projects/microb2010/mainboard/commands_mainboard.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_mainboard.c,v 1.9 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 #include <math.h>
  26
  27 #include <hostsim.h>
  28 #include <aversive/pgmspace.h>
  29 #include <aversive/wait.h>
  30 #include <aversive/error.h>
  31 #include <aversive/eeprom.h>
  32
  33 #include <ax12.h>
  34 #include <uart.h>
  35 #include <pwm_ng.h>
  36 #include <clock_time.h>
  37 #include <spi.h>
  38 #include <i2c.h>
  39
  40 #include <pid.h>
  41 #include <quadramp.h>
  42 #include <control_system_manager.h>
  43 #include <trajectory_manager.h>
  44 #include <trajectory_manager_core.h>
  45 #include <trajectory_manager_utils.h>
  46 #include <vect_base.h>
  47 #include <lines.h>
  48 #include <polygon.h>
  49 #include <obstacle_avoidance.h>
  50 #include <blocking_detection_manager.h>
  51 #include <robot_system.h>
  52 #include <position_manager.h>
  53
  54 #include <rdline.h>
  55 #include <parse.h>
  56 #include <parse_string.h>
  57 #include <parse_num.h>
  58
  59 #include "../common/i2c_commands.h"
  60 #include "../common/eeprom_mapping.h"
  61
  62 #include "main.h"
  63 #include "robotsim.h"
  64 #include "sensor.h"
  65 #include "cmdline.h"
  66 #include "strat.h"
  67 #include "strat_utils.h"
  68 #include "strat_base.h"
  69 #include "strat_db.h"
  70 #include "strat_corn.h"
  71 #include "i2c_protocol.h"
  72 #include "actuator.h"
  73
  74 struct cmd_event_result {
  75         fixed_string_t arg0;
  76         fixed_string_t arg1;
  77         fixed_string_t arg2;
  78 };
  79
  80
  81 /* function called when cmd_event is parsed successfully */
  82 static void cmd_event_parsed(void *parsed_result, void *data)
  83 {
  84         u08 bit=0;
  85
  86         struct cmd_event_result * res = parsed_result;
  87
  88         if (!strcmp_P(res->arg1, PSTR("all"))) {
  89                 bit = 0xFF;
  90                 if (!strcmp_P(res->arg2, PSTR("on")))
  91                         mainboard.flags |= bit;
  92                 else if (!strcmp_P(res->arg2, PSTR("off")))
  93                         mainboard.flags &= bit;
  94                 else { /* show */
  95                         printf_P(PSTR("encoders is %s\r\n"),
  96                                  (DO_ENCODERS & mainboard.flags) ? "on":"off");
  97                         printf_P(PSTR("cs is %s\r\n"),
  98                                  (DO_CS & mainboard.flags) ? "on":"off");
  99                         printf_P(PSTR("rs is %s\r\n"),
 100                                  (DO_RS & mainboard.flags) ? "on":"off");
 101                         printf_P(PSTR("pos is %s\r\n"),
 102                                  (DO_POS & mainboard.flags) ? "on":"off");
 103                         printf_P(PSTR("bd is %s\r\n"),
 104                                  (DO_BD & mainboard.flags) ? "on":"off");
 105                         printf_P(PSTR("timer is %s\r\n"),
 106                                  (DO_TIMER & mainboard.flags) ? "on":"off");
 107                         printf_P(PSTR("power is %s\r\n"),
 108                                  (DO_POWER & mainboard.flags) ? "on":"off");
 109                         printf_P(PSTR("errblock is %s\r\n"),
 110                                  (DO_ERRBLOCKING & mainboard.flags) ? "on":"off");
 111                 }
 112                 return;
 113         }
 114
 115         if (!strcmp_P(res->arg1, PSTR("encoders")))
 116                 bit = DO_ENCODERS;
 117         else if (!strcmp_P(res->arg1, PSTR("cs"))) {
 118                 strat_hardstop();
 119                 bit = DO_CS;
 120         }
 121         else if (!strcmp_P(res->arg1, PSTR("rs")))
 122                 bit = DO_RS;
 123         else if (!strcmp_P(res->arg1, PSTR("pos")))
 124                 bit = DO_POS;
 125         else if (!strcmp_P(res->arg1, PSTR("bd")))
 126                 bit = DO_BD;
 127         else if (!strcmp_P(res->arg1, PSTR("timer"))) {
 128                 time_reset();
 129                 bit = DO_TIMER;
 130         }
 131         else if (!strcmp_P(res->arg1, PSTR("power")))
 132                 bit = DO_POWER;
 133         else if (!strcmp_P(res->arg1, PSTR("errblock")))
 134                 bit = DO_ERRBLOCKING;
 135
 136         if (!strcmp_P(res->arg2, PSTR("on")))
 137                 mainboard.flags |= bit;
 138         else if (!strcmp_P(res->arg2, PSTR("off"))) {
 139                 if (!strcmp_P(res->arg1, PSTR("cs"))) {
 140 #ifdef HOST_VERSION
 141                         robotsim_pwm(LEFT_PWM, 0);
 142                         robotsim_pwm(RIGHT_PWM, 0);
 143 #else
 144                         pwm_ng_set(LEFT_PWM, 0);
 145                         pwm_ng_set(RIGHT_PWM, 0);
 146 #endif
 147                 }
 148                 mainboard.flags &= (~bit);
 149         }
 150         printf_P(PSTR("%s is %s\r\n"), res->arg1,
 151                       (bit & mainboard.flags) ? "on":"off");
 152 }
 153
 154 prog_char str_event_arg0[] = "event";
 155 parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
 156 prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power#errblock";
 157 parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
 158 prog_char str_event_arg2[] = "on#off#show";
 159 parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
 160
 161 prog_char help_event[] = "Enable/disable events";
 162 parse_pgm_inst_t cmd_event = {
 163         .f = cmd_event_parsed,  /* function to call */
 164         .data = NULL,      /* 2nd arg of func */
 165         .help_str = help_event,
 166         .tokens = {        /* token list, NULL terminated */
 167                 (prog_void *)&cmd_event_arg0,
 168                 (prog_void *)&cmd_event_arg1,
 169                 (prog_void *)&cmd_event_arg2,
 170                 NULL,
 171         },
 172 };
 173
 174
 175 /**********************************************************/
 176 /* Spi_Test */
 177
 178 /* this structure is filled when cmd_spi_test is parsed successfully */
 179 struct cmd_spi_test_result {
 180         fixed_string_t arg0;
 181 };
 182
 183 /* function called when cmd_spi_test is parsed successfully */
 184 static void cmd_spi_test_parsed(void * parsed_result, void * data)
 185 {
 186 #ifdef HOST_VERSION
 187         printf("not implemented\n");
 188 #else
 189         uint16_t i = 0, ret = 0, ret2 = 0;
 190
 191         if (mainboard.flags & DO_ENCODERS) {
 192                 printf_P(PSTR("Disable encoder event first\r\n"));
 193                 return;
 194         }
 195
 196         do {
 197                 spi_slave_select(0);
 198                 ret = spi_send_and_receive_byte(i);
 199                 ret2 = spi_send_and_receive_byte(i);
 200                 spi_slave_deselect(0);
 201
 202                 if ((i & 0x7ff) == 0)
 203                         printf_P(PSTR("Sent %.4x twice, received %x %x\r\n"),
 204                                  i, ret, ret2);
 205
 206                 i++;
 207         } while(!cmdline_keypressed());
 208 #endif
 209 }
 210
 211 prog_char str_spi_test_arg0[] = "spi_test";
 212 parse_pgm_token_string_t cmd_spi_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spi_test_result, arg0, str_spi_test_arg0);
 213
 214 prog_char help_spi_test[] = "Test the SPI";
 215 parse_pgm_inst_t cmd_spi_test = {
 216         .f = cmd_spi_test_parsed,  /* function to call */
 217         .data = NULL,      /* 2nd arg of func */
 218         .help_str = help_spi_test,
 219         .tokens = {        /* token list, NULL terminated */
 220                 (prog_void *)&cmd_spi_test_arg0,
 221                 NULL,
 222         },
 223 };
 224
 225
 226
 227 /**********************************************************/
 228 /* Opponent tests */
 229
 230 /* this structure is filled when cmd_opponent is parsed successfully */
 231 struct cmd_opponent_result {
 232         fixed_string_t arg0;
 233         fixed_string_t arg1;
 234         int32_t arg2;
 235         int32_t arg3;
 236 };
 237
 238 /* function called when cmd_opponent is parsed successfully */
 239 static void cmd_opponent_parsed(void *parsed_result, void *data)
 240 {
 241         int16_t x,y,d,a;
 242
 243         if (get_opponent_xyda(&x, &y, &d, &a))
 244                 printf_P(PSTR("No opponent\r\n"));
 245         else
 246                 printf_P(PSTR("x=%d y=%d, d=%d a=%d\r\n"), x, y, d, a);
 247 }
 248
 249 prog_char str_opponent_arg0[] = "opponent";
 250 parse_pgm_token_string_t cmd_opponent_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg0, str_opponent_arg0);
 251 prog_char str_opponent_arg1[] = "show";
 252 parse_pgm_token_string_t cmd_opponent_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1);
 253
 254 prog_char help_opponent[] = "Show (x,y) opponent";
 255 parse_pgm_inst_t cmd_opponent = {
 256         .f = cmd_opponent_parsed,  /* function to call */
 257         .data = NULL,      /* 2nd arg of func */
 258         .help_str = help_opponent,
 259         .tokens = {        /* token list, NULL terminated */
 260                 (prog_void *)&cmd_opponent_arg0,
 261                 (prog_void *)&cmd_opponent_arg1,
 262                 NULL,
 263         },
 264 };
 265
 266
 267 prog_char str_opponent_arg1_set[] = "set";
 268 parse_pgm_token_string_t cmd_opponent_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1_set);
 269 parse_pgm_token_num_t cmd_opponent_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg2, INT32);
 270 parse_pgm_token_num_t cmd_opponent_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg3, INT32);
 271
 272 prog_char help_opponent_set[] = "Set (x,y) opponent";
 273 parse_pgm_inst_t cmd_opponent_set = {
 274         .f = cmd_opponent_parsed,  /* function to call */
 275         .data = NULL,      /* 2nd arg of func */
 276         .help_str = help_opponent_set,
 277         .tokens = {        /* token list, NULL terminated */
 278                 (prog_void *)&cmd_opponent_arg0,
 279                 (prog_void *)&cmd_opponent_arg1_set,
 280                 (prog_void *)&cmd_opponent_arg2,
 281                 (prog_void *)&cmd_opponent_arg3,
 282                 NULL,
 283         },
 284 };
 285
 286
 287 /**********************************************************/
 288 /* Start */
 289
 290 /* this structure is filled when cmd_start is parsed successfully */
 291 struct cmd_start_result {
 292         fixed_string_t arg0;
 293         fixed_string_t color;
 294         fixed_string_t debug;
 295 };
 296
 297 /* function called when cmd_start is parsed successfully */
 298 static void cmd_start_parsed(void *parsed_result, void *data)
 299 {
 300         struct cmd_start_result *res = parsed_result;
 301         uint8_t old_level = gen.log_level;
 302
 303         gen.logs[NB_LOGS] = E_USER_STRAT;
 304         if (!strcmp_P(res->debug, PSTR("debug"))) {
 305                 strat_db.dump_enabled = 1;
 306                 gen.log_level = 5;
 307         }
 308         else {
 309                 strat_db.dump_enabled = 0;
 310                 gen.log_level = 0;
 311         }
 312
 313         if (!strcmp_P(res->color, PSTR("yellow"))) {
 314                 mainboard.our_color = I2C_COLOR_YELLOW;
 315                 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 316                 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
 317         }
 318         else if (!strcmp_P(res->color, PSTR("blue"))) {
 319                 mainboard.our_color = I2C_COLOR_BLUE;
 320                 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 321                 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
 322         }
 323
 324         strat_start();
 325
 326         gen.logs[NB_LOGS] = 0;
 327         gen.log_level = old_level;
 328 }
 329
 330 prog_char str_start_arg0[] = "start";
 331 parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
 332 prog_char str_start_color[] = "blue#yellow";
 333 parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
 334 prog_char str_start_debug[] = "debug#match";
 335 parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
 336
 337 prog_char help_start[] = "Start the robot";
 338 parse_pgm_inst_t cmd_start = {
 339         .f = cmd_start_parsed,  /* function to call */
 340         .data = NULL,      /* 2nd arg of func */
 341         .help_str = help_start,
 342         .tokens = {        /* token list, NULL terminated */
 343                 (prog_void *)&cmd_start_arg0,
 344                 (prog_void *)&cmd_start_color,
 345                 (prog_void *)&cmd_start_debug,
 346                 NULL,
 347         },
 348 };
 349
 350
 351
 352 /**********************************************************/
 353 /* Interact */
 354
 355 /* this structure is filled when cmd_interact is parsed successfully */
 356 struct cmd_interact_result {
 357         fixed_string_t arg0;
 358 };
 359
 360 static void print_cs(void)
 361 {
 362         printf_P(PSTR("cons_d=% .8"PRIi32" cons_a=% .8"PRIi32" fil_d=% .8"PRIi32" fil_a=% .8"PRIi32" "
 363                       "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"),
 364                  cs_get_consign(&mainboard.distance.cs),
 365                  cs_get_consign(&mainboard.angle.cs),
 366                  cs_get_filtered_consign(&mainboard.distance.cs),
 367                  cs_get_filtered_consign(&mainboard.angle.cs),
 368                  cs_get_error(&mainboard.distance.cs),
 369                  cs_get_error(&mainboard.angle.cs),
 370                  cs_get_out(&mainboard.distance.cs),
 371                  cs_get_out(&mainboard.angle.cs));
 372 }
 373
 374 static void print_pos(void)
 375 {
 376         printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"),
 377                  position_get_x_s16(&mainboard.pos),
 378                  position_get_y_s16(&mainboard.pos),
 379                  position_get_a_deg_s16(&mainboard.pos));
 380 }
 381
 382 static void print_time(void)
 383 {
 384         printf_P(PSTR("time %d\r\n"),time_get_s());
 385 }
 386
 387
 388 static void print_sensors(void)
 389 {
 390 #ifdef notyet
 391         if (sensor_start_switch())
 392                 printf_P(PSTR("Start switch | "));
 393         else
 394                 printf_P(PSTR("             | "));
 395
 396         if (IR_DISP_SENSOR())
 397                 printf_P(PSTR("IR disp | "));
 398         else
 399                 printf_P(PSTR("        | "));
 400
 401         printf_P(PSTR("\r\n"));
 402 #endif
 403 }
 404
 405 static void print_pid(void)
 406 {
 407         printf_P(PSTR("P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32" | "
 408                       "P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
 409                  pid_get_value_in(&mainboard.distance.pid) * pid_get_gain_P(&mainboard.distance.pid),
 410                  pid_get_value_I(&mainboard.distance.pid) * pid_get_gain_I(&mainboard.distance.pid),
 411                  pid_get_value_D(&mainboard.distance.pid) * pid_get_gain_D(&mainboard.distance.pid),
 412                  pid_get_value_out(&mainboard.distance.pid),
 413                  pid_get_value_in(&mainboard.angle.pid) * pid_get_gain_P(&mainboard.angle.pid),
 414                  pid_get_value_I(&mainboard.angle.pid) * pid_get_gain_I(&mainboard.angle.pid),
 415                  pid_get_value_D(&mainboard.angle.pid) * pid_get_gain_D(&mainboard.angle.pid),
 416                  pid_get_value_out(&mainboard.angle.pid));
 417 }
 418
 419 #define PRINT_POS       (1<<0)
 420 #define PRINT_PID       (1<<1)
 421 #define PRINT_CS        (1<<2)
 422 #define PRINT_SENSORS   (1<<3)
 423 #define PRINT_TIME      (1<<4)
 424 #define PRINT_BLOCKING  (1<<5)
 425
 426 static void cmd_interact_parsed(void * parsed_result, void * data)
 427 {
 428         int c;
 429         int8_t cmd;
 430         uint8_t print = 0;
 431         struct vt100 vt100;
 432
 433         vt100_init(&vt100);
 434
 435         printf_P(PSTR("Display debugs:\r\n"
 436                       "  1:pos\r\n"
 437                       "  2:pid\r\n"
 438                       "  3:cs\r\n"
 439                       "  4:sensors\r\n"
 440                       "  5:time\r\n"
 441                       /* "  6:blocking\r\n" */
 442                       "Commands:\r\n"
 443                       "  arrows:move\r\n"
 444                       "  space:stop\r\n"
 445                       "  q:quit\r\n"));
 446
 447         /* stop motors */
 448         mainboard.flags &= (~DO_CS);
 449         pwm_set_and_save(LEFT_PWM, 0);
 450         pwm_set_and_save(RIGHT_PWM, 0);
 451
 452         while(1) {
 453                 if (print & PRINT_POS) {
 454                         print_pos();
 455                 }
 456
 457                 if (print & PRINT_PID) {
 458                         print_pid();
 459                 }
 460
 461                 if (print & PRINT_CS) {
 462                         print_cs();
 463                 }
 464
 465                 if (print & PRINT_SENSORS) {
 466                         print_sensors();
 467                 }
 468
 469                 if (print & PRINT_TIME) {
 470                         print_time();
 471                 }
 472 /*              if (print & PRINT_BLOCKING) { */
 473 /*                      printf_P(PSTR("%s %s blocking=%d\r\n"),  */
 474 /*                               mainboard.blocking ? "BLOCK1":"      ", */
 475 /*                               rs_is_blocked(&mainboard.rs) ? "BLOCK2":"      ", */
 476 /*                               rs_get_blocking(&mainboard.rs)); */
 477 /*              } */
 478
 479                 c = cmdline_getchar();
 480                 if (c == -1) {
 481                         wait_ms(10);
 482                         continue;
 483                 }
 484                 cmd = vt100_parser(&vt100, c);
 485                 if (cmd == -2) {
 486                         wait_ms(10);
 487                         continue;
 488                 }
 489
 490                 if (cmd == -1) {
 491                         switch(c) {
 492                         case '1': print ^= PRINT_POS; break;
 493                         case '2': print ^= PRINT_PID; break;
 494                         case '3': print ^= PRINT_CS; break;
 495                         case '4': print ^= PRINT_SENSORS; break;
 496                         case '5': print ^= PRINT_TIME; break;
 497                         case '6': print ^= PRINT_BLOCKING; break;
 498
 499                         case 'q':
 500                                 if (mainboard.flags & DO_CS)
 501                                         strat_hardstop();
 502                                 pwm_set_and_save(LEFT_PWM, 0);
 503                                 pwm_set_and_save(RIGHT_PWM, 0);
 504                                 return;
 505                         case ' ':
 506                                 pwm_set_and_save(LEFT_PWM, 0);
 507                                 pwm_set_and_save(RIGHT_PWM, 0);
 508                                 break;
 509                         default:
 510                                 break;
 511                         }
 512                 }
 513                 else {
 514                         switch(cmd) {
 515                         case KEY_UP_ARR:
 516                                 pwm_set_and_save(LEFT_PWM, 1200);
 517                                 pwm_set_and_save(RIGHT_PWM, 1200);
 518                                 break;
 519                         case KEY_LEFT_ARR:
 520                                 pwm_set_and_save(LEFT_PWM, -1200);
 521                                 pwm_set_and_save(RIGHT_PWM, 1200);
 522                                 break;
 523                         case KEY_DOWN_ARR:
 524                                 pwm_set_and_save(LEFT_PWM, -1200);
 525                                 pwm_set_and_save(RIGHT_PWM, -1200);
 526                                 break;
 527                         case KEY_RIGHT_ARR:
 528                                 pwm_set_and_save(LEFT_PWM, 1200);
 529                                 pwm_set_and_save(RIGHT_PWM, -1200);
 530                                 break;
 531                         }
 532                 }
 533                 wait_ms(10);
 534         }
 535 }
 536
 537 prog_char str_interact_arg0[] = "interact";
 538 parse_pgm_token_string_t cmd_interact_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_interact_result, arg0, str_interact_arg0);
 539
 540 prog_char help_interact[] = "Interactive mode";
 541 parse_pgm_inst_t cmd_interact = {
 542         .f = cmd_interact_parsed,  /* function to call */
 543         .data = NULL,      /* 2nd arg of func */
 544         .help_str = help_interact,
 545         .tokens = {        /* token list, NULL terminated */
 546                 (prog_void *)&cmd_interact_arg0,
 547                 NULL,
 548         },
 549 };
 550
 551
 552 /**********************************************************/
 553 /* Color */
 554
 555 /* this structure is filled when cmd_color is parsed successfully */
 556 struct cmd_color_result {
 557         fixed_string_t arg0;
 558         fixed_string_t color;
 559 };
 560
 561 /* function called when cmd_color is parsed successfully */
 562 static void cmd_color_parsed(void *parsed_result, void *data)
 563 {
 564 #ifdef HOST_VERSION
 565         printf("not implemented\n");
 566 #else
 567         struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
 568         if (!strcmp_P(res->color, PSTR("yellow"))) {
 569                 mainboard.our_color = I2C_COLOR_YELLOW;
 570                 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 571                 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
 572         }
 573         else if (!strcmp_P(res->color, PSTR("blue"))) {
 574                 mainboard.our_color = I2C_COLOR_BLUE;
 575                 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 576                 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
 577         }
 578         printf_P(PSTR("Done\r\n"));
 579 #endif
 580 }
 581
 582 prog_char str_color_arg0[] = "color";
 583 parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
 584 prog_char str_color_color[] = "blue#yellow";
 585 parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
 586
 587 prog_char help_color[] = "Set our color";
 588 parse_pgm_inst_t cmd_color = {
 589         .f = cmd_color_parsed,  /* function to call */
 590         .data = NULL,      /* 2nd arg of func */
 591         .help_str = help_color,
 592         .tokens = {        /* token list, NULL terminated */
 593                 (prog_void *)&cmd_color_arg0,
 594                 (prog_void *)&cmd_color_color,
 595                 NULL,
 596         },
 597 };
 598
 599
 600 /**********************************************************/
 601 /* Rs tests */
 602
 603 /* this structure is filled when cmd_rs is parsed successfully */
 604 struct cmd_rs_result {
 605         fixed_string_t arg0;
 606         fixed_string_t arg1;
 607 };
 608
 609 /* function called when cmd_rs is parsed successfully */
 610 static void cmd_rs_parsed(void *parsed_result, void *data)
 611 {
 612         //      struct cmd_rs_result *res = parsed_result;
 613         do {
 614                 printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
 615                          cs_get_consign(&mainboard.angle.cs),
 616                          cs_get_filtered_feedback(&mainboard.angle.cs),
 617                          cs_get_out(&mainboard.angle.cs));
 618                 printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
 619                          cs_get_consign(&mainboard.distance.cs),
 620                          cs_get_filtered_feedback(&mainboard.distance.cs),
 621                          cs_get_out(&mainboard.distance.cs));
 622                 printf_P(PSTR("l=% .4"PRIi32" r=% .4"PRIi32"\r\n"), mainboard.pwm_l,
 623                          mainboard.pwm_r);
 624                 wait_ms(100);
 625         } while(!cmdline_keypressed());
 626 }
 627
 628 prog_char str_rs_arg0[] = "rs";
 629 parse_pgm_token_string_t cmd_rs_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg0, str_rs_arg0);
 630 prog_char str_rs_arg1[] = "show";
 631 parse_pgm_token_string_t cmd_rs_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg1, str_rs_arg1);
 632
 633 prog_char help_rs[] = "Show rs (robot system) values";
 634 parse_pgm_inst_t cmd_rs = {
 635         .f = cmd_rs_parsed,  /* function to call */
 636         .data = NULL,      /* 2nd arg of func */
 637         .help_str = help_rs,
 638         .tokens = {        /* token list, NULL terminated */
 639                 (prog_void *)&cmd_rs_arg0,
 640                 (prog_void *)&cmd_rs_arg1,
 641                 NULL,
 642         },
 643 };
 644
 645 /**********************************************************/
 646 /* I2cdebug */
 647
 648 /* this structure is filled when cmd_i2cdebug is parsed successfully */
 649 struct cmd_i2cdebug_result {
 650         fixed_string_t arg0;
 651 };
 652
 653 /* function called when cmd_i2cdebug is parsed successfully */
 654 static void cmd_i2cdebug_parsed(void * parsed_result, void * data)
 655 {
 656 #ifdef HOST_VERSION
 657         printf("not implemented\n");
 658 #else
 659         i2c_debug();
 660         i2c_protocol_debug();
 661 #endif
 662 }
 663
 664 prog_char str_i2cdebug_arg0[] = "i2cdebug";
 665 parse_pgm_token_string_t cmd_i2cdebug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_i2cdebug_result, arg0, str_i2cdebug_arg0);
 666
 667 prog_char help_i2cdebug[] = "I2c debug infos";
 668 parse_pgm_inst_t cmd_i2cdebug = {
 669         .f = cmd_i2cdebug_parsed,  /* function to call */
 670         .data = NULL,      /* 2nd arg of func */
 671         .help_str = help_i2cdebug,
 672         .tokens = {        /* token list, NULL terminated */
 673                 (prog_void *)&cmd_i2cdebug_arg0,
 674                 NULL,
 675         },
 676 };
 677
 678 /**********************************************************/
 679 /* Cobboard_Show */
 680
 681 /* this structure is filled when cmd_cobboard_show is parsed successfully */
 682 struct cmd_cobboard_show_result {
 683         fixed_string_t arg0;
 684         fixed_string_t arg1;
 685 };
 686
 687 /* function called when cmd_cobboard_show is parsed successfully */
 688 static void cmd_cobboard_show_parsed(void * parsed_result, void * data)
 689 {
 690 #ifdef HOST_VERSION
 691         printf("not implemented\n");
 692 #else
 693         printf_P(PSTR("mode = %x\r\n"), cobboard.mode);
 694         printf_P(PSTR("status = %x\r\n"), cobboard.status);
 695         printf_P(PSTR("cob_count = %x\r\n"), cobboard.cob_count);
 696         printf_P(PSTR("left_cobroller_speed = %d\r\n"), cobboard.left_cobroller_speed);
 697         printf_P(PSTR("right_cobroller_speed = %d\r\n"), cobboard.right_cobroller_speed);
 698 #endif
 699 }
 700
 701 prog_char str_cobboard_show_arg0[] = "cobboard";
 702 parse_pgm_token_string_t cmd_cobboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg0, str_cobboard_show_arg0);
 703 prog_char str_cobboard_show_arg1[] = "show";
 704 parse_pgm_token_string_t cmd_cobboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg1, str_cobboard_show_arg1);
 705
 706 prog_char help_cobboard_show[] = "show cobboard status";
 707 parse_pgm_inst_t cmd_cobboard_show = {
 708         .f = cmd_cobboard_show_parsed,  /* function to call */
 709         .data = NULL,      /* 2nd arg of func */
 710         .help_str = help_cobboard_show,
 711         .tokens = {        /* token list, NULL terminated */
 712                 (prog_void *)&cmd_cobboard_show_arg0,
 713                 (prog_void *)&cmd_cobboard_show_arg1,
 714                 NULL,
 715         },
 716 };
 717
 718 /**********************************************************/
 719 /* Cobboard_Setmode1 */
 720
 721 /* this structure is filled when cmd_cobboard_setmode1 is parsed successfully */
 722 struct cmd_cobboard_setmode1_result {
 723         fixed_string_t arg0;
 724         fixed_string_t arg1;
 725 };
 726
 727 /* function called when cmd_cobboard_setmode1 is parsed successfully */
 728 static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
 729 {
 730         struct cmd_cobboard_setmode1_result *res = parsed_result;
 731
 732         if (!strcmp_P(res->arg1, PSTR("init")))
 733                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
 734         else if (!strcmp_P(res->arg1, PSTR("eject")))
 735                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 736 }
 737
 738 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
 739 parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
 740 prog_char str_cobboard_setmode1_arg1[] = "init#eject";
 741 parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
 742
 743 prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
 744 parse_pgm_inst_t cmd_cobboard_setmode1 = {
 745         .f = cmd_cobboard_setmode1_parsed,  /* function to call */
 746         .data = NULL,      /* 2nd arg of func */
 747         .help_str = help_cobboard_setmode1,
 748         .tokens = {        /* token list, NULL terminated */
 749                 (prog_void *)&cmd_cobboard_setmode1_arg0,
 750                 (prog_void *)&cmd_cobboard_setmode1_arg1,
 751                 NULL,
 752         },
 753 };
 754
 755 /**********************************************************/
 756 /* Cobboard_Setmode2 */
 757
 758 /* this structure is filled when cmd_cobboard_setmode2 is parsed successfully */
 759 struct cmd_cobboard_setmode2_result {
 760         fixed_string_t arg0;
 761         fixed_string_t arg1;
 762         fixed_string_t arg2;
 763 };
 764
 765 /* function called when cmd_cobboard_setmode2 is parsed successfully */
 766 static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 767 {
 768         struct cmd_cobboard_setmode2_result *res = parsed_result;
 769         uint8_t side = I2C_LEFT_SIDE;
 770
 771         if (!strcmp_P(res->arg2, PSTR("left")))
 772                 side = I2C_LEFT_SIDE;
 773         else if (!strcmp_P(res->arg2, PSTR("right")))
 774                 side = I2C_RIGHT_SIDE;
 775
 776         if (!strcmp_P(res->arg1, PSTR("deploy"))) {
 777                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 778                 i2c_cobboard_deploy(side);
 779         }
 780         else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
 781                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 782                 i2c_cobboard_autoharvest(side);
 783         }
 784         else if (!strcmp_P(res->arg1, PSTR("pack"))) {
 785                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 786                 i2c_cobboard_pack(side);
 787         }
 788         else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
 789                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 790                 i2c_cobboard_deploy_nomove(side);
 791         }
 792         else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
 793                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 794                 i2c_cobboard_autoharvest_nomove(side);
 795         }
 796 }
 797
 798 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
 799 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
 800 prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
 801 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
 802 prog_char str_cobboard_setmode2_arg2[] = "left#right";
 803 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
 804
 805 prog_char help_cobboard_setmode2[] = "set cobboard mode (mode, side)";
 806 parse_pgm_inst_t cmd_cobboard_setmode2 = {
 807         .f = cmd_cobboard_setmode2_parsed,  /* function to call */
 808         .data = NULL,      /* 2nd arg of func */
 809         .help_str = help_cobboard_setmode2,
 810         .tokens = {        /* token list, NULL terminated */
 811                 (prog_void *)&cmd_cobboard_setmode2_arg0,
 812                 (prog_void *)&cmd_cobboard_setmode2_arg1,
 813                 (prog_void *)&cmd_cobboard_setmode2_arg2,
 814                 NULL,
 815         },
 816 };
 817
 818 /**********************************************************/
 819 /* Cobboard_Setmode3 */
 820
 821 /* this structure is filled when cmd_cobboard_setmode3 is parsed successfully */
 822 struct cmd_cobboard_setmode3_result {
 823         fixed_string_t arg0;
 824         fixed_string_t arg1;
 825         uint8_t level;
 826 };
 827
 828 /* function called when cmd_cobboard_setmode3 is parsed successfully */
 829 static void cmd_cobboard_setmode3_parsed(void *parsed_result, void *data)
 830 {
 831         struct cmd_cobboard_setmode3_result *res = parsed_result;
 832         if (!strcmp_P(res->arg1, PSTR("xxx")))
 833                 printf("faux\r\n");
 834 }
 835
 836 prog_char str_cobboard_setmode3_arg0[] = "cobboard";
 837 parse_pgm_token_string_t cmd_cobboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg0, str_cobboard_setmode3_arg0);
 838 prog_char str_cobboard_setmode3_arg1[] = "xxx";
 839 parse_pgm_token_string_t cmd_cobboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg1, str_cobboard_setmode3_arg1);
 840 parse_pgm_token_num_t cmd_cobboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_cobboard_setmode3_result, level, UINT8);
 841
 842 prog_char help_cobboard_setmode3[] = "set cobboard mode (mode, level)";
 843 parse_pgm_inst_t cmd_cobboard_setmode3 = {
 844         .f = cmd_cobboard_setmode3_parsed,  /* function to call */
 845         .data = NULL,      /* 2nd arg of func */
 846         .help_str = help_cobboard_setmode3,
 847         .tokens = {        /* token list, NULL terminated */
 848                 (prog_void *)&cmd_cobboard_setmode3_arg0,
 849                 (prog_void *)&cmd_cobboard_setmode3_arg1,
 850                 (prog_void *)&cmd_cobboard_setmode3_arg2,
 851                 NULL,
 852         },
 853 };
 854
 855 /**********************************************************/
 856 /* Ballboard_Show */
 857
 858 /* this structure is filled when cmd_ballboard_show is parsed successfully */
 859 struct cmd_ballboard_show_result {
 860         fixed_string_t arg0;
 861         fixed_string_t arg1;
 862 };
 863
 864 /* function called when cmd_ballboard_show is parsed successfully */
 865 static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
 866 {
 867 #ifdef HOST_VERSION
 868         printf("not implemented\n");
 869 #else
 870         printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
 871         printf_P(PSTR("status = %x\r\n"), ballboard.status);
 872         printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
 873 #endif
 874 }
 875
 876 prog_char str_ballboard_show_arg0[] = "ballboard";
 877 parse_pgm_token_string_t cmd_ballboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg0, str_ballboard_show_arg0);
 878 prog_char str_ballboard_show_arg1[] = "show";
 879 parse_pgm_token_string_t cmd_ballboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg1, str_ballboard_show_arg1);
 880
 881 prog_char help_ballboard_show[] = "show ballboard status";
 882 parse_pgm_inst_t cmd_ballboard_show = {
 883         .f = cmd_ballboard_show_parsed,  /* function to call */
 884         .data = NULL,      /* 2nd arg of func */
 885         .help_str = help_ballboard_show,
 886         .tokens = {        /* token list, NULL terminated */
 887                 (prog_void *)&cmd_ballboard_show_arg0,
 888                 (prog_void *)&cmd_ballboard_show_arg1,
 889                 NULL,
 890         },
 891 };
 892
 893 /**********************************************************/
 894 /* Ballboard_Setmode1 */
 895
 896 /* this structure is filled when cmd_ballboard_setmode1 is parsed successfully */
 897 struct cmd_ballboard_setmode1_result {
 898         fixed_string_t arg0;
 899         fixed_string_t arg1;
 900 };
 901
 902 /* function called when cmd_ballboard_setmode1 is parsed successfully */
 903 static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
 904 {
 905         struct cmd_ballboard_setmode1_result *res = parsed_result;
 906
 907         if (!strcmp_P(res->arg1, PSTR("init")))
 908                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_INIT);
 909         else if (!strcmp_P(res->arg1, PSTR("off")))
 910                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_OFF);
 911         else if (!strcmp_P(res->arg1, PSTR("eject")))
 912                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 913         else if (!strcmp_P(res->arg1, PSTR("harvest")))
 914                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 915
 916         /* other commands */
 917 }
 918
 919 prog_char str_ballboard_setmode1_arg0[] = "ballboard";
 920 parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
 921 prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
 922 parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
 923
 924 prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
 925 parse_pgm_inst_t cmd_ballboard_setmode1 = {
 926         .f = cmd_ballboard_setmode1_parsed,  /* function to call */
 927         .data = NULL,      /* 2nd arg of func */
 928         .help_str = help_ballboard_setmode1,
 929         .tokens = {        /* token list, NULL terminated */
 930                 (prog_void *)&cmd_ballboard_setmode1_arg0,
 931                 (prog_void *)&cmd_ballboard_setmode1_arg1,
 932                 NULL,
 933         },
 934 };
 935
 936 /**********************************************************/
 937 /* Ballboard_Setmode2 */
 938
 939 /* this structure is filled when cmd_ballboard_setmode2 is parsed successfully */
 940 struct cmd_ballboard_setmode2_result {
 941         fixed_string_t arg0;
 942         fixed_string_t arg1;
 943         fixed_string_t arg2;
 944 };
 945
 946 /* function called when cmd_ballboard_setmode2 is parsed successfully */
 947 static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
 948 {
 949         struct cmd_ballboard_setmode2_result *res = parsed_result;
 950         uint8_t mode = I2C_BALLBOARD_MODE_INIT;
 951
 952         if (!strcmp_P(res->arg2, PSTR("left"))) {
 953                 if (!strcmp_P(res->arg1, PSTR("prepare")))
 954                         mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
 955                 else if (!strcmp_P(res->arg1, PSTR("take")))
 956                         mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
 957         }
 958         else {
 959                 if (!strcmp_P(res->arg1, PSTR("prepare")))
 960                         mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
 961                 else if (!strcmp_P(res->arg1, PSTR("take")))
 962                         mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
 963         }
 964         i2c_ballboard_set_mode(mode);
 965 }
 966
 967 prog_char str_ballboard_setmode2_arg0[] = "ballboard";
 968 parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
 969 prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
 970 parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
 971 prog_char str_ballboard_setmode2_arg2[] = "left#right";
 972 parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);
 973
 974 prog_char help_ballboard_setmode2[] = "set ballboard mode (mode, side)";
 975 parse_pgm_inst_t cmd_ballboard_setmode2 = {
 976         .f = cmd_ballboard_setmode2_parsed,  /* function to call */
 977         .data = NULL,      /* 2nd arg of func */
 978         .help_str = help_ballboard_setmode2,
 979         .tokens = {        /* token list, NULL terminated */
 980                 (prog_void *)&cmd_ballboard_setmode2_arg0,
 981                 (prog_void *)&cmd_ballboard_setmode2_arg1,
 982                 (prog_void *)&cmd_ballboard_setmode2_arg2,
 983                 NULL,
 984         },
 985 };
 986
 987 /**********************************************************/
 988 /* Ballboard_Setmode3 */
 989
 990 /* this structure is filled when cmd_ballboard_setmode3 is parsed successfully */
 991 struct cmd_ballboard_setmode3_result {
 992         fixed_string_t arg0;
 993         fixed_string_t arg1;
 994         uint8_t level;
 995 };
 996
 997 /* function called when cmd_ballboard_setmode3 is parsed successfully */
 998 static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data)
 999 {
1000         struct cmd_ballboard_setmode3_result *res = parsed_result;
1001         if (!strcmp_P(res->arg1, PSTR("xxx")))
1002                 printf("faux\r\n");
1003 }
1004
1005 prog_char str_ballboard_setmode3_arg0[] = "ballboard";
1006 parse_pgm_token_string_t cmd_ballboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg0, str_ballboard_setmode3_arg0);
1007 prog_char str_ballboard_setmode3_arg1[] = "xxx";
1008 parse_pgm_token_string_t cmd_ballboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg1, str_ballboard_setmode3_arg1);
1009 parse_pgm_token_num_t cmd_ballboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_ballboard_setmode3_result, level, UINT8);
1010
1011 prog_char help_ballboard_setmode3[] = "set ballboard mode (mode, level)";
1012 parse_pgm_inst_t cmd_ballboard_setmode3 = {
1013         .f = cmd_ballboard_setmode3_parsed,  /* function to call */
1014         .data = NULL,      /* 2nd arg of func */
1015         .help_str = help_ballboard_setmode3,
1016         .tokens = {        /* token list, NULL terminated */
1017                 (prog_void *)&cmd_ballboard_setmode3_arg0,
1018                 (prog_void *)&cmd_ballboard_setmode3_arg1,
1019                 (prog_void *)&cmd_ballboard_setmode3_arg2,
1020                 NULL,
1021         },
1022 };
1023
1024 /**********************************************************/
1025 /* Servo_Balls */
1026
1027 /* this structure is filled when cmd_servo_balls is parsed successfully */
1028 struct cmd_servo_balls_result {
1029         fixed_string_t arg0;
1030         fixed_string_t arg1;
1031 };
1032
1033 /* function called when cmd_servo_balls is parsed successfully */
1034 static void cmd_servo_balls_parsed(void *parsed_result,
1035                                    __attribute__((unused)) void *data)
1036 {
1037         struct cmd_servo_balls_result *res = parsed_result;
1038
1039         if (!strcmp_P(res->arg1, PSTR("deploy")))
1040                 support_balls_deploy();
1041         else if (!strcmp_P(res->arg1, PSTR("pack")))
1042                 support_balls_pack();
1043 }
1044
1045 prog_char str_servo_balls_arg0[] = "support_balls";
1046 parse_pgm_token_string_t cmd_servo_balls_arg0 =
1047         TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg0, str_servo_balls_arg0);
1048 prog_char str_servo_balls_arg1[] = "deploy#pack";
1049 parse_pgm_token_string_t cmd_servo_balls_arg1 =
1050         TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg1, str_servo_balls_arg1);
1051
1052 prog_char help_servo_balls[] = "control support balls";
1053 parse_pgm_inst_t cmd_servo_balls = {
1054         .f = cmd_servo_balls_parsed,  /* function to call */
1055         .data = NULL,      /* 2nd arg of func */
1056         .help_str = help_servo_balls,
1057         .tokens = {        /* token list, NULL terminated */
1058                 (prog_void *)&cmd_servo_balls_arg0,
1059                 (prog_void *)&cmd_servo_balls_arg1,
1060                 NULL,
1061         },
1062 };
1063
1064 /**********************************************************/
1065 /* Clitoid */
1066
1067 /* this structure is filled when cmd_clitoid is parsed successfully */
1068 struct cmd_clitoid_result {
1069         fixed_string_t arg0;
1070         float alpha_deg;
1071         float beta_deg;
1072         float R_mm;
1073         float Vd;
1074         float Amax;
1075         float d_inter_mm;
1076 };
1077
1078 /* function called when cmd_test is parsed successfully */
1079 static void cmd_clitoid_parsed(void *parsed_result, void *data)
1080 {
1081         struct cmd_clitoid_result *res = parsed_result;
1082 /*      clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */
1083 /*              res->Vd, res->Amax, res->d_inter_mm); */
1084         double x = position_get_x_double(&mainboard.pos);
1085         double y = position_get_y_double(&mainboard.pos);
1086         double a = position_get_a_rad_double(&mainboard.pos);
1087
1088         strat_set_speed(res->Vd, SPEED_ANGLE_FAST);
1089         trajectory_clitoid(&mainboard.traj, x, y, a, 150.,
1090                            res->alpha_deg, res->beta_deg, res->R_mm,
1091                            res->d_inter_mm);
1092 }
1093
1094 prog_char str_clitoid_arg0[] = "clitoid";
1095 parse_pgm_token_string_t cmd_clitoid_arg0 =
1096         TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result,
1097                                  arg0, str_clitoid_arg0);
1098 parse_pgm_token_num_t cmd_clitoid_alpha_deg =
1099         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1100                               alpha_deg, FLOAT);
1101 parse_pgm_token_num_t cmd_clitoid_beta_deg =
1102         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1103                               beta_deg, FLOAT);
1104 parse_pgm_token_num_t cmd_clitoid_R_mm =
1105         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1106                               R_mm, FLOAT);
1107 parse_pgm_token_num_t cmd_clitoid_Vd =
1108         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1109                               Vd, FLOAT);
1110 parse_pgm_token_num_t cmd_clitoid_Amax =
1111         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1112                               Amax, FLOAT);
1113 parse_pgm_token_num_t cmd_clitoid_d_inter_mm =
1114         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1115                               d_inter_mm, FLOAT);
1116
1117 prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)";
1118 parse_pgm_inst_t cmd_clitoid = {
1119         .f = cmd_clitoid_parsed,  /* function to call */
1120         .data = NULL,      /* 2nd arg of func */
1121         .help_str = help_clitoid,
1122         .tokens = {        /* token list, NULL terminated */
1123                 (prog_void *)&cmd_clitoid_arg0,
1124                 (prog_void *)&cmd_clitoid_alpha_deg,
1125                 (prog_void *)&cmd_clitoid_beta_deg,
1126                 (prog_void *)&cmd_clitoid_R_mm,
1127                 (prog_void *)&cmd_clitoid_Vd,
1128                 (prog_void *)&cmd_clitoid_Amax,
1129                 (prog_void *)&cmd_clitoid_d_inter_mm,
1130                 NULL,
1131         },
1132 };
1133
1134 /**********************************************************/
1135 /* Time_Monitor */
1136
1137 /* this structure is filled when cmd_time_monitor is parsed successfully */
1138 struct cmd_time_monitor_result {
1139         fixed_string_t arg0;
1140         fixed_string_t arg1;
1141 };
1142
1143 /* function called when cmd_time_monitor is parsed successfully */
1144 static void cmd_time_monitor_parsed(void *parsed_result, void *data)
1145 {
1146 #ifndef HOST_VERSION
1147         struct cmd_time_monitor_result *res = parsed_result;
1148         uint16_t seconds;
1149
1150         if (!strcmp_P(res->arg1, PSTR("reset"))) {
1151                 eeprom_write_word(EEPROM_TIME_ADDRESS, 0);
1152         }
1153         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
1154         printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
1155 #endif
1156 }
1157
1158 prog_char str_time_monitor_arg0[] = "time_monitor";
1159 parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0);
1160 prog_char str_time_monitor_arg1[] = "show#reset";
1161 parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1);
1162
1163 prog_char help_time_monitor[] = "Show since how long we are running";
1164 parse_pgm_inst_t cmd_time_monitor = {
1165         .f = cmd_time_monitor_parsed,  /* function to call */
1166         .data = NULL,      /* 2nd arg of func */
1167         .help_str = help_time_monitor,
1168         .tokens = {        /* token list, NULL terminated */
1169                 (prog_void *)&cmd_time_monitor_arg0,
1170                 (prog_void *)&cmd_time_monitor_arg1,
1171                 NULL,
1172         },
1173 };
1174
1175
1176 /**********************************************************/
1177 /* Strat_Event */
1178
1179 /* this structure is filled when cmd_strat_event is parsed successfully */
1180 struct cmd_strat_event_result {
1181         fixed_string_t arg0;
1182         fixed_string_t arg1;
1183 };
1184
1185 /* function called when cmd_strat_event is parsed successfully */
1186 static void cmd_strat_event_parsed(void *parsed_result, void *data)
1187 {
1188         struct cmd_strat_event_result *res = parsed_result;
1189
1190         if (!strcmp_P(res->arg1, PSTR("on")))
1191                 strat_event_enable();
1192         else
1193                 strat_event_disable();
1194 }
1195
1196 prog_char str_strat_event_arg0[] = "strat_event";
1197 parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
1198 prog_char str_strat_event_arg1[] = "on#off";
1199 parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
1200
1201 prog_char help_strat_event[] = "Enable/disable strat_event callback";
1202 parse_pgm_inst_t cmd_strat_event = {
1203         .f = cmd_strat_event_parsed,  /* function to call */
1204         .data = NULL,      /* 2nd arg of func */
1205         .help_str = help_strat_event,
1206         .tokens = {        /* token list, NULL terminated */
1207                 (prog_void *)&cmd_strat_event_arg0,
1208                 (prog_void *)&cmd_strat_event_arg1,
1209                 NULL,
1210         },
1211 };
1212
1213 /**********************************************************/
1214 /* Test */
1215
1216 /* this structure is filled when cmd_test is parsed successfully */
1217 struct cmd_test_result {
1218         fixed_string_t arg0;
1219         int32_t radius;
1220         int32_t dist;
1221 };
1222
1223 /* function called when cmd_test is parsed successfully */
1224 static void cmd_test_parsed(void *parsed_result, void *data)
1225 {
1226         strat_db.dump_enabled = 1;
1227         strat_db_dump(__FUNCTION__);
1228
1229         corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
1230         strat_db_dump(__FUNCTION__);
1231
1232         corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
1233         strat_db_dump(__FUNCTION__);
1234         corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
1235         strat_db_dump(__FUNCTION__);
1236         corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
1237         strat_db_dump(__FUNCTION__);
1238 }
1239
1240 prog_char str_test_arg0[] = "test";
1241 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
1242 parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
1243 parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32);
1244
1245 prog_char help_test[] = "Test function";
1246 parse_pgm_inst_t cmd_test = {
1247         .f = cmd_test_parsed,  /* function to call */
1248         .data = NULL,      /* 2nd arg of func */
1249         .help_str = help_test,
1250         .tokens = {        /* token list, NULL terminated */
1251                 (prog_void *)&cmd_test_arg0,
1252                 NULL,
1253         },
1254 };