projects/microb2009/mainboard/commands_traj.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: commands_traj.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive/pgmspace.h>
  27 #include <aversive/wait.h>
  28 #include <aversive/error.h>
  29
  30 #include <ax12.h>
  31 #include <uart.h>
  32 #include <pwm_ng.h>
  33 #include <time.h>
  34 #include <spi.h>
  35 #include <encoders_spi.h>
  36
  37 #include <pid.h>
  38 #include <quadramp.h>
  39 #include <control_system_manager.h>
  40 #include <trajectory_manager.h>
  41 #include <vect_base.h>
  42 #include <lines.h>
  43 #include <polygon.h>
  44 #include <obstacle_avoidance.h>
  45 #include <blocking_detection_manager.h>
  46 #include <robot_system.h>
  47 #include <position_manager.h>
  48
  49 #include <rdline.h>
  50 #include <parse.h>
  51 #include <parse_string.h>
  52 #include <parse_num.h>
  53
  54 #include "main.h"
  55 #include "cs.h"
  56 #include "cmdline.h"
  57 #include "strat_utils.h"
  58 #include "strat_base.h"
  59 #include "strat_avoid.h"
  60 #include "strat.h"
  61 #include "../common/i2c_commands.h"
  62 #include "i2c_protocol.h"
  63
  64 /**********************************************************/
  65 /* Traj_Speeds for trajectory_manager */
  66
  67 /* this structure is filled when cmd_traj_speed is parsed successfully */
  68 struct cmd_traj_speed_result {
  69         fixed_string_t arg0;
  70         fixed_string_t arg1;
  71         uint16_t s;
  72 };
  73
  74 /* function called when cmd_traj_speed is parsed successfully */
  75 static void cmd_traj_speed_parsed(void *parsed_result, void *data)
  76 {
  77         struct cmd_traj_speed_result * res = parsed_result;
  78
  79         if (!strcmp_P(res->arg1, PSTR("angle"))) {
  80                 trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
  81         }
  82         else if (!strcmp_P(res->arg1, PSTR("distance"))) {
  83                 trajectory_set_speed(&mainboard.traj, res->s, mainboard.traj.a_speed);
  84         }
  85         /* else it is a "show" */
  86
  87         printf_P(PSTR("angle %u, distance %u\r\n"),
  88                  mainboard.traj.a_speed,
  89                  mainboard.traj.d_speed);
  90 }
  91
  92 prog_char str_traj_speed_arg0[] = "traj_speed";
  93 parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
  94 prog_char str_traj_speed_arg1[] = "angle#distance";
  95 parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
  96 parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
  97
  98 prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
  99 parse_pgm_inst_t cmd_traj_speed = {
 100         .f = cmd_traj_speed_parsed,  /* function to call */
 101         .data = NULL,      /* 2nd arg of func */
 102         .help_str = help_traj_speed,
 103         .tokens = {        /* token list, NULL terminated */
 104                 (prog_void *)&cmd_traj_speed_arg0,
 105                 (prog_void *)&cmd_traj_speed_arg1,
 106                 (prog_void *)&cmd_traj_speed_s,
 107                 NULL,
 108         },
 109 };
 110
 111 /* show */
 112
 113 prog_char str_traj_speed_show_arg[] = "show";
 114 parse_pgm_token_string_t cmd_traj_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_show_arg);
 115
 116 prog_char help_traj_speed_show[] = "Show traj_speed values for trajectory manager";
 117 parse_pgm_inst_t cmd_traj_speed_show = {
 118         .f = cmd_traj_speed_parsed,  /* function to call */
 119         .data = NULL,      /* 2nd arg of func */
 120         .help_str = help_traj_speed_show,
 121         .tokens = {        /* token list, NULL terminated */
 122                 (prog_void *)&cmd_traj_speed_arg0,
 123                 (prog_void *)&cmd_traj_speed_show_arg,
 124                 NULL,
 125         },
 126 };
 127
 128 /**********************************************************/
 129 /* circle coef configuration */
 130
 131 /* this structure is filled when cmd_circle_coef is parsed successfully */
 132 struct cmd_circle_coef_result {
 133         fixed_string_t arg0;
 134         fixed_string_t arg1;
 135         float circle_coef;
 136 };
 137
 138
 139 /* function called when cmd_circle_coef is parsed successfully */
 140 static void cmd_circle_coef_parsed(void *parsed_result, void *data)
 141 {
 142         struct cmd_circle_coef_result *res = parsed_result;
 143
 144         if (!strcmp_P(res->arg1, PSTR("set"))) {
 145                 trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
 146         }
 147
 148         printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
 149 }
 150
 151 prog_char str_circle_coef_arg0[] = "circle_coef";
 152 parse_pgm_token_string_t cmd_circle_coef_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg0, str_circle_coef_arg0);
 153 prog_char str_circle_coef_arg1[] = "set";
 154 parse_pgm_token_string_t cmd_circle_coef_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_arg1);
 155 parse_pgm_token_num_t cmd_circle_coef_val = TOKEN_NUM_INITIALIZER(struct cmd_circle_coef_result, circle_coef, FLOAT);
 156
 157 prog_char help_circle_coef[] = "Set circle coef";
 158 parse_pgm_inst_t cmd_circle_coef = {
 159         .f = cmd_circle_coef_parsed,  /* function to call */
 160         .data = NULL,      /* 2nd arg of func */
 161         .help_str = help_circle_coef,
 162         .tokens = {        /* token list, NULL terminated */
 163                 (prog_void *)&cmd_circle_coef_arg0,
 164                 (prog_void *)&cmd_circle_coef_arg1,
 165                 (prog_void *)&cmd_circle_coef_val,
 166                 NULL,
 167         },
 168 };
 169
 170 /* show */
 171
 172 prog_char str_circle_coef_show_arg[] = "show";
 173 parse_pgm_token_string_t cmd_circle_coef_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_show_arg);
 174
 175 prog_char help_circle_coef_show[] = "Show circle coef";
 176 parse_pgm_inst_t cmd_circle_coef_show = {
 177         .f = cmd_circle_coef_parsed,  /* function to call */
 178         .data = NULL,      /* 2nd arg of func */
 179         .help_str = help_circle_coef_show,
 180         .tokens = {        /* token list, NULL terminated */
 181                 (prog_void *)&cmd_circle_coef_arg0,
 182                 (prog_void *)&cmd_circle_coef_show_arg,
 183                 NULL,
 184         },
 185 };
 186
 187 /**********************************************************/
 188 /* trajectory window configuration */
 189
 190 /* this structure is filled when cmd_trajectory is parsed successfully */
 191 struct cmd_trajectory_result {
 192         fixed_string_t arg0;
 193         fixed_string_t arg1;
 194         float d_win;
 195         float a_win;
 196         float a_start;
 197 };
 198
 199
 200 /* function called when cmd_trajectory is parsed successfully */
 201 static void cmd_trajectory_parsed(void * parsed_result, void * data)
 202 {
 203         struct cmd_trajectory_result * res = parsed_result;
 204
 205         if (!strcmp_P(res->arg1, PSTR("set"))) {
 206                 trajectory_set_windows(&mainboard.traj, res->d_win,
 207                                        res->a_win, res->a_start);
 208         }
 209
 210         printf_P(PSTR("trajectory %2.2f %2.2f %2.2f\r\n"), mainboard.traj.d_win,
 211                  DEG(mainboard.traj.a_win_rad), DEG(mainboard.traj.a_start_rad));
 212 }
 213
 214 prog_char str_trajectory_arg0[] = "trajectory";
 215 parse_pgm_token_string_t cmd_trajectory_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg0, str_trajectory_arg0);
 216 prog_char str_trajectory_arg1[] = "set";
 217 parse_pgm_token_string_t cmd_trajectory_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_arg1);
 218 parse_pgm_token_num_t cmd_trajectory_d = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, d_win, FLOAT);
 219 parse_pgm_token_num_t cmd_trajectory_a = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_win, FLOAT);
 220 parse_pgm_token_num_t cmd_trajectory_as = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_start, FLOAT);
 221
 222 prog_char help_trajectory[] = "Set trajectory windows (distance, angle, angle_start)";
 223 parse_pgm_inst_t cmd_trajectory = {
 224         .f = cmd_trajectory_parsed,  /* function to call */
 225         .data = NULL,      /* 2nd arg of func */
 226         .help_str = help_trajectory,
 227         .tokens = {        /* token list, NULL terminated */
 228                 (prog_void *)&cmd_trajectory_arg0,
 229                 (prog_void *)&cmd_trajectory_arg1,
 230                 (prog_void *)&cmd_trajectory_d,
 231                 (prog_void *)&cmd_trajectory_a,
 232                 (prog_void *)&cmd_trajectory_as,
 233                 NULL,
 234         },
 235 };
 236
 237 /* show */
 238
 239 prog_char str_trajectory_show_arg[] = "show";
 240 parse_pgm_token_string_t cmd_trajectory_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_show_arg);
 241
 242 prog_char help_trajectory_show[] = "Show trajectory window configuration";
 243 parse_pgm_inst_t cmd_trajectory_show = {
 244         .f = cmd_trajectory_parsed,  /* function to call */
 245         .data = NULL,      /* 2nd arg of func */
 246         .help_str = help_trajectory_show,
 247         .tokens = {        /* token list, NULL terminated */
 248                 (prog_void *)&cmd_trajectory_arg0,
 249                 (prog_void *)&cmd_trajectory_show_arg,
 250                 NULL,
 251         },
 252 };
 253
 254 /**********************************************************/
 255 /* rs_gains configuration */
 256
 257 /* this structure is filled when cmd_rs_gains is parsed successfully */
 258 struct cmd_rs_gains_result {
 259         fixed_string_t arg0;
 260         fixed_string_t arg1;
 261         float left;
 262         float right;
 263 };
 264
 265 /* function called when cmd_rs_gains is parsed successfully */
 266 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 267 {
 268         struct cmd_rs_gains_result * res = parsed_result;
 269
 270         if (!strcmp_P(res->arg1, PSTR("set"))) {
 271                 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 272                                         LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
 273                 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 274                                          RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
 275         }
 276         printf_P(PSTR("rs_gains set "));
 277         //f64_print(mainboard.rs.left_ext_gain);
 278         printf_P(PSTR(" "));
 279         //f64_print(mainboard.rs.right_ext_gain);
 280         printf_P(PSTR("\r\n"));
 281 }
 282
 283 prog_char str_rs_gains_arg0[] = "rs_gains";
 284 parse_pgm_token_string_t cmd_rs_gains_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg0, str_rs_gains_arg0);
 285 prog_char str_rs_gains_arg1[] = "set";
 286 parse_pgm_token_string_t cmd_rs_gains_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_arg1);
 287 parse_pgm_token_num_t cmd_rs_gains_l = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, left, FLOAT);
 288 parse_pgm_token_num_t cmd_rs_gains_r = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, right, FLOAT);
 289
 290 prog_char help_rs_gains[] = "Set rs_gains (left, right)";
 291 parse_pgm_inst_t cmd_rs_gains = {
 292         .f = cmd_rs_gains_parsed,  /* function to call */
 293         .data = NULL,      /* 2nd arg of func */
 294         .help_str = help_rs_gains,
 295         .tokens = {        /* token list, NULL terminated */
 296                 (prog_void *)&cmd_rs_gains_arg0,
 297                 (prog_void *)&cmd_rs_gains_arg1,
 298                 (prog_void *)&cmd_rs_gains_l,
 299                 (prog_void *)&cmd_rs_gains_r,
 300                 NULL,
 301         },
 302 };
 303
 304 /* show */
 305
 306 prog_char str_rs_gains_show_arg[] = "show";
 307 parse_pgm_token_string_t cmd_rs_gains_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_show_arg);
 308
 309 prog_char help_rs_gains_show[] = "Show rs_gains";
 310 parse_pgm_inst_t cmd_rs_gains_show = {
 311         .f = cmd_rs_gains_parsed,  /* function to call */
 312         .data = NULL,      /* 2nd arg of func */
 313         .help_str = help_rs_gains_show,
 314         .tokens = {        /* token list, NULL terminated */
 315                 (prog_void *)&cmd_rs_gains_arg0,
 316                 (prog_void *)&cmd_rs_gains_show_arg,
 317                 NULL,
 318         },
 319 };
 320
 321 /**********************************************************/
 322 /* track configuration */
 323
 324 /* this structure is filled when cmd_track is parsed successfully */
 325 struct cmd_track_result {
 326         fixed_string_t arg0;
 327         fixed_string_t arg1;
 328         float val;
 329 };
 330
 331 /* function called when cmd_track is parsed successfully */
 332 static void cmd_track_parsed(void * parsed_result, void * data)
 333 {
 334         struct cmd_track_result * res = parsed_result;
 335
 336         if (!strcmp_P(res->arg1, PSTR("set"))) {
 337                 position_set_physical_params(&mainboard.pos, res->val, DIST_IMP_MM);
 338         }
 339         printf_P(PSTR("track set %f\r\n"), mainboard.pos.phys.track_mm);
 340 }
 341
 342 prog_char str_track_arg0[] = "track";
 343 parse_pgm_token_string_t cmd_track_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg0, str_track_arg0);
 344 prog_char str_track_arg1[] = "set";
 345 parse_pgm_token_string_t cmd_track_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_arg1);
 346 parse_pgm_token_num_t cmd_track_val = TOKEN_NUM_INITIALIZER(struct cmd_track_result, val, FLOAT);
 347
 348 prog_char help_track[] = "Set track in mm";
 349 parse_pgm_inst_t cmd_track = {
 350         .f = cmd_track_parsed,  /* function to call */
 351         .data = NULL,      /* 2nd arg of func */
 352         .help_str = help_track,
 353         .tokens = {        /* token list, NULL terminated */
 354                 (prog_void *)&cmd_track_arg0,
 355                 (prog_void *)&cmd_track_arg1,
 356                 (prog_void *)&cmd_track_val,
 357                 NULL,
 358         },
 359 };
 360
 361 /* show */
 362
 363 prog_char str_track_show_arg[] = "show";
 364 parse_pgm_token_string_t cmd_track_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_show_arg);
 365
 366 prog_char help_track_show[] = "Show track";
 367 parse_pgm_inst_t cmd_track_show = {
 368         .f = cmd_track_parsed,  /* function to call */
 369         .data = NULL,      /* 2nd arg of func */
 370         .help_str = help_track_show,
 371         .tokens = {        /* token list, NULL terminated */
 372                 (prog_void *)&cmd_track_arg0,
 373                 (prog_void *)&cmd_track_show_arg,
 374                 NULL,
 375         },
 376 };
 377
 378
 379
 380 /**********************************************************/
 381 /* Pt_Lists for testing traj */
 382
 383 #define PT_LIST_SIZE 10
 384 static struct xy_point pt_list[PT_LIST_SIZE];
 385 static uint16_t pt_list_len = 0;
 386
 387 /* this structure is filled when cmd_pt_list is parsed successfully */
 388 struct cmd_pt_list_result {
 389         fixed_string_t arg0;
 390         fixed_string_t arg1;
 391         uint16_t arg2;
 392         int16_t arg3;
 393         int16_t arg4;
 394 };
 395
 396 /* function called when cmd_pt_list is parsed successfully */
 397 static void cmd_pt_list_parsed(void * parsed_result, void * data)
 398 {
 399         struct cmd_pt_list_result * res = parsed_result;
 400         uint8_t i, why=0;
 401
 402         if (!strcmp_P(res->arg1, PSTR("append"))) {
 403                 res->arg2 = pt_list_len;
 404         }
 405
 406         if (!strcmp_P(res->arg1, PSTR("insert")) ||
 407             !strcmp_P(res->arg1, PSTR("append"))) {
 408                 if (res->arg2 > pt_list_len) {
 409                         printf_P(PSTR("Index too large\r\n"));
 410                         return;
 411                 }
 412                 if (pt_list_len >= PT_LIST_SIZE) {
 413                         printf_P(PSTR("List is too large\r\n"));
 414                         return;
 415                 }
 416                 memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
 417                        PT_LIST_SIZE-1-res->arg2);
 418                 pt_list[res->arg2].x = res->arg3;
 419                 pt_list[res->arg2].y = res->arg4;
 420                 pt_list_len++;
 421         }
 422         else if (!strcmp_P(res->arg1, PSTR("del"))) {
 423                 if (pt_list_len <= 0) {
 424                         printf_P(PSTR("Error: list empty\r\n"));
 425                         return;
 426                 }
 427                 if (res->arg2 > pt_list_len) {
 428                         printf_P(PSTR("Index too large\r\n"));
 429                         return;
 430                 }
 431                 memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
 432                        (PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
 433                 pt_list_len--;
 434         }
 435         else if (!strcmp_P(res->arg1, PSTR("reset"))) {
 436                 pt_list_len = 0;
 437         }
 438
 439         /* else it is a "show" or a "start" */
 440         if (pt_list_len == 0) {
 441                 printf_P(PSTR("List empty\r\n"));
 442                 return;
 443         }
 444         for (i=0 ; i<pt_list_len ; i++) {
 445                 printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
 446                 if (!strcmp_P(res->arg1, PSTR("start"))) {
 447                         trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
 448                         why = wait_traj_end(0xFF); /* all */
 449                 }
 450                 else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
 451                         while (1) {
 452                                 why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
 453                                 printf("next point\r\n");
 454                                 if (why != END_OBSTACLE)
 455                                         break;
 456                         }
 457                 }
 458                 if (why & (~(END_TRAJ | END_NEAR)))
 459                         trajectory_stop(&mainboard.traj);
 460         }
 461 }
 462
 463 prog_char str_pt_list_arg0[] = "pt_list";
 464 parse_pgm_token_string_t cmd_pt_list_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg0, str_pt_list_arg0);
 465 prog_char str_pt_list_arg1[] = "insert";
 466 parse_pgm_token_string_t cmd_pt_list_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1);
 467 parse_pgm_token_num_t cmd_pt_list_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg2, UINT16);
 468 parse_pgm_token_num_t cmd_pt_list_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg3, INT16);
 469 parse_pgm_token_num_t cmd_pt_list_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg4, INT16);
 470
 471 prog_char help_pt_list[] = "Insert point in pt_list (idx,x,y)";
 472 parse_pgm_inst_t cmd_pt_list = {
 473         .f = cmd_pt_list_parsed,  /* function to call */
 474         .data = NULL,      /* 2nd arg of func */
 475         .help_str = help_pt_list,
 476         .tokens = {        /* token list, NULL terminated */
 477                 (prog_void *)&cmd_pt_list_arg0,
 478                 (prog_void *)&cmd_pt_list_arg1,
 479                 (prog_void *)&cmd_pt_list_arg2,
 480                 (prog_void *)&cmd_pt_list_arg3,
 481                 (prog_void *)&cmd_pt_list_arg4,
 482                 NULL,
 483         },
 484 };
 485
 486 /* append */
 487
 488 prog_char str_pt_list_arg1_append[] = "append";
 489 parse_pgm_token_string_t cmd_pt_list_arg1_append = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1_append);
 490
 491 prog_char help_pt_list_append[] = "Append point in pt_list (x,y)";
 492 parse_pgm_inst_t cmd_pt_list_append = {
 493         .f = cmd_pt_list_parsed,  /* function to call */
 494         .data = NULL,      /* 2nd arg of func */
 495         .help_str = help_pt_list_append,
 496         .tokens = {        /* token list, NULL terminated */
 497                 (prog_void *)&cmd_pt_list_arg0,
 498                 (prog_void *)&cmd_pt_list_arg1_append,
 499                 (prog_void *)&cmd_pt_list_arg3,
 500                 (prog_void *)&cmd_pt_list_arg4,
 501                 NULL,
 502         },
 503 };
 504
 505 /* del */
 506
 507 prog_char str_pt_list_del_arg[] = "del";
 508 parse_pgm_token_string_t cmd_pt_list_del_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_del_arg);
 509
 510 prog_char help_pt_list_del[] = "Del or insert point in pt_list (num)";
 511 parse_pgm_inst_t cmd_pt_list_del = {
 512         .f = cmd_pt_list_parsed,  /* function to call */
 513         .data = NULL,      /* 2nd arg of func */
 514         .help_str = help_pt_list_del,
 515         .tokens = {        /* token list, NULL terminated */
 516                 (prog_void *)&cmd_pt_list_arg0,
 517                 (prog_void *)&cmd_pt_list_del_arg,
 518                 (prog_void *)&cmd_pt_list_arg2,
 519                 NULL,
 520         },
 521 };
 522 /* show */
 523
 524 prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
 525 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
 526
 527 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
 528 parse_pgm_inst_t cmd_pt_list_show = {
 529         .f = cmd_pt_list_parsed,  /* function to call */
 530         .data = NULL,      /* 2nd arg of func */
 531         .help_str = help_pt_list_show,
 532         .tokens = {        /* token list, NULL terminated */
 533                 (prog_void *)&cmd_pt_list_arg0,
 534                 (prog_void *)&cmd_pt_list_show_arg,
 535                 NULL,
 536         },
 537 };
 538
 539
 540
 541 /**********************************************************/
 542 /* Goto function */
 543
 544 /* this structure is filled when cmd_goto is parsed successfully */
 545 struct cmd_goto_result {
 546         fixed_string_t arg0;
 547         fixed_string_t arg1;
 548         int32_t arg2;
 549         int32_t arg3;
 550         int32_t arg4;
 551         int32_t arg5;
 552 };
 553
 554 /* function called when cmd_goto is parsed successfully */
 555 static void cmd_goto_parsed(void * parsed_result, void * data)
 556 {
 557         struct cmd_goto_result * res = parsed_result;
 558         uint8_t err;
 559         microseconds t1, t2;
 560
 561         interrupt_traj_reset();
 562         if (!strcmp_P(res->arg1, PSTR("a_rel"))) {
 563                 trajectory_a_rel(&mainboard.traj, res->arg2);
 564         }
 565         else if (!strcmp_P(res->arg1, PSTR("d_rel"))) {
 566                 trajectory_d_rel(&mainboard.traj, res->arg2);
 567         }
 568         else if (!strcmp_P(res->arg1, PSTR("a_abs"))) {
 569                 trajectory_a_abs(&mainboard.traj, res->arg2);
 570         }
 571         else if (!strcmp_P(res->arg1, PSTR("a_to_xy"))) {
 572                 trajectory_turnto_xy(&mainboard.traj, res->arg2, res->arg3);
 573         }
 574         else if (!strcmp_P(res->arg1, PSTR("a_behind_xy"))) {
 575                 trajectory_turnto_xy_behind(&mainboard.traj, res->arg2, res->arg3);
 576         }
 577         else if (!strcmp_P(res->arg1, PSTR("xy_rel"))) {
 578                 trajectory_goto_xy_rel(&mainboard.traj, res->arg2, res->arg3);
 579         }
 580         else if (!strcmp_P(res->arg1, PSTR("xy_abs"))) {
 581                 trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
 582         }
 583         else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
 584                 err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
 585                 if (err != END_TRAJ && err != END_NEAR)
 586                         strat_hardstop();
 587         }
 588         else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
 589                 err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
 590                 if (err != END_TRAJ && err != END_NEAR)
 591                         strat_hardstop();
 592         }
 593         else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
 594                 trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
 595         }
 596         else if (!strcmp_P(res->arg1, PSTR("xy_abs_back"))) {
 597                 trajectory_goto_backward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
 598         }
 599         else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
 600                 trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
 601         }
 602         else if (!strcmp_P(res->arg1, PSTR("circle_rel"))) {
 603                 trajectory_circle_rel(&mainboard.traj, res->arg2, res->arg3,
 604                                       res->arg4, res->arg5, 0);
 605                 return; /* XXX */
 606         }
 607         t1 = time_get_us2();
 608         while ((err = test_traj_end(0xFF)) == 0) {
 609                 t2 = time_get_us2();
 610                 if (t2 - t1 > 200000) {
 611                         dump_cs_debug("angle", &mainboard.angle.cs);
 612                         dump_cs_debug("distance", &mainboard.distance.cs);
 613                         t1 = t2;
 614                 }
 615         }
 616         if (err != END_TRAJ && err != END_NEAR)
 617                 strat_hardstop();
 618         printf_P(PSTR("returned %s\r\n"), get_err(err));
 619 }
 620
 621 prog_char str_goto_arg0[] = "goto";
 622 parse_pgm_token_string_t cmd_goto_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg0, str_goto_arg0);
 623 prog_char str_goto_arg1_a[] = "d_rel#a_rel#a_abs";
 624 parse_pgm_token_string_t cmd_goto_arg1_a = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_a);
 625 parse_pgm_token_num_t cmd_goto_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg2, INT32);
 626
 627 /* 1 params */
 628 prog_char help_goto1[] = "Change orientation of the mainboard";
 629 parse_pgm_inst_t cmd_goto1 = {
 630         .f = cmd_goto_parsed,  /* function to call */
 631         .data = NULL,      /* 2nd arg of func */
 632         .help_str = help_goto1,
 633         .tokens = {        /* token list, NULL terminated */
 634                 (prog_void *)&cmd_goto_arg0,
 635                 (prog_void *)&cmd_goto_arg1_a,
 636                 (prog_void *)&cmd_goto_arg2,
 637                 NULL,
 638         },
 639 };
 640
 641 prog_char str_goto_arg1_b[] = "xy_rel#xy_abs#xy_abs_fow#xy_abs_back#da_rel#a_to_xy#avoid#avoid_bw#a_behind_xy";
 642 parse_pgm_token_string_t cmd_goto_arg1_b = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_b);
 643 parse_pgm_token_num_t cmd_goto_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg3, INT32);
 644
 645 /* 2 params */
 646 prog_char help_goto2[] = "Go to a (x,y) or (d,a) position";
 647 parse_pgm_inst_t cmd_goto2 = {
 648         .f = cmd_goto_parsed,  /* function to call */
 649         .data = NULL,      /* 2nd arg of func */
 650         .help_str = help_goto2,
 651         .tokens = {        /* token list, NULL terminated */
 652                 (prog_void *)&cmd_goto_arg0,
 653                 (prog_void *)&cmd_goto_arg1_b,
 654                 (prog_void *)&cmd_goto_arg2,
 655                 (prog_void *)&cmd_goto_arg3,
 656                 NULL,
 657         },
 658 };
 659
 660 prog_char str_goto_arg1_c[] = "circle_rel";
 661 parse_pgm_token_string_t cmd_goto_arg1_c = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_c);
 662 parse_pgm_token_num_t cmd_goto_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg4, INT32);
 663 parse_pgm_token_num_t cmd_goto_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg5, INT32);
 664
 665 /* 4 params */
 666 prog_char help_goto4[] = "Do a circle: (x,y, radius, angle)";
 667 parse_pgm_inst_t cmd_goto4 = {
 668         .f = cmd_goto_parsed,  /* function to call */
 669         .data = NULL,      /* 2nd arg of func */
 670         .help_str = help_goto4,
 671         .tokens = {        /* token list, NULL terminated */
 672                 (prog_void *)&cmd_goto_arg0,
 673                 (prog_void *)&cmd_goto_arg1_c,
 674                 (prog_void *)&cmd_goto_arg2,
 675                 (prog_void *)&cmd_goto_arg3,
 676                 (prog_void *)&cmd_goto_arg4,
 677                 (prog_void *)&cmd_goto_arg5,
 678                 NULL,
 679         },
 680 };
 681
 682 /**********************************************************/
 683 /* Position tests */
 684
 685 /* this structure is filled when cmd_position is parsed successfully */
 686 struct cmd_position_result {
 687         fixed_string_t arg0;
 688         fixed_string_t arg1;
 689         int32_t arg2;
 690         int32_t arg3;
 691         int32_t arg4;
 692 };
 693
 694 #define AUTOPOS_SPEED_FAST 200
 695 static void auto_position(void)
 696 {
 697         uint8_t err;
 698         uint16_t old_spdd, old_spda;
 699
 700         interrupt_traj_reset();
 701         strat_get_speed(&old_spdd, &old_spda);
 702         strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 703
 704         trajectory_d_rel(&mainboard.traj, -300);
 705         err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
 706         if (err == END_INTR)
 707                 goto intr;
 708         wait_ms(100);
 709         strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
 710
 711         trajectory_d_rel(&mainboard.traj, 120);
 712         err = wait_traj_end(END_INTR|END_TRAJ);
 713         if (err == END_INTR)
 714                 goto intr;
 715
 716         trajectory_a_rel(&mainboard.traj, COLOR_A(90));
 717         err = wait_traj_end(END_INTR|END_TRAJ);
 718         if (err == END_INTR)
 719                 goto intr;
 720
 721         trajectory_d_rel(&mainboard.traj, -300);
 722         err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
 723         if (err == END_INTR)
 724                 goto intr;
 725         wait_ms(100);
 726         strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
 727                         COLOR_A(90));
 728
 729         trajectory_d_rel(&mainboard.traj, 120);
 730         err = wait_traj_end(END_INTR|END_TRAJ);
 731         if (err == END_INTR)
 732                 goto intr;
 733         wait_ms(100);
 734
 735         trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
 736         err = wait_traj_end(END_INTR|END_TRAJ);
 737         if (err == END_INTR)
 738                 goto intr;
 739         wait_ms(100);
 740
 741         strat_set_speed(old_spdd, old_spda);
 742         return;
 743
 744 intr:
 745         strat_hardstop();
 746         strat_set_speed(old_spdd, old_spda);
 747 }
 748
 749 /* function called when cmd_position is parsed successfully */
 750 static void cmd_position_parsed(void * parsed_result, void * data)
 751 {
 752         struct cmd_position_result * res = parsed_result;
 753
 754         /* display raw position values */
 755         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 756                 position_set(&mainboard.pos, 0, 0, 0);
 757         }
 758         else if (!strcmp_P(res->arg1, PSTR("set"))) {
 759                 position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
 760         }
 761         else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
 762                 mainboard.our_color = I2C_COLOR_GREEN;
 763                 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
 764                 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
 765                 auto_position();
 766         }
 767         else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
 768                 mainboard.our_color = I2C_COLOR_RED;
 769                 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
 770                 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
 771                 auto_position();
 772         }
 773
 774         /* else it's just a "show" */
 775         printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
 776                  position_get_x_double(&mainboard.pos),
 777                  position_get_y_double(&mainboard.pos),
 778                  DEG(position_get_a_rad_double(&mainboard.pos)));
 779 }
 780
 781 prog_char str_position_arg0[] = "position";
 782 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
 783 prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
 784 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
 785
 786 prog_char help_position[] = "Show/reset (x,y,a) position";
 787 parse_pgm_inst_t cmd_position = {
 788         .f = cmd_position_parsed,  /* function to call */
 789         .data = NULL,      /* 2nd arg of func */
 790         .help_str = help_position,
 791         .tokens = {        /* token list, NULL terminated */
 792                 (prog_void *)&cmd_position_arg0,
 793                 (prog_void *)&cmd_position_arg1,
 794                 NULL,
 795         },
 796 };
 797
 798
 799 prog_char str_position_arg1_set[] = "set";
 800 parse_pgm_token_string_t cmd_position_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1_set);
 801 parse_pgm_token_num_t cmd_position_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg2, INT32);
 802 parse_pgm_token_num_t cmd_position_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg3, INT32);
 803 parse_pgm_token_num_t cmd_position_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg4, INT32);
 804
 805 prog_char help_position_set[] = "Set (x,y,a) position";
 806 parse_pgm_inst_t cmd_position_set = {
 807         .f = cmd_position_parsed,  /* function to call */
 808         .data = NULL,      /* 2nd arg of func */
 809         .help_str = help_position_set,
 810         .tokens = {        /* token list, NULL terminated */
 811                 (prog_void *)&cmd_position_arg0,
 812                 (prog_void *)&cmd_position_arg1_set,
 813                 (prog_void *)&cmd_position_arg2,
 814                 (prog_void *)&cmd_position_arg3,
 815                 (prog_void *)&cmd_position_arg4,
 816                 NULL,
 817         },
 818 };
 819
 820
 821 /**********************************************************/
 822 /* strat configuration */
 823
 824 /* this structure is filled when cmd_strat_infos is parsed successfully */
 825 struct cmd_strat_infos_result {
 826         fixed_string_t arg0;
 827         fixed_string_t arg1;
 828 };
 829
 830 /* function called when cmd_strat_infos is parsed successfully */
 831 static void cmd_strat_infos_parsed(void *parsed_result, void *data)
 832 {
 833         struct cmd_strat_infos_result *res = parsed_result;
 834
 835         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 836                 strat_reset_infos();
 837         }
 838         strat_infos.dump_enabled = 1;
 839         strat_dump_infos(__FUNCTION__);
 840 }
 841
 842 prog_char str_strat_infos_arg0[] = "strat_infos";
 843 parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
 844 prog_char str_strat_infos_arg1[] = "show#reset";
 845 parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
 846
 847 prog_char help_strat_infos[] = "reset/show strat_infos";
 848 parse_pgm_inst_t cmd_strat_infos = {
 849         .f = cmd_strat_infos_parsed,  /* function to call */
 850         .data = NULL,      /* 2nd arg of func */
 851         .help_str = help_strat_infos,
 852         .tokens = {        /* token list, NULL terminated */
 853                 (prog_void *)&cmd_strat_infos_arg0,
 854                 (prog_void *)&cmd_strat_infos_arg1,
 855                 NULL,
 856         },
 857 };
 858
 859 /**********************************************************/
 860 /* strat configuration */
 861
 862 /* this structure is filled when cmd_strat_conf is parsed successfully */
 863 struct cmd_strat_conf_result {
 864         fixed_string_t arg0;
 865         fixed_string_t arg1;
 866 };
 867
 868 /* function called when cmd_strat_conf is parsed successfully */
 869 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 870 {
 871         struct cmd_strat_conf_result *res = parsed_result;
 872
 873         if (!strcmp_P(res->arg1, PSTR("base"))) {
 874                 strat_infos.conf.flags = 0;
 875                 strat_infos.conf.scan_our_min_time = 90;
 876                 strat_infos.conf.delay_between_our_scan = 90;
 877                 strat_infos.conf.scan_opp_min_time = 90;
 878                 strat_infos.conf.delay_between_opp_scan = 90;
 879         }
 880         else if (!strcmp_P(res->arg1, PSTR("big3"))) {
 881                 strat_infos.conf.flags =
 882                         STRAT_CONF_STORE_STATIC2 |
 883                         STRAT_CONF_BIG_3_TEMPLE;
 884                 strat_infos.conf.scan_our_min_time = 90;
 885                 strat_infos.conf.delay_between_our_scan = 90;
 886                 strat_infos.conf.scan_opp_min_time = 90;
 887                 strat_infos.conf.delay_between_opp_scan = 90;
 888         }
 889         else if (!strcmp_P(res->arg1, PSTR("base_check"))) {
 890                 strat_infos.conf.flags = 0;
 891                 strat_infos.conf.scan_our_min_time = 35;
 892                 strat_infos.conf.delay_between_our_scan = 90;
 893                 strat_infos.conf.scan_opp_min_time = 90;
 894                 strat_infos.conf.delay_between_opp_scan = 90;
 895         }
 896         else if (!strcmp_P(res->arg1, PSTR("big3_check"))) {
 897                 strat_infos.conf.flags =
 898                         STRAT_CONF_STORE_STATIC2 |
 899                         STRAT_CONF_BIG_3_TEMPLE;
 900                 strat_infos.conf.scan_our_min_time = 35;
 901                 strat_infos.conf.delay_between_our_scan = 90;
 902                 strat_infos.conf.scan_opp_min_time = 90;
 903                 strat_infos.conf.delay_between_opp_scan = 90;
 904         }
 905         else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) {
 906                 strat_infos.conf.flags =
 907                         STRAT_CONF_TAKE_ONE_LINTEL |
 908                         STRAT_CONF_STORE_STATIC2 |
 909                         STRAT_CONF_EARLY_SCAN |
 910                         STRAT_CONF_PUSH_OPP_COLS;
 911                 strat_infos.conf.scan_our_min_time = 50;
 912                 strat_infos.conf.delay_between_our_scan = 90;
 913                 strat_infos.conf.scan_opp_min_time = 15;
 914                 strat_infos.conf.delay_between_opp_scan = 90;
 915                 strat_infos.conf.wait_opponent = 5;
 916         }
 917         else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) {
 918                 strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL;
 919                 strat_infos.conf.scan_our_min_time = 90;
 920                 strat_infos.conf.delay_between_our_scan = 90;
 921                 strat_infos.conf.scan_opp_min_time = 30;
 922                 strat_infos.conf.delay_between_opp_scan = 90;
 923         }
 924         else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) {
 925                 strat_infos.conf.flags =
 926                         STRAT_CONF_ONLY_ONE_ON_DISC;
 927                 strat_infos.conf.scan_our_min_time = 90;
 928                 strat_infos.conf.delay_between_our_scan = 90;
 929                 strat_infos.conf.scan_opp_min_time = 90;
 930                 strat_infos.conf.delay_between_opp_scan = 90;
 931         }
 932         strat_infos.dump_enabled = 1;
 933         strat_dump_conf();
 934 }
 935
 936 prog_char str_strat_conf_arg0[] = "strat_conf";
 937 parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
 938 prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc";
 939 parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
 940
 941 prog_char help_strat_conf[] = "configure strat options";
 942 parse_pgm_inst_t cmd_strat_conf = {
 943         .f = cmd_strat_conf_parsed,  /* function to call */
 944         .data = NULL,      /* 2nd arg of func */
 945         .help_str = help_strat_conf,
 946         .tokens = {        /* token list, NULL terminated */
 947                 (prog_void *)&cmd_strat_conf_arg0,
 948                 (prog_void *)&cmd_strat_conf_arg1,
 949                 NULL,
 950         },
 951 };
 952
 953 /**********************************************************/
 954 /* strat configuration */
 955
 956 /* this structure is filled when cmd_strat_conf2 is parsed successfully */
 957 struct cmd_strat_conf2_result {
 958         fixed_string_t arg0;
 959         fixed_string_t arg1;
 960         fixed_string_t arg2;
 961 };
 962
 963 /* function called when cmd_strat_conf2 is parsed successfully */
 964 static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 965 {
 966         struct cmd_strat_conf2_result *res = parsed_result;
 967         uint8_t on, bit = 0;
 968
 969         if (!strcmp_P(res->arg2, PSTR("on")))
 970                 on = 1;
 971         else
 972                 on = 0;
 973
 974         if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
 975                 bit = STRAT_CONF_ONLY_ONE_ON_DISC;
 976         else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
 977                 bit = STRAT_CONF_BYPASS_STATIC2;
 978         else if (!strcmp_P(res->arg1, PSTR("take_one_lintel")))
 979                 bit = STRAT_CONF_TAKE_ONE_LINTEL;
 980         else if (!strcmp_P(res->arg1, PSTR("skip_when_check_fail")))
 981                 bit = STRAT_CONF_TAKE_ONE_LINTEL;
 982         else if (!strcmp_P(res->arg1, PSTR("store_static2")))
 983                 bit = STRAT_CONF_STORE_STATIC2;
 984         else if (!strcmp_P(res->arg1, PSTR("big3_temple")))
 985                 bit = STRAT_CONF_BIG_3_TEMPLE;
 986         else if (!strcmp_P(res->arg1, PSTR("early_opp_scan")))
 987                 bit = STRAT_CONF_EARLY_SCAN;
 988         else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
 989                 bit = STRAT_CONF_PUSH_OPP_COLS;
 990
 991         if (on)
 992                 strat_infos.conf.flags |= bit;
 993         else
 994                 strat_infos.conf.flags &= (~bit);
 995
 996         strat_infos.dump_enabled = 1;
 997         strat_dump_conf();
 998 }
 999
1000 prog_char str_strat_conf2_arg0[] = "strat_conf";
1001 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
1002 prog_char str_strat_conf2_arg1[] = "push_opp_cols#one_temple_on_disc#bypass_static2#take_one_lintel#skip_when_check_fail#store_static2#big3_temple#early_opp_scan";
1003 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
1004 prog_char str_strat_conf2_arg2[] = "on#off";
1005 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
1006
1007
1008 prog_char help_strat_conf2[] = "configure strat options";
1009 parse_pgm_inst_t cmd_strat_conf2 = {
1010         .f = cmd_strat_conf2_parsed,  /* function to call */
1011         .data = NULL,      /* 2nd arg of func */
1012         .help_str = help_strat_conf2,
1013         .tokens = {        /* token list, NULL terminated */
1014                 (prog_void *)&cmd_strat_conf2_arg0,
1015                 (prog_void *)&cmd_strat_conf2_arg1,
1016                 (prog_void *)&cmd_strat_conf2_arg2,
1017                 NULL,
1018         },
1019 };
1020
1021 /**********************************************************/
1022 /* strat configuration */
1023
1024 /* this structure is filled when cmd_strat_conf3 is parsed successfully */
1025 struct cmd_strat_conf3_result {
1026         fixed_string_t arg0;
1027         fixed_string_t arg1;
1028         uint8_t arg2;
1029 };
1030
1031 /* function called when cmd_strat_conf3 is parsed successfully */
1032 static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
1033 {
1034         struct cmd_strat_conf3_result *res = parsed_result;
1035
1036         if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
1037                 if (res->arg2 > 90)
1038                         res->arg2 = 90;
1039                 strat_infos.conf.scan_opp_min_time = res->arg2;
1040         }
1041         else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
1042                 if (res->arg2 > 90)
1043                         res->arg2 = 90;
1044                 strat_infos.conf.delay_between_opp_scan = res->arg2;
1045         }
1046         else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
1047                 if (res->arg2 > 90)
1048                         res->arg2 = 90;
1049                 strat_infos.conf.scan_our_min_time = res->arg2;
1050         }
1051         else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
1052                 if (res->arg2 > 90)
1053                         res->arg2 = 90;
1054                 strat_infos.conf.delay_between_our_scan = res->arg2;
1055         }
1056         else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
1057                 strat_infos.conf.wait_opponent = res->arg2;
1058         }
1059         else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
1060                 strat_infos.conf.lintel_min_time = res->arg2;
1061         }
1062         strat_infos.dump_enabled = 1;
1063         strat_dump_conf();
1064 }
1065
1066 prog_char str_strat_conf3_arg0[] = "strat_conf";
1067 parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
1068 prog_char str_strat_conf3_arg1[] = "lintel_min_time#scan_opponent_min_time#delay_between_opponent_scan#scan_our_min_time#delay_between_our_scan#wait_opponent";
1069 parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
1070 parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
1071
1072 prog_char help_strat_conf3[] = "configure strat options";
1073 parse_pgm_inst_t cmd_strat_conf3 = {
1074         .f = cmd_strat_conf3_parsed,  /* function to call */
1075         .data = NULL,      /* 2nd arg of func */
1076         .help_str = help_strat_conf3,
1077         .tokens = {        /* token list, NULL terminated */
1078                 (prog_void *)&cmd_strat_conf3_arg0,
1079                 (prog_void *)&cmd_strat_conf3_arg1,
1080                 (prog_void *)&cmd_strat_conf3_arg2,
1081                 NULL,
1082         },
1083 };
1084
1085 /**********************************************************/
1086 /* strat configuration */
1087
1088 /* this structure is filled when cmd_strat_conf4 is parsed successfully */
1089 struct cmd_strat_conf4_result {
1090         fixed_string_t arg0;
1091         fixed_string_t arg1;
1092         int16_t arg2;
1093 };
1094
1095 /* function called when cmd_strat_conf4 is parsed successfully */
1096 static void cmd_strat_conf4_parsed(void *parsed_result, void *data)
1097 {
1098         struct cmd_strat_conf4_result *res = parsed_result;
1099
1100         if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) {
1101                 strat_infos.conf.scan_opp_angle = res->arg2;
1102         }
1103         strat_infos.dump_enabled = 1;
1104         strat_dump_conf();
1105 }
1106
1107 prog_char str_strat_conf4_arg0[] = "strat_conf";
1108 parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0);
1109 prog_char str_strat_conf4_arg1[] = "scan_opponent_angle";
1110 parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1);
1111 parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16);
1112
1113 prog_char help_strat_conf4[] = "configure strat options";
1114 parse_pgm_inst_t cmd_strat_conf4 = {
1115         .f = cmd_strat_conf4_parsed,  /* function to call */
1116         .data = NULL,      /* 2nd arg of func */
1117         .help_str = help_strat_conf4,
1118         .tokens = {        /* token list, NULL terminated */
1119                 (prog_void *)&cmd_strat_conf4_arg0,
1120                 (prog_void *)&cmd_strat_conf4_arg1,
1121                 (prog_void *)&cmd_strat_conf4_arg2,
1122                 NULL,
1123         },
1124 };
1125
1126
1127 /**********************************************************/
1128 /* Subtraj */
1129
1130 /* this structure is filled when cmd_subtraj is parsed successfully */
1131 struct cmd_subtraj_result {
1132         fixed_string_t arg0;
1133         fixed_string_t arg1;
1134         int32_t arg2;
1135         int32_t arg3;
1136         int32_t arg4;
1137         int32_t arg5;
1138 };
1139
1140 /* function called when cmd_subtraj is parsed successfully */
1141 static void cmd_subtraj_parsed(void *parsed_result, void *data)
1142 {
1143         struct cmd_subtraj_result *res = parsed_result;
1144         uint8_t err = 0;
1145         struct column_dispenser *disp;
1146
1147         if (strcmp_P(res->arg1, PSTR("static")) == 0) {
1148                 err = strat_static_columns(res->arg2);
1149         }
1150         else if (strcmp_P(res->arg1, PSTR("static2")) == 0) {
1151                 strat_infos.s_cols.configuration = res->arg2;
1152                 switch (res->arg2) {
1153                 case 1:
1154                         position_set(&mainboard.pos, 1398,
1155                                      COLOR_Y(1297), COLOR_A(-66));
1156                         break;
1157                 case 2:
1158                         position_set(&mainboard.pos, 1232,
1159                                      COLOR_Y(1051), COLOR_A(4));
1160                         break;
1161                 case 3:
1162                         position_set(&mainboard.pos, 1232,
1163                                      COLOR_Y(1043), COLOR_A(5));
1164                         break;
1165                 case 4:
1166                         position_set(&mainboard.pos, 1346,
1167                                      COLOR_Y(852), COLOR_A(57));
1168                         break;
1169                 default:
1170                         return;
1171                 }
1172                 if (res->arg2 == 1 && res->arg3 == 1) {
1173                         strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE;
1174                 }
1175                 if (res->arg2 == 1 && res->arg3 == 2) {
1176                         strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE;
1177                 }
1178                 err = strat_static_columns_pass2();
1179         }
1180         else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) {
1181                 err = strat_goto_lintel_disp(&strat_infos.l1);
1182         }
1183         else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) {
1184                 err = strat_goto_lintel_disp(&strat_infos.l2);
1185         }
1186         else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) {
1187                 disp = &strat_infos.c1;
1188                 err = strat_goto_col_disp(&disp);
1189         }
1190         else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) {
1191                 disp = &strat_infos.c2;
1192                 err = strat_goto_col_disp(&disp);
1193         }
1194         else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) {
1195                 disp = &strat_infos.c3;
1196                 err = strat_goto_col_disp(&disp);
1197         }
1198         else if (strcmp_P(res->arg1, PSTR("disc")) == 0) {
1199                 if (res->arg2 == 0) {
1200                         printf_P(PSTR("bad level\r\n"));
1201                         return;
1202                 }
1203                 err = strat_goto_disc(res->arg2);
1204         }
1205
1206         printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
1207         trajectory_hardstop(&mainboard.traj);
1208 }
1209
1210 prog_char str_subtraj_arg0[] = "subtraj";
1211 parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
1212 prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2";
1213 parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
1214 parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
1215 parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
1216 parse_pgm_token_num_t cmd_subtraj_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg4, INT32);
1217 parse_pgm_token_num_t cmd_subtraj_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg5, INT32);
1218
1219 prog_char help_subtraj[] = "Test sub-trajectories (a,b,c,d: specific params)";
1220 parse_pgm_inst_t cmd_subtraj = {
1221         .f = cmd_subtraj_parsed,  /* function to call */
1222         .data = NULL,      /* 2nd arg of func */
1223         .help_str = help_subtraj,
1224         .tokens = {        /* token list, NULL terminated */
1225                 (prog_void *)&cmd_subtraj_arg0,
1226                 (prog_void *)&cmd_subtraj_arg1,
1227                 (prog_void *)&cmd_subtraj_arg2,
1228                 (prog_void *)&cmd_subtraj_arg3,
1229                 (prog_void *)&cmd_subtraj_arg4,
1230                 (prog_void *)&cmd_subtraj_arg5,
1231                 NULL,
1232         },
1233 };