class TestAction : public ArAction
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{
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public:
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TestAction(const char * name, const char * description = "") :
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ArAction(name, description) {}
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virtual ~TestAction(void) {}
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ArActionDesired *fire(ArActionDesired currentDesired) { return NULL; }
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};
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int main(void)
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{
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Aria::init();
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TestAction act0("0");
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TestAction act1("1");
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TestAction act2("2");
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TestAction act3("3");
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TestAction act4("4");
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TestAction act5("5");
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ArAction *act;
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ArRobot robot;
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robot.addAction(&act2, 100);
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robot.addAction(&act1, 100);
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robot.addAction(&act0, 100);
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robot.addAction(&act4, 50);
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robot.addAction(&act3, 75);
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robot.addAction(&act5, -30);
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printf("###First the action list should print with 6\n");
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printf("--------------------------------------------------------------\n");
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robot.logActions();
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printf("###Then the action list should print with 5 (lacking number 4)\n");
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printf("--------------------------------------------------------------\n");
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robot.remAction(&act4);
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robot.logActions();
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printf("###Then the action list should print with 4 (lacking number 1)\n");
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printf("--------------------------------------------------------------\n");
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robot.remAction("1");
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robot.logActions();
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printf("###Then the action list should again print with 4\n");
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printf("--------------------------------------------------------------\n");
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robot.logActions();
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printf("###Now action 0 should be printed.\n");
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if ((act = robot.findAction("0")) != NULL)
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act->log();
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printf("###Now action 3 should be printed.\n");
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if ((act = robot.findAction("3")) != NULL)
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act->log();
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printf("end of program.\n");
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Aria::exit(0);
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}
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