projects/microb2010/ballboard/commands_ballboard.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_ballboard.c,v 1.2 2009-04-24 19:30:42 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 <clock_time.h>
  34 #include <spi.h>
  35
  36 #include <pid.h>
  37 #include <quadramp.h>
  38 #include <control_system_manager.h>
  39 #include <blocking_detection_manager.h>
  40
  41 #include <rdline.h>
  42 #include <parse.h>
  43 #include <parse_string.h>
  44 #include <parse_num.h>
  45
  46 #include "main.h"
  47 #include "state.h"
  48 #include "cmdline.h"
  49 #include "../common/i2c_commands.h"
  50 #include "i2c_protocol.h"
  51 #include "actuator.h"
  52
  53 struct cmd_event_result {
  54         fixed_string_t arg0;
  55         fixed_string_t arg1;
  56         fixed_string_t arg2;
  57 };
  58
  59
  60 /* function called when cmd_event is parsed successfully */
  61 static void cmd_event_parsed(void *parsed_result, void *data)
  62 {
  63         u08 bit=0;
  64
  65         struct cmd_event_result * res = parsed_result;
  66
  67         if (!strcmp_P(res->arg1, PSTR("all"))) {
  68                 bit = 0xFF;
  69                 if (!strcmp_P(res->arg2, PSTR("on")))
  70                         ballboard.flags |= bit;
  71                 else if (!strcmp_P(res->arg2, PSTR("off")))
  72                         ballboard.flags &= bit;
  73                 else { /* show */
  74                         printf_P(PSTR("encoders is %s\r\n"),
  75                                  (DO_ENCODERS & ballboard.flags) ? "on":"off");
  76                         printf_P(PSTR("cs is %s\r\n"),
  77                                  (DO_CS & ballboard.flags) ? "on":"off");
  78                         printf_P(PSTR("bd is %s\r\n"),
  79                                  (DO_BD & ballboard.flags) ? "on":"off");
  80                         printf_P(PSTR("power is %s\r\n"),
  81                                  (DO_POWER & ballboard.flags) ? "on":"off");
  82                         printf_P(PSTR("errblock is %s\r\n"),
  83                                  (DO_ERRBLOCKING & ballboard.flags) ? "on":"off");
  84                 }
  85                 return;
  86         }
  87
  88         if (!strcmp_P(res->arg1, PSTR("encoders")))
  89                 bit = DO_ENCODERS;
  90         else if (!strcmp_P(res->arg1, PSTR("cs"))) {
  91                 bit = DO_CS;
  92         }
  93         else if (!strcmp_P(res->arg1, PSTR("bd")))
  94                 bit = DO_BD;
  95         else if (!strcmp_P(res->arg1, PSTR("power")))
  96                 bit = DO_POWER;
  97         else if (!strcmp_P(res->arg1, PSTR("errblock")))
  98                 bit = DO_ERRBLOCKING;
  99
 100
 101         if (!strcmp_P(res->arg2, PSTR("on")))
 102                 ballboard.flags |= bit;
 103         else if (!strcmp_P(res->arg2, PSTR("off"))) {
 104                 if (!strcmp_P(res->arg1, PSTR("cs"))) {
 105                         pwm_ng_set(ROLLER_PWM, 0);
 106                         pwm_ng_set(FORKTRANS_PWM, 0);
 107                         pwm_ng_set(FORKROT_PWM, 0);
 108                 }
 109                 ballboard.flags &= (~bit);
 110         }
 111         printf_P(PSTR("%s is %s\r\n"), res->arg1,
 112                       (bit & ballboard.flags) ? "on":"off");
 113 }
 114
 115 prog_char str_event_arg0[] = "event";
 116 parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
 117 prog_char str_event_arg1[] = "all#encoders#cs#bd#power#errblock";
 118 parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
 119 prog_char str_event_arg2[] = "on#off#show";
 120 parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
 121
 122 prog_char help_event[] = "Enable/disable events";
 123 parse_pgm_inst_t cmd_event = {
 124         .f = cmd_event_parsed,  /* function to call */
 125         .data = NULL,      /* 2nd arg of func */
 126         .help_str = help_event,
 127         .tokens = {        /* token list, NULL terminated */
 128                 (prog_void *)&cmd_event_arg0,
 129                 (prog_void *)&cmd_event_arg1,
 130                 (prog_void *)&cmd_event_arg2,
 131                 NULL,
 132         },
 133 };
 134
 135 /**********************************************************/
 136 /* Color */
 137
 138 /* this structure is filled when cmd_color is parsed successfully */
 139 struct cmd_color_result {
 140         fixed_string_t arg0;
 141         fixed_string_t color;
 142 };
 143
 144 /* function called when cmd_color is parsed successfully */
 145 static void cmd_color_parsed(void *parsed_result, void *data)
 146 {
 147         struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
 148         if (!strcmp_P(res->color, PSTR("yellow"))) {
 149                 ballboard.our_color = I2C_COLOR_YELLOW;
 150         }
 151         else if (!strcmp_P(res->color, PSTR("blue"))) {
 152                 ballboard.our_color = I2C_COLOR_BLUE;
 153         }
 154         printf_P(PSTR("Done\r\n"));
 155 }
 156
 157 prog_char str_color_arg0[] = "color";
 158 parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
 159 prog_char str_color_color[] = "blue#yellow";
 160 parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
 161
 162 prog_char help_color[] = "Set our color";
 163 parse_pgm_inst_t cmd_color = {
 164         .f = cmd_color_parsed,  /* function to call */
 165         .data = NULL,      /* 2nd arg of func */
 166         .help_str = help_color,
 167         .tokens = {        /* token list, NULL terminated */
 168                 (prog_void *)&cmd_color_arg0,
 169                 (prog_void *)&cmd_color_color,
 170                 NULL,
 171         },
 172 };
 173
 174
 175 /**********************************************************/
 176 /* State1 */
 177
 178 /* this structure is filled when cmd_state1 is parsed successfully */
 179 struct cmd_state1_result {
 180         fixed_string_t arg0;
 181         fixed_string_t arg1;
 182 };
 183
 184 /* function called when cmd_state1 is parsed successfully */
 185 static void cmd_state1_parsed(void *parsed_result,
 186                               __attribute__((unused)) void *data)
 187 {
 188         struct cmd_state1_result *res = parsed_result;
 189
 190         if (!strcmp_P(res->arg1, PSTR("init")))
 191                 state_init();
 192         else if (!strcmp_P(res->arg1, PSTR("off")))
 193                 state_set_mode(I2C_BALLBOARD_MODE_OFF);
 194         else if (!strcmp_P(res->arg1, PSTR("eject")))
 195                 state_set_mode(I2C_BALLBOARD_MODE_EJECT);
 196         else if (!strcmp_P(res->arg1, PSTR("harvest")))
 197                 state_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 198         else if (!strcmp_P(res->arg1, PSTR("prepare")))
 199                 state_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
 200         else if (!strcmp_P(res->arg1, PSTR("take")))
 201                 state_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 202
 203         /* other commands */
 204 }
 205
 206 prog_char str_state1_arg0[] = "ballboard";
 207 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
 208 prog_char str_state1_arg1[] = "init#eject#harvest#off#prepare#take";
 209 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 210
 211 prog_char help_state1[] = "set ballboard mode";
 212 parse_pgm_inst_t cmd_state1 = {
 213         .f = cmd_state1_parsed,  /* function to call */
 214         .data = NULL,      /* 2nd arg of func */
 215         .help_str = help_state1,
 216         .tokens = {        /* token list, NULL terminated */
 217                 (prog_void *)&cmd_state1_arg0,
 218                 (prog_void *)&cmd_state1_arg1,
 219                 NULL,
 220         },
 221 };
 222
 223 /**********************************************************/
 224 /* State2 */
 225
 226 /* this structure is filled when cmd_state2 is parsed successfully */
 227 struct cmd_state2_result {
 228         fixed_string_t arg0;
 229         fixed_string_t arg1;
 230         fixed_string_t arg2;
 231 };
 232
 233 /* function called when cmd_state2 is parsed successfully */
 234 static void cmd_state2_parsed(void *parsed_result,
 235                               __attribute__((unused)) void *data)
 236 {
 237 }
 238
 239 prog_char str_state2_arg0[] = "ballboard";
 240 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
 241 prog_char str_state2_arg1[] = "xxx";
 242 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 243 prog_char str_state2_arg2[] = "left#right";
 244 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
 245
 246 prog_char help_state2[] = "set ballboard mode";
 247 parse_pgm_inst_t cmd_state2 = {
 248         .f = cmd_state2_parsed,  /* function to call */
 249         .data = NULL,      /* 2nd arg of func */
 250         .help_str = help_state2,
 251         .tokens = {        /* token list, NULL terminated */
 252                 (prog_void *)&cmd_state2_arg0,
 253                 (prog_void *)&cmd_state2_arg1,
 254                 (prog_void *)&cmd_state2_arg2,
 255                 NULL,
 256         },
 257 };
 258
 259 /**********************************************************/
 260 /* State3 */
 261
 262 /* this structure is filled when cmd_state3 is parsed successfully */
 263 struct cmd_state3_result {
 264         fixed_string_t arg0;
 265         fixed_string_t arg1;
 266         uint8_t arg2;
 267 };
 268
 269 /* function called when cmd_state3 is parsed successfully */
 270 static void cmd_state3_parsed(void *parsed_result,
 271                               __attribute__((unused)) void *data)
 272 {
 273         struct cmd_state3_result *res = parsed_result;
 274
 275         if (!strcmp_P(res->arg1, PSTR("xxx"))) {
 276                 /* xxx = res->arg2 */
 277         }
 278         else if (!strcmp_P(res->arg1, PSTR("yyy"))) {
 279         }
 280         state_set_mode(0);
 281 }
 282
 283 prog_char str_state3_arg0[] = "ballboard";
 284 parse_pgm_token_string_t cmd_state3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg0, str_state3_arg0);
 285 prog_char str_state3_arg1[] = "xxx";
 286 parse_pgm_token_string_t cmd_state3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg1, str_state3_arg1);
 287 parse_pgm_token_num_t cmd_state3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_state3_result, arg2, UINT8);
 288
 289 prog_char help_state3[] = "set ballboard mode";
 290 parse_pgm_inst_t cmd_state3 = {
 291         .f = cmd_state3_parsed,  /* function to call */
 292         .data = NULL,      /* 2nd arg of func */
 293         .help_str = help_state3,
 294         .tokens = {        /* token list, NULL terminated */
 295                 (prog_void *)&cmd_state3_arg0,
 296                 (prog_void *)&cmd_state3_arg1,
 297                 (prog_void *)&cmd_state3_arg2,
 298                 NULL,
 299         },
 300 };
 301
 302 /**********************************************************/
 303 /* State_Machine */
 304
 305 /* this structure is filled when cmd_state_machine is parsed successfully */
 306 struct cmd_state_machine_result {
 307         fixed_string_t arg0;
 308 };
 309
 310 /* function called when cmd_state_machine is parsed successfully */
 311 static void cmd_state_machine_parsed(__attribute__((unused)) void *parsed_result,
 312                                      __attribute__((unused)) void *data)
 313 {
 314         state_machine();
 315 }
 316
 317 prog_char str_state_machine_arg0[] = "state_machine";
 318 parse_pgm_token_string_t cmd_state_machine_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_machine_result, arg0, str_state_machine_arg0);
 319
 320 prog_char help_state_machine[] = "launch state machine";
 321 parse_pgm_inst_t cmd_state_machine = {
 322         .f = cmd_state_machine_parsed,  /* function to call */
 323         .data = NULL,      /* 2nd arg of func */
 324         .help_str = help_state_machine,
 325         .tokens = {        /* token list, NULL terminated */
 326                 (prog_void *)&cmd_state_machine_arg0,
 327                 NULL,
 328         },
 329 };
 330
 331 /**********************************************************/
 332 /* State_Debug */
 333
 334 /* this structure is filled when cmd_state_debug is parsed successfully */
 335 struct cmd_state_debug_result {
 336         fixed_string_t arg0;
 337         uint8_t on;
 338 };
 339
 340 /* function called when cmd_state_debug is parsed successfully */
 341 static void cmd_state_debug_parsed(void *parsed_result,
 342                                    __attribute__((unused)) void *data)
 343 {
 344         struct cmd_state_debug_result *res = parsed_result;
 345         state_debug = res->on;
 346 }
 347
 348 prog_char str_state_debug_arg0[] = "state_debug";
 349 parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0);
 350 parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8);
 351
 352 prog_char help_state_debug[] = "Set debug for state machine";
 353 parse_pgm_inst_t cmd_state_debug = {
 354         .f = cmd_state_debug_parsed,  /* function to call */
 355         .data = NULL,      /* 2nd arg of func */
 356         .help_str = help_state_debug,
 357         .tokens = {        /* token list, NULL terminated */
 358                 (prog_void *)&cmd_state_debug_arg0,
 359                 (prog_void *)&cmd_state_debug_on,
 360                 NULL,
 361         },
 362 };
 363
 364 /**********************************************************/
 365 /* Fork */
 366
 367 /* this structure is filled when cmd_fork is parsed successfully */
 368 struct cmd_fork_result {
 369         fixed_string_t arg0;
 370         fixed_string_t arg1;
 371 };
 372
 373 /* function called when cmd_fork is parsed successfully */
 374 static void cmd_fork_parsed(void *parsed_result,
 375                                     __attribute__((unused)) void *data)
 376 {
 377         struct cmd_fork_result *res = parsed_result;
 378         if (!strcmp_P(res->arg1, PSTR("deploy")))
 379                 fork_deploy();
 380         else if (!strcmp_P(res->arg1, PSTR("pack")))
 381                 fork_pack();
 382         else if (!strcmp_P(res->arg1, PSTR("middle")))
 383                 fork_mid();
 384 }
 385
 386 prog_char str_fork_arg0[] = "fork";
 387 parse_pgm_token_string_t cmd_fork_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg0, str_fork_arg0);
 388 prog_char str_fork_arg1[] = "deploy#pack#middle";
 389 parse_pgm_token_string_t cmd_fork_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg1, str_fork_arg1);
 390
 391 prog_char help_fork[] = "move fork";
 392 parse_pgm_inst_t cmd_fork = {
 393         .f = cmd_fork_parsed,  /* function to call */
 394         .data = NULL,      /* 2nd arg of func */
 395         .help_str = help_fork,
 396         .tokens = {        /* token list, NULL terminated */
 397                 (prog_void *)&cmd_fork_arg0,
 398                 (prog_void *)&cmd_fork_arg1,
 399                 NULL,
 400         },
 401 };
 402
 403 /**********************************************************/
 404 /* Roller */
 405
 406 /* this structure is filled when cmd_roller is parsed successfully */
 407 struct cmd_roller_result {
 408         fixed_string_t arg0;
 409         fixed_string_t arg1;
 410 };
 411
 412 /* function called when cmd_roller is parsed successfully */
 413 static void cmd_roller_parsed(void *parsed_result,
 414                                     __attribute__((unused)) void *data)
 415 {
 416         struct cmd_roller_result *res = parsed_result;
 417         if (!strcmp_P(res->arg1, PSTR("on")))
 418                 roller_on();
 419         else if (!strcmp_P(res->arg1, PSTR("off")))
 420                 roller_off();
 421         else if (!strcmp_P(res->arg1, PSTR("reverse")))
 422                 roller_reverse();
 423 }
 424
 425 prog_char str_roller_arg0[] = "roller";
 426 parse_pgm_token_string_t cmd_roller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg0, str_roller_arg0);
 427 prog_char str_roller_arg1[] = "on#off#reverse";
 428 parse_pgm_token_string_t cmd_roller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg1, str_roller_arg1);
 429
 430 prog_char help_roller[] = "Servo door function";
 431 parse_pgm_inst_t cmd_roller = {
 432         .f = cmd_roller_parsed,  /* function to call */
 433         .data = NULL,      /* 2nd arg of func */
 434         .help_str = help_roller,
 435         .tokens = {        /* token list, NULL terminated */
 436                 (prog_void *)&cmd_roller_arg0,
 437                 (prog_void *)&cmd_roller_arg1,
 438                 NULL,
 439         },
 440 };
 441
 442 /**********************************************************/
 443 /* Test */
 444
 445 /* this structure is filled when cmd_test is parsed successfully */
 446 struct cmd_test_result {
 447         fixed_string_t arg0;
 448 };
 449
 450 /* function called when cmd_test is parsed successfully */
 451 static void cmd_test_parsed(void *parsed_result, void *data)
 452 {
 453         //struct cmd_test_result *res = parsed_result;
 454 }
 455
 456 prog_char str_test_arg0[] = "test";
 457 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
 458
 459 prog_char help_test[] = "Test function";
 460 parse_pgm_inst_t cmd_test = {
 461         .f = cmd_test_parsed,  /* function to call */
 462         .data = NULL,      /* 2nd arg of func */
 463         .help_str = help_test,
 464         .tokens = {        /* token list, NULL terminated */
 465                 (prog_void *)&cmd_test_arg0,
 466                 NULL,
 467         },
 468 };