projects/microb2010/cobboard/commands_cobboard.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_cobboard.c,v 1.6 2009-11-08 17:25:00 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 "../common/i2c_commands.h"
  47 #include "main.h"
  48 #include "sensor.h"
  49 #include "cmdline.h"
  50 #include "state.h"
  51 #include "i2c_protocol.h"
  52 #include "actuator.h"
  53 #include "spickle.h"
  54 #include "shovel.h"
  55
  56 struct cmd_event_result {
  57         fixed_string_t arg0;
  58         fixed_string_t arg1;
  59         fixed_string_t arg2;
  60 };
  61
  62
  63 /* function called when cmd_event is parsed successfully */
  64 static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void *data)
  65 {
  66         u08 bit=0;
  67
  68         struct cmd_event_result * res = parsed_result;
  69
  70         if (!strcmp_P(res->arg1, PSTR("all"))) {
  71                 bit = 0xFF;
  72                 if (!strcmp_P(res->arg2, PSTR("on")))
  73                         cobboard.flags |= bit;
  74                 else if (!strcmp_P(res->arg2, PSTR("off")))
  75                         cobboard.flags &= bit;
  76                 else { /* show */
  77                         printf_P(PSTR("encoders is %s\r\n"),
  78                                  (DO_ENCODERS & cobboard.flags) ? "on":"off");
  79                         printf_P(PSTR("cs is %s\r\n"),
  80                                  (DO_CS & cobboard.flags) ? "on":"off");
  81                         printf_P(PSTR("bd is %s\r\n"),
  82                                  (DO_BD & cobboard.flags) ? "on":"off");
  83                         printf_P(PSTR("power is %s\r\n"),
  84                                  (DO_POWER & cobboard.flags) ? "on":"off");
  85                         printf_P(PSTR("errblock is %s\r\n"),
  86                                  (DO_ERRBLOCKING & cobboard.flags) ? "on":"off");
  87                 }
  88                 return;
  89         }
  90
  91         if (!strcmp_P(res->arg1, PSTR("encoders")))
  92                 bit = DO_ENCODERS;
  93         else if (!strcmp_P(res->arg1, PSTR("cs"))) {
  94                 bit = DO_CS;
  95         }
  96         else if (!strcmp_P(res->arg1, PSTR("bd")))
  97                 bit = DO_BD;
  98         else if (!strcmp_P(res->arg1, PSTR("power")))
  99                 bit = DO_POWER;
 100         else if (!strcmp_P(res->arg1, PSTR("errblock")))
 101                 bit = DO_ERRBLOCKING;
 102
 103
 104         if (!strcmp_P(res->arg2, PSTR("on")))
 105                 cobboard.flags |= bit;
 106         else if (!strcmp_P(res->arg2, PSTR("off"))) {
 107                 if (!strcmp_P(res->arg1, PSTR("cs"))) {
 108                         pwm_ng_set(LEFT_SPICKLE_PWM, 0);
 109                         pwm_ng_set(RIGHT_SPICKLE_PWM, 0);
 110                         pwm_ng_set(SHOVEL_PWM, 0);
 111                 }
 112                 cobboard.flags &= (~bit);
 113         }
 114         printf_P(PSTR("%s is %s\r\n"), res->arg1,
 115                       (bit & cobboard.flags) ? "on":"off");
 116 }
 117
 118 prog_char str_event_arg0[] = "event";
 119 parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
 120 prog_char str_event_arg1[] = "all#encoders#cs#bd#power#errblock";
 121 parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
 122 prog_char str_event_arg2[] = "on#off#show";
 123 parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
 124
 125 prog_char help_event[] = "Enable/disable events";
 126 parse_pgm_inst_t cmd_event = {
 127         .f = cmd_event_parsed,  /* function to call */
 128         .data = NULL,      /* 2nd arg of func */
 129         .help_str = help_event,
 130         .tokens = {        /* token list, NULL terminated */
 131                 (prog_void *)&cmd_event_arg0,
 132                 (prog_void *)&cmd_event_arg1,
 133                 (prog_void *)&cmd_event_arg2,
 134                 NULL,
 135         },
 136 };
 137
 138 /**********************************************************/
 139 /* Color */
 140
 141 /* this structure is filled when cmd_color is parsed successfully */
 142 struct cmd_color_result {
 143         fixed_string_t arg0;
 144         fixed_string_t color;
 145 };
 146
 147 /* function called when cmd_color is parsed successfully */
 148 static void cmd_color_parsed(void *parsed_result, __attribute__((unused)) void *data)
 149 {
 150         struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
 151         if (!strcmp_P(res->color, PSTR("yellow"))) {
 152                 cobboard.our_color = I2C_COLOR_YELLOW;
 153         }
 154         else if (!strcmp_P(res->color, PSTR("blue"))) {
 155                 cobboard.our_color = I2C_COLOR_BLUE;
 156         }
 157         printf_P(PSTR("Done\r\n"));
 158 }
 159
 160 prog_char str_color_arg0[] = "color";
 161 parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
 162 prog_char str_color_color[] = "blue#yellow";
 163 parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
 164
 165 prog_char help_color[] = "Set our color";
 166 parse_pgm_inst_t cmd_color = {
 167         .f = cmd_color_parsed,  /* function to call */
 168         .data = NULL,      /* 2nd arg of func */
 169         .help_str = help_color,
 170         .tokens = {        /* token list, NULL terminated */
 171                 (prog_void *)&cmd_color_arg0,
 172                 (prog_void *)&cmd_color_color,
 173                 NULL,
 174         },
 175 };
 176
 177 /**********************************************************/
 178 /* State1 */
 179
 180 /* this structure is filled when cmd_state1 is parsed successfully */
 181 struct cmd_state1_result {
 182         fixed_string_t arg0;
 183         fixed_string_t arg1;
 184 };
 185
 186 /* function called when cmd_state1 is parsed successfully */
 187 static void cmd_state1_parsed(void *parsed_result,
 188                               __attribute__((unused)) void *data)
 189 {
 190         struct cmd_state1_result *res = parsed_result;
 191
 192         if (!strcmp_P(res->arg1, PSTR("init")))
 193                 state_init();
 194         else if (!strcmp_P(res->arg1, PSTR("eject")))
 195                 state_set_mode(I2C_COBBOARD_MODE_EJECT);
 196         else if (!strcmp_P(res->arg1, PSTR("kickstand")))
 197                 state_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
 198         else if (!strcmp_P(res->arg1, PSTR("ignore_i2c")))
 199                 state_set_i2c_ignore(1);
 200         else if (!strcmp_P(res->arg1, PSTR("care_i2c")))
 201                 state_set_i2c_ignore(0);
 202
 203         /* other commands */
 204 }
 205
 206 prog_char str_state1_arg0[] = "cobboard";
 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#ignore_i2c#care_i2c#kickstand";
 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 cobboard 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         struct cmd_state2_result *res = parsed_result;
 238         uint8_t side;
 239
 240         if (!strcmp_P(res->arg2, PSTR("left")))
 241                 side = I2C_LEFT_SIDE;
 242         else
 243                 side = I2C_RIGHT_SIDE;
 244
 245         if (!strcmp_P(res->arg1, PSTR("pack"))) {
 246                 state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 247                 state_set_spickle(side, 0);
 248         }
 249         else if (!strcmp_P(res->arg1, PSTR("weak_pack"))) {
 250                 state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 251                 state_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
 252         }
 253         else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
 254                 state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 255                 state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
 256         }
 257         else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
 258                 state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 259                 state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
 260                                   I2C_COBBOARD_SPK_AUTOHARVEST);
 261         }
 262         else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
 263                 state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 264                 state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
 265                                   I2C_COBBOARD_SPK_NO_MOVE);
 266         }
 267         else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
 268                 state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 269                 state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
 270                                   I2C_COBBOARD_SPK_AUTOHARVEST |
 271                                   I2C_COBBOARD_SPK_NO_MOVE);
 272         }
 273 }
 274
 275 prog_char str_state2_arg0[] = "cobboard";
 276 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
 277 prog_char str_state2_arg1[] = "harvest#deploy#pack#weak_pack#harvest_nomove#deploy_nomove";
 278 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 279 prog_char str_state2_arg2[] = "left#right";
 280 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
 281
 282 prog_char help_state2[] = "set cobboard mode";
 283 parse_pgm_inst_t cmd_state2 = {
 284         .f = cmd_state2_parsed,  /* function to call */
 285         .data = NULL,      /* 2nd arg of func */
 286         .help_str = help_state2,
 287         .tokens = {        /* token list, NULL terminated */
 288                 (prog_void *)&cmd_state2_arg0,
 289                 (prog_void *)&cmd_state2_arg1,
 290                 (prog_void *)&cmd_state2_arg2,
 291                 NULL,
 292         },
 293 };
 294
 295 /**********************************************************/
 296 /* State3 */
 297
 298 /* this structure is filled when cmd_state3 is parsed successfully */
 299 struct cmd_state3_result {
 300         fixed_string_t arg0;
 301         fixed_string_t arg1;
 302         uint8_t arg2;
 303 };
 304
 305 /* function called when cmd_state3 is parsed successfully */
 306 static void cmd_state3_parsed(void *parsed_result,
 307                               __attribute__((unused)) void *data)
 308 {
 309         struct cmd_state3_result *res = parsed_result;
 310
 311         if (!strcmp_P(res->arg1, PSTR("xxx"))) {
 312                 /* xxx = res->arg2 */
 313         }
 314         else if (!strcmp_P(res->arg1, PSTR("yyy"))) {
 315         }
 316         state_set_mode(0);
 317 }
 318
 319 prog_char str_state3_arg0[] = "cobboard";
 320 parse_pgm_token_string_t cmd_state3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg0, str_state3_arg0);
 321 prog_char str_state3_arg1[] = "xxx";
 322 parse_pgm_token_string_t cmd_state3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg1, str_state3_arg1);
 323 parse_pgm_token_num_t cmd_state3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_state3_result, arg2, UINT8);
 324
 325 prog_char help_state3[] = "set cobboard mode";
 326 parse_pgm_inst_t cmd_state3 = {
 327         .f = cmd_state3_parsed,  /* function to call */
 328         .data = NULL,      /* 2nd arg of func */
 329         .help_str = help_state3,
 330         .tokens = {        /* token list, NULL terminated */
 331                 (prog_void *)&cmd_state3_arg0,
 332                 (prog_void *)&cmd_state3_arg1,
 333                 (prog_void *)&cmd_state3_arg2,
 334                 NULL,
 335         },
 336 };
 337
 338 /**********************************************************/
 339 /* State_Machine */
 340
 341 /* this structure is filled when cmd_state_machine is parsed successfully */
 342 struct cmd_state_machine_result {
 343         fixed_string_t arg0;
 344 };
 345
 346 /* function called when cmd_state_machine is parsed successfully */
 347 static void cmd_state_machine_parsed(__attribute__((unused)) void *parsed_result,
 348                                      __attribute__((unused)) void *data)
 349 {
 350         state_machine();
 351 }
 352
 353 prog_char str_state_machine_arg0[] = "state_machine";
 354 parse_pgm_token_string_t cmd_state_machine_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_machine_result, arg0, str_state_machine_arg0);
 355
 356 prog_char help_state_machine[] = "launch state machine";
 357 parse_pgm_inst_t cmd_state_machine = {
 358         .f = cmd_state_machine_parsed,  /* function to call */
 359         .data = NULL,      /* 2nd arg of func */
 360         .help_str = help_state_machine,
 361         .tokens = {        /* token list, NULL terminated */
 362                 (prog_void *)&cmd_state_machine_arg0,
 363                 NULL,
 364         },
 365 };
 366
 367 /**********************************************************/
 368 /* State_Debug */
 369
 370 /* this structure is filled when cmd_state_debug is parsed successfully */
 371 struct cmd_state_debug_result {
 372         fixed_string_t arg0;
 373         uint8_t on;
 374 };
 375
 376 /* function called when cmd_state_debug is parsed successfully */
 377 static void cmd_state_debug_parsed(void *parsed_result,
 378                                    __attribute__((unused)) void *data)
 379 {
 380         struct cmd_state_debug_result *res = parsed_result;
 381         state_debug = res->on;
 382 }
 383
 384 prog_char str_state_debug_arg0[] = "state_debug";
 385 parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0);
 386 parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8);
 387
 388 prog_char help_state_debug[] = "Set debug for state machine";
 389 parse_pgm_inst_t cmd_state_debug = {
 390         .f = cmd_state_debug_parsed,  /* function to call */
 391         .data = NULL,      /* 2nd arg of func */
 392         .help_str = help_state_debug,
 393         .tokens = {        /* token list, NULL terminated */
 394                 (prog_void *)&cmd_state_debug_arg0,
 395                 (prog_void *)&cmd_state_debug_on,
 396                 NULL,
 397         },
 398 };
 399
 400 /**********************************************************/
 401 /* Servo_Door */
 402
 403 /* this structure is filled when cmd_servo_door is parsed successfully */
 404 struct cmd_servo_door_result {
 405         fixed_string_t arg0;
 406         fixed_string_t arg1;
 407 };
 408
 409 /* function called when cmd_servo_door is parsed successfully */
 410 static void cmd_servo_door_parsed(void *parsed_result,
 411                                     __attribute__((unused)) void *data)
 412 {
 413         struct cmd_servo_door_result *res = parsed_result;
 414         if (!strcmp_P(res->arg1, PSTR("open")))
 415                 servo_door_open();
 416         else if (!strcmp_P(res->arg1, PSTR("closed")))
 417                 servo_door_close();
 418         else if (!strcmp_P(res->arg1, PSTR("block")))
 419                 servo_door_close();
 420 }
 421
 422 prog_char str_servo_door_arg0[] = "door";
 423 parse_pgm_token_string_t cmd_servo_door_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg0, str_servo_door_arg0);
 424 prog_char str_servo_door_arg1[] = "open#closed#block";
 425 parse_pgm_token_string_t cmd_servo_door_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg1, str_servo_door_arg1);
 426
 427 prog_char help_servo_door[] = "Servo door function";
 428 parse_pgm_inst_t cmd_servo_door = {
 429         .f = cmd_servo_door_parsed,  /* function to call */
 430         .data = NULL,      /* 2nd arg of func */
 431         .help_str = help_servo_door,
 432         .tokens = {        /* token list, NULL terminated */
 433                 (prog_void *)&cmd_servo_door_arg0,
 434                 (prog_void *)&cmd_servo_door_arg1,
 435                 NULL,
 436         },
 437 };
 438
 439 /**********************************************************/
 440 /* cobroller */
 441
 442 /* this structure is filled when cmd_cobroller is parsed successfully */
 443 struct cmd_cobroller_result {
 444         fixed_string_t arg0;
 445         fixed_string_t arg1;
 446         fixed_string_t arg2;
 447 };
 448
 449 /* function called when cmd_cobroller is parsed successfully */
 450 static void cmd_cobroller_parsed(void *parsed_result,
 451                                     __attribute__((unused)) void *data)
 452 {
 453         struct cmd_cobroller_result *res = parsed_result;
 454         uint8_t side;
 455
 456         if (!strcmp_P(res->arg1, PSTR("left")))
 457                 side = I2C_LEFT_SIDE;
 458         else
 459                 side = I2C_RIGHT_SIDE;
 460
 461         if (!strcmp_P(res->arg2, PSTR("on")))
 462                 cobroller_on(side);
 463         else if (!strcmp_P(res->arg2, PSTR("off")))
 464                 cobroller_off(side);
 465 }
 466
 467 prog_char str_cobroller_arg0[] = "cobroller";
 468 parse_pgm_token_string_t cmd_cobroller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg0, str_cobroller_arg0);
 469 prog_char str_cobroller_arg1[] = "left#right";
 470 parse_pgm_token_string_t cmd_cobroller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg1, str_cobroller_arg1);
 471 prog_char str_cobroller_arg2[] = "on#off";
 472 parse_pgm_token_string_t cmd_cobroller_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg2, str_cobroller_arg2);
 473
 474 prog_char help_cobroller[] = "Servo door function";
 475 parse_pgm_inst_t cmd_cobroller = {
 476         .f = cmd_cobroller_parsed,  /* function to call */
 477         .data = NULL,      /* 2nd arg of func */
 478         .help_str = help_cobroller,
 479         .tokens = {        /* token list, NULL terminated */
 480                 (prog_void *)&cmd_cobroller_arg0,
 481                 (prog_void *)&cmd_cobroller_arg1,
 482                 (prog_void *)&cmd_cobroller_arg2,
 483                 NULL,
 484         },
 485 };
 486
 487 /**********************************************************/
 488 /* shovel */
 489
 490 /* this structure is filled when cmd_shovel is parsed successfully */
 491 struct cmd_shovel_result {
 492         fixed_string_t arg0;
 493         fixed_string_t arg1;
 494 };
 495
 496 /* function called when cmd_shovel is parsed successfully */
 497 static void cmd_shovel_parsed(void *parsed_result,
 498                               __attribute__((unused)) void *data)
 499 {
 500         struct cmd_shovel_result *res = parsed_result;
 501         if (!strcmp_P(res->arg1, PSTR("down")))
 502                 shovel_down();
 503         else if (!strcmp_P(res->arg1, PSTR("up")))
 504                 shovel_up();
 505         else if (!strcmp_P(res->arg1, PSTR("mid")))
 506                 shovel_mid();
 507 }
 508
 509 prog_char str_shovel_arg0[] = "shovel";
 510 parse_pgm_token_string_t cmd_shovel_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_shovel_result, arg0, str_shovel_arg0);
 511 prog_char str_shovel_arg1[] = "down#up#mid";
 512 parse_pgm_token_string_t cmd_shovel_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_shovel_result, arg1, str_shovel_arg1);
 513
 514 prog_char help_shovel[] = "Servo shovel function";
 515 parse_pgm_inst_t cmd_shovel = {
 516         .f = cmd_shovel_parsed,  /* function to call */
 517         .data = NULL,      /* 2nd arg of func */
 518         .help_str = help_shovel,
 519         .tokens = {        /* token list, NULL terminated */
 520                 (prog_void *)&cmd_shovel_arg0,
 521                 (prog_void *)&cmd_shovel_arg1,
 522                 NULL,
 523         },
 524 };
 525
 526 /**********************************************************/
 527 /* Servo_Carry */
 528
 529 /* this structure is filled when cmd_servo_carry is parsed successfully */
 530 struct cmd_servo_carry_result {
 531         fixed_string_t arg0;
 532         fixed_string_t arg1;
 533 };
 534
 535 /* function called when cmd_servo_carry is parsed successfully */
 536 static void cmd_servo_carry_parsed(void *parsed_result,
 537                                     __attribute__((unused)) void *data)
 538 {
 539         struct cmd_servo_carry_result *res = parsed_result;
 540         if (!strcmp_P(res->arg1, PSTR("open")))
 541                 servo_carry_open();
 542         else if (!strcmp_P(res->arg1, PSTR("closed")))
 543                 servo_carry_close();
 544 }
 545
 546 prog_char str_servo_carry_arg0[] = "carry";
 547 parse_pgm_token_string_t cmd_servo_carry_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_servo_carry_result, arg0, str_servo_carry_arg0);
 548 prog_char str_servo_carry_arg1[] = "open#closed";
 549 parse_pgm_token_string_t cmd_servo_carry_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_servo_carry_result, arg1, str_servo_carry_arg1);
 550
 551 prog_char help_servo_carry[] = "Servo carry function";
 552 parse_pgm_inst_t cmd_servo_carry = {
 553         .f = cmd_servo_carry_parsed,  /* function to call */
 554         .data = NULL,      /* 2nd arg of func */
 555         .help_str = help_servo_carry,
 556         .tokens = {        /* token list, NULL terminated */
 557                 (prog_void *)&cmd_servo_carry_arg0,
 558                 (prog_void *)&cmd_servo_carry_arg1,
 559                 NULL,
 560         },
 561 };
 562
 563 /**********************************************************/
 564 /* Spickle tests */
 565
 566 /* this structure is filled when cmd_spickle is parsed successfully */
 567 struct cmd_spickle_result {
 568         fixed_string_t arg0;
 569         fixed_string_t arg1;
 570         fixed_string_t arg2;
 571 };
 572
 573 /* function called when cmd_spickle is parsed successfully */
 574 static void cmd_spickle_parsed(void * parsed_result,
 575                                __attribute__((unused)) void *data)
 576 {
 577         struct cmd_spickle_result * res = parsed_result;
 578         uint8_t side;
 579
 580         if (!strcmp_P(res->arg1, PSTR("left")))
 581                 side = I2C_LEFT_SIDE;
 582         else
 583                 side = I2C_RIGHT_SIDE;
 584
 585         if (!strcmp_P(res->arg2, PSTR("deploy"))) {
 586                 spickle_deploy(side);
 587         }
 588         else if (!strcmp_P(res->arg2, PSTR("pack"))) {
 589                 spickle_pack(side);
 590         }
 591         else if (!strcmp_P(res->arg2, PSTR("mid"))) {
 592                 spickle_mid(side);
 593         }
 594         printf_P(PSTR("done\r\n"));
 595 }
 596
 597 prog_char str_spickle_arg0[] = "spickle";
 598 parse_pgm_token_string_t cmd_spickle_arg0 =
 599         TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg0, str_spickle_arg0);
 600 prog_char str_spickle_arg1[] = "left#right";
 601 parse_pgm_token_string_t cmd_spickle_arg1 =
 602         TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg1, str_spickle_arg1);
 603 prog_char str_spickle_arg2[] = "deploy#pack#mid";
 604 parse_pgm_token_string_t cmd_spickle_arg2 =
 605         TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg2, str_spickle_arg2);
 606
 607 prog_char help_spickle[] = "move spickle";
 608 parse_pgm_inst_t cmd_spickle = {
 609         .f = cmd_spickle_parsed,  /* function to call */
 610         .data = NULL,      /* 2nd arg of func */
 611         .help_str = help_spickle,
 612         .tokens = {        /* token list, NULL terminated */
 613                 (prog_void *)&cmd_spickle_arg0,
 614                 (prog_void *)&cmd_spickle_arg1,
 615                 (prog_void *)&cmd_spickle_arg2,
 616                 NULL,
 617         },
 618 };
 619
 620 /**********************************************************/
 621 /* Set Spickle Params */
 622
 623 /* this structure is filled when cmd_spickle_params is parsed successfully */
 624 struct cmd_spickle_params_result {
 625         fixed_string_t arg0;
 626         fixed_string_t arg1;
 627         fixed_string_t arg2;
 628         int32_t arg3;
 629         int32_t arg4;
 630         int32_t arg5;
 631 };
 632
 633 /* function called when cmd_spickle_params is parsed successfully */
 634 static void cmd_spickle_params_parsed(void *parsed_result,
 635                                       __attribute__((unused)) void *data)
 636 {
 637         struct cmd_spickle_params_result * res = parsed_result;
 638         uint8_t side;
 639
 640         if (!strcmp_P(res->arg1, PSTR("show"))) {
 641                 spickle_dump_params();
 642                 return;
 643         }
 644
 645         if (!strcmp_P(res->arg1, PSTR("left")))
 646                 side = I2C_LEFT_SIDE;
 647         else
 648                 side = I2C_RIGHT_SIDE;
 649
 650         if (!strcmp_P(res->arg2, PSTR("pos")))
 651                 spickle_set_pos(side, res->arg3, res->arg4, res->arg5);
 652 }
 653
 654 prog_char str_spickle_params_arg0[] = "spickle_params";
 655 parse_pgm_token_string_t cmd_spickle_params_arg0 =
 656         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg0, str_spickle_params_arg0);
 657 prog_char str_spickle_params_arg1[] = "left#right";
 658 parse_pgm_token_string_t cmd_spickle_params_arg1 =
 659         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1);
 660 prog_char str_spickle_params_arg2[] = "pos";
 661 parse_pgm_token_string_t cmd_spickle_params_arg2 =
 662         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg2, str_spickle_params_arg2);
 663 parse_pgm_token_num_t cmd_spickle_params_arg3 =
 664         TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg3, INT32);
 665 parse_pgm_token_num_t cmd_spickle_params_arg4 =
 666         TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg4, INT32);
 667 parse_pgm_token_num_t cmd_spickle_params_arg5 =
 668         TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg5, INT32);
 669
 670 prog_char help_spickle_params[] = "Set spickle pos values: left|right pos INTPACK INTMID INTDEPL";
 671 parse_pgm_inst_t cmd_spickle_params = {
 672         .f = cmd_spickle_params_parsed,  /* function to call */
 673         .data = NULL,      /* 2nd arg of func */
 674         .help_str = help_spickle_params,
 675         .tokens = {        /* token list, NULL terminated */
 676                 (prog_void *)&cmd_spickle_params_arg0,
 677                 (prog_void *)&cmd_spickle_params_arg1,
 678                 (prog_void *)&cmd_spickle_params_arg2,
 679                 (prog_void *)&cmd_spickle_params_arg3,
 680                 (prog_void *)&cmd_spickle_params_arg4,
 681                 (prog_void *)&cmd_spickle_params_arg5,
 682                 NULL,
 683         },
 684 };
 685
 686 prog_char str_spickle_params_arg1_show[] = "show";
 687 parse_pgm_token_string_t cmd_spickle_params_arg1_show =
 688         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1_show);
 689
 690 prog_char help_spickle_params_show[] = "show spickle params";
 691 parse_pgm_inst_t cmd_spickle_params_show = {
 692         .f = cmd_spickle_params_parsed,  /* function to call */
 693         .data = NULL,      /* 2nd arg of func */
 694         .help_str = help_spickle_params_show,
 695         .tokens = {        /* token list, NULL terminated */
 696                 (prog_void *)&cmd_spickle_params_arg0,
 697                 (prog_void *)&cmd_spickle_params_arg1_show,
 698                 NULL,
 699         },
 700 };
 701
 702 /**********************************************************/
 703 /* Set Spickle Params */
 704
 705 /* this structure is filled when cmd_spickle_params2 is parsed successfully */
 706 struct cmd_spickle_params2_result {
 707         fixed_string_t arg0;
 708         fixed_string_t arg1;
 709         int32_t arg2;
 710         int32_t arg3;
 711 };
 712
 713 /* function called when cmd_spickle_params2 is parsed successfully */
 714 static void cmd_spickle_params2_parsed(void *parsed_result,
 715                                       __attribute__((unused)) void *data)
 716 {
 717         struct cmd_spickle_params2_result * res = parsed_result;
 718
 719         if (!strcmp_P(res->arg1, PSTR("wcoef"))) {
 720                 spickle_set_wcoefs(res->arg2, res->arg3);
 721         }
 722         else if (!strcmp_P(res->arg1, PSTR("scoef"))) {
 723                 spickle_set_scoefs(res->arg2, res->arg3);
 724         }
 725
 726         /* else show */
 727         spickle_dump_params();
 728 }
 729
 730 prog_char str_spickle_params2_arg0[] = "spickle_params2";
 731 parse_pgm_token_string_t cmd_spickle_params2_arg0 =
 732         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
 733 prog_char str_spickle_params2_arg1[] = "wcoef#scoef";
 734 parse_pgm_token_string_t cmd_spickle_params2_arg1 =
 735         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1);
 736 parse_pgm_token_num_t cmd_spickle_params2_arg2 =
 737         TOKEN_NUM_INITIALIZER(struct cmd_spickle_params2_result, arg2, INT32);
 738 parse_pgm_token_num_t cmd_spickle_params2_arg3 =
 739         TOKEN_NUM_INITIALIZER(struct cmd_spickle_params2_result, arg3, INT32);
 740
 741 prog_char help_spickle_params2[] = "Set spickle_params2 values";
 742 parse_pgm_inst_t cmd_spickle_params2 = {
 743         .f = cmd_spickle_params2_parsed,  /* function to call */
 744         .data = NULL,      /* 2nd arg of func */
 745         .help_str = help_spickle_params2,
 746         .tokens = {        /* token list, NULL terminated */
 747                 (prog_void *)&cmd_spickle_params2_arg0,
 748                 (prog_void *)&cmd_spickle_params2_arg1,
 749                 (prog_void *)&cmd_spickle_params2_arg2,
 750                 (prog_void *)&cmd_spickle_params2_arg3,
 751                 NULL,
 752         },
 753 };
 754
 755 prog_char str_spickle_params2_arg1_show[] = "show";
 756 parse_pgm_token_string_t cmd_spickle_params2_arg1_show =
 757         TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1_show);
 758
 759 prog_char help_spickle_params2_show[] = "show spickle params";
 760 parse_pgm_inst_t cmd_spickle_params2_show = {
 761         .f = cmd_spickle_params2_parsed,  /* function to call */
 762         .data = NULL,      /* 2nd arg of func */
 763         .help_str = help_spickle_params2_show,
 764         .tokens = {        /* token list, NULL terminated */
 765                 (prog_void *)&cmd_spickle_params2_arg0,
 766                 (prog_void *)&cmd_spickle_params2_arg1_show,
 767                 NULL,
 768         },
 769 };
 770
 771 /**********************************************************/
 772 /* Set Shovel Params */
 773
 774 /* this structure is filled when cmd_shovel_current is parsed successfully */
 775 struct cmd_shovel_current_result {
 776         fixed_string_t arg0;
 777         fixed_string_t arg1;
 778         int32_t arg2;
 779         int32_t arg3;
 780 };
 781
 782 /* function called when cmd_shovel_current is parsed successfully */
 783 static void cmd_shovel_current_parsed(void *parsed_result,
 784                                       __attribute__((unused)) void *data)
 785 {
 786         struct cmd_shovel_current_result * res = parsed_result;
 787         uint8_t enable;
 788         int32_t k1, k2;
 789
 790         if (!strcmp_P(res->arg1, PSTR("set")))
 791                 shovel_set_current_limit_coefs(res->arg2, res->arg3);
 792         else if (!strcmp_P(res->arg1, PSTR("on")))
 793                 shovel_current_limit_enable(1);
 794         else if (!strcmp_P(res->arg1, PSTR("off")))
 795                 shovel_current_limit_enable(0);
 796
 797         /* else show */
 798         enable = shovel_get_current_limit_coefs(&k1, &k2);
 799         printf_P(PSTR("enabled=%d k1=%"PRIi32" k2=%"PRIi32"\r\n"),
 800                  enable, k1, k2);
 801 }
 802
 803 prog_char str_shovel_current_arg0[] = "shovel_current";
 804 parse_pgm_token_string_t cmd_shovel_current_arg0 =
 805         TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg0, str_shovel_current_arg0);
 806 prog_char str_shovel_current_arg1[] = "set";
 807 parse_pgm_token_string_t cmd_shovel_current_arg1 =
 808         TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg1, str_shovel_current_arg1);
 809 parse_pgm_token_num_t cmd_shovel_current_arg2 =
 810         TOKEN_NUM_INITIALIZER(struct cmd_shovel_current_result, arg2, INT32);
 811 parse_pgm_token_num_t cmd_shovel_current_arg3 =
 812         TOKEN_NUM_INITIALIZER(struct cmd_shovel_current_result, arg3, INT32);
 813
 814 prog_char help_shovel_current[] = "Set shovel_current values";
 815 parse_pgm_inst_t cmd_shovel_current = {
 816         .f = cmd_shovel_current_parsed,  /* function to call */
 817         .data = NULL,      /* 2nd arg of func */
 818         .help_str = help_shovel_current,
 819         .tokens = {        /* token list, NULL terminated */
 820                 (prog_void *)&cmd_shovel_current_arg0,
 821                 (prog_void *)&cmd_shovel_current_arg1,
 822                 (prog_void *)&cmd_shovel_current_arg2,
 823                 (prog_void *)&cmd_shovel_current_arg3,
 824                 NULL,
 825         },
 826 };
 827
 828 prog_char str_shovel_current_arg1_show[] = "show#on#off";
 829 parse_pgm_token_string_t cmd_shovel_current_arg1_show =
 830         TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg1, str_shovel_current_arg1_show);
 831
 832 prog_char help_shovel_current_show[] = "show shovel params";
 833 parse_pgm_inst_t cmd_shovel_current_show = {
 834         .f = cmd_shovel_current_parsed,  /* function to call */
 835         .data = NULL,      /* 2nd arg of func */
 836         .help_str = help_shovel_current_show,
 837         .tokens = {        /* token list, NULL terminated */
 838                 (prog_void *)&cmd_shovel_current_arg0,
 839                 (prog_void *)&cmd_shovel_current_arg1_show,
 840                 NULL,
 841         },
 842 };
 843
 844 /**********************************************************/
 845 /* Test */
 846
 847 /* this structure is filled when cmd_test is parsed successfully */
 848 struct cmd_test_result {
 849         fixed_string_t arg0;
 850 };
 851
 852 /* function called when cmd_test is parsed successfully */
 853 static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
 854                             __attribute__((unused)) void *data)
 855 {
 856 }
 857
 858 prog_char str_test_arg0[] = "test";
 859 parse_pgm_token_string_t cmd_test_arg0 =
 860         TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
 861
 862 prog_char help_test[] = "Test function";
 863 parse_pgm_inst_t cmd_test = {
 864         .f = cmd_test_parsed,  /* function to call */
 865         .data = NULL,      /* 2nd arg of func */
 866         .help_str = help_test,
 867         .tokens = {        /* token list, NULL terminated */
 868                 (prog_void *)&cmd_test_arg0,
 869                 NULL,
 870         },
 871 };