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 #ifdef HOST_VERSION
 515 #define PWM_INTERACT 300
 516 #else
 517 #define PWM_INTERACT 1200
 518 #endif
 519                         switch(cmd) {
 520                         case KEY_UP_ARR:
 521                                 pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
 522                                 pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
 523                                 break;
 524                         case KEY_LEFT_ARR:
 525                                 pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
 526                                 pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
 527                                 break;
 528                         case KEY_DOWN_ARR:
 529                                 pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
 530                                 pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
 531                                 break;
 532                         case KEY_RIGHT_ARR:
 533                                 pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
 534                                 pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
 535                                 break;
 536                         }
 537                 }
 538                 wait_ms(10);
 539         }
 540 }
 541
 542 prog_char str_interact_arg0[] = "interact";
 543 parse_pgm_token_string_t cmd_interact_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_interact_result, arg0, str_interact_arg0);
 544
 545 prog_char help_interact[] = "Interactive mode";
 546 parse_pgm_inst_t cmd_interact = {
 547         .f = cmd_interact_parsed,  /* function to call */
 548         .data = NULL,      /* 2nd arg of func */
 549         .help_str = help_interact,
 550         .tokens = {        /* token list, NULL terminated */
 551                 (prog_void *)&cmd_interact_arg0,
 552                 NULL,
 553         },
 554 };
 555
 556
 557 /**********************************************************/
 558 /* Color */
 559
 560 /* this structure is filled when cmd_color is parsed successfully */
 561 struct cmd_color_result {
 562         fixed_string_t arg0;
 563         fixed_string_t color;
 564 };
 565
 566 /* function called when cmd_color is parsed successfully */
 567 static void cmd_color_parsed(void *parsed_result, void *data)
 568 {
 569 #ifdef HOST_VERSION
 570         printf("not implemented\n");
 571 #else
 572         struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
 573         if (!strcmp_P(res->color, PSTR("yellow"))) {
 574                 mainboard.our_color = I2C_COLOR_YELLOW;
 575                 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 576                 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
 577         }
 578         else if (!strcmp_P(res->color, PSTR("blue"))) {
 579                 mainboard.our_color = I2C_COLOR_BLUE;
 580                 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 581                 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
 582         }
 583         printf_P(PSTR("Done\r\n"));
 584 #endif
 585 }
 586
 587 prog_char str_color_arg0[] = "color";
 588 parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
 589 prog_char str_color_color[] = "blue#yellow";
 590 parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
 591
 592 prog_char help_color[] = "Set our color";
 593 parse_pgm_inst_t cmd_color = {
 594         .f = cmd_color_parsed,  /* function to call */
 595         .data = NULL,      /* 2nd arg of func */
 596         .help_str = help_color,
 597         .tokens = {        /* token list, NULL terminated */
 598                 (prog_void *)&cmd_color_arg0,
 599                 (prog_void *)&cmd_color_color,
 600                 NULL,
 601         },
 602 };
 603
 604
 605 /**********************************************************/
 606 /* Rs tests */
 607
 608 /* this structure is filled when cmd_rs is parsed successfully */
 609 struct cmd_rs_result {
 610         fixed_string_t arg0;
 611         fixed_string_t arg1;
 612 };
 613
 614 /* function called when cmd_rs is parsed successfully */
 615 static void cmd_rs_parsed(void *parsed_result, void *data)
 616 {
 617         //      struct cmd_rs_result *res = parsed_result;
 618         do {
 619                 printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
 620                          cs_get_consign(&mainboard.angle.cs),
 621                          cs_get_filtered_feedback(&mainboard.angle.cs),
 622                          cs_get_out(&mainboard.angle.cs));
 623                 printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
 624                          cs_get_consign(&mainboard.distance.cs),
 625                          cs_get_filtered_feedback(&mainboard.distance.cs),
 626                          cs_get_out(&mainboard.distance.cs));
 627                 printf_P(PSTR("l=% .4"PRIi32" r=% .4"PRIi32"\r\n"), mainboard.pwm_l,
 628                          mainboard.pwm_r);
 629                 wait_ms(100);
 630         } while(!cmdline_keypressed());
 631 }
 632
 633 prog_char str_rs_arg0[] = "rs";
 634 parse_pgm_token_string_t cmd_rs_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg0, str_rs_arg0);
 635 prog_char str_rs_arg1[] = "show";
 636 parse_pgm_token_string_t cmd_rs_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg1, str_rs_arg1);
 637
 638 prog_char help_rs[] = "Show rs (robot system) values";
 639 parse_pgm_inst_t cmd_rs = {
 640         .f = cmd_rs_parsed,  /* function to call */
 641         .data = NULL,      /* 2nd arg of func */
 642         .help_str = help_rs,
 643         .tokens = {        /* token list, NULL terminated */
 644                 (prog_void *)&cmd_rs_arg0,
 645                 (prog_void *)&cmd_rs_arg1,
 646                 NULL,
 647         },
 648 };
 649
 650 /**********************************************************/
 651 /* I2cdebug */
 652
 653 /* this structure is filled when cmd_i2cdebug is parsed successfully */
 654 struct cmd_i2cdebug_result {
 655         fixed_string_t arg0;
 656 };
 657
 658 /* function called when cmd_i2cdebug is parsed successfully */
 659 static void cmd_i2cdebug_parsed(void * parsed_result, void * data)
 660 {
 661 #ifdef HOST_VERSION
 662         printf("not implemented\n");
 663 #else
 664         i2c_debug();
 665         i2c_protocol_debug();
 666 #endif
 667 }
 668
 669 prog_char str_i2cdebug_arg0[] = "i2cdebug";
 670 parse_pgm_token_string_t cmd_i2cdebug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_i2cdebug_result, arg0, str_i2cdebug_arg0);
 671
 672 prog_char help_i2cdebug[] = "I2c debug infos";
 673 parse_pgm_inst_t cmd_i2cdebug = {
 674         .f = cmd_i2cdebug_parsed,  /* function to call */
 675         .data = NULL,      /* 2nd arg of func */
 676         .help_str = help_i2cdebug,
 677         .tokens = {        /* token list, NULL terminated */
 678                 (prog_void *)&cmd_i2cdebug_arg0,
 679                 NULL,
 680         },
 681 };
 682
 683 /**********************************************************/
 684 /* Cobboard_Show */
 685
 686 /* this structure is filled when cmd_cobboard_show is parsed successfully */
 687 struct cmd_cobboard_show_result {
 688         fixed_string_t arg0;
 689         fixed_string_t arg1;
 690 };
 691
 692 /* function called when cmd_cobboard_show is parsed successfully */
 693 static void cmd_cobboard_show_parsed(void * parsed_result, void * data)
 694 {
 695 #ifdef HOST_VERSION
 696         printf("not implemented\n");
 697 #else
 698         printf_P(PSTR("mode = %x\r\n"), cobboard.mode);
 699         printf_P(PSTR("status = %x\r\n"), cobboard.status);
 700         printf_P(PSTR("cob_count = %x\r\n"), cobboard.cob_count);
 701         printf_P(PSTR("left_cobroller_speed = %d\r\n"), cobboard.left_cobroller_speed);
 702         printf_P(PSTR("right_cobroller_speed = %d\r\n"), cobboard.right_cobroller_speed);
 703 #endif
 704 }
 705
 706 prog_char str_cobboard_show_arg0[] = "cobboard";
 707 parse_pgm_token_string_t cmd_cobboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg0, str_cobboard_show_arg0);
 708 prog_char str_cobboard_show_arg1[] = "show";
 709 parse_pgm_token_string_t cmd_cobboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg1, str_cobboard_show_arg1);
 710
 711 prog_char help_cobboard_show[] = "show cobboard status";
 712 parse_pgm_inst_t cmd_cobboard_show = {
 713         .f = cmd_cobboard_show_parsed,  /* function to call */
 714         .data = NULL,      /* 2nd arg of func */
 715         .help_str = help_cobboard_show,
 716         .tokens = {        /* token list, NULL terminated */
 717                 (prog_void *)&cmd_cobboard_show_arg0,
 718                 (prog_void *)&cmd_cobboard_show_arg1,
 719                 NULL,
 720         },
 721 };
 722
 723 /**********************************************************/
 724 /* Cobboard_Setmode1 */
 725
 726 /* this structure is filled when cmd_cobboard_setmode1 is parsed successfully */
 727 struct cmd_cobboard_setmode1_result {
 728         fixed_string_t arg0;
 729         fixed_string_t arg1;
 730 };
 731
 732 /* function called when cmd_cobboard_setmode1 is parsed successfully */
 733 static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
 734 {
 735         struct cmd_cobboard_setmode1_result *res = parsed_result;
 736
 737         if (!strcmp_P(res->arg1, PSTR("init")))
 738                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
 739         else if (!strcmp_P(res->arg1, PSTR("eject")))
 740                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 741 }
 742
 743 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
 744 parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
 745 prog_char str_cobboard_setmode1_arg1[] = "init#eject";
 746 parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
 747
 748 prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
 749 parse_pgm_inst_t cmd_cobboard_setmode1 = {
 750         .f = cmd_cobboard_setmode1_parsed,  /* function to call */
 751         .data = NULL,      /* 2nd arg of func */
 752         .help_str = help_cobboard_setmode1,
 753         .tokens = {        /* token list, NULL terminated */
 754                 (prog_void *)&cmd_cobboard_setmode1_arg0,
 755                 (prog_void *)&cmd_cobboard_setmode1_arg1,
 756                 NULL,
 757         },
 758 };
 759
 760 /**********************************************************/
 761 /* Cobboard_Setmode2 */
 762
 763 /* this structure is filled when cmd_cobboard_setmode2 is parsed successfully */
 764 struct cmd_cobboard_setmode2_result {
 765         fixed_string_t arg0;
 766         fixed_string_t arg1;
 767         fixed_string_t arg2;
 768 };
 769
 770 /* function called when cmd_cobboard_setmode2 is parsed successfully */
 771 static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 772 {
 773         struct cmd_cobboard_setmode2_result *res = parsed_result;
 774         uint8_t side = I2C_LEFT_SIDE;
 775
 776         if (!strcmp_P(res->arg2, PSTR("left")))
 777                 side = I2C_LEFT_SIDE;
 778         else if (!strcmp_P(res->arg2, PSTR("right")))
 779                 side = I2C_RIGHT_SIDE;
 780
 781         if (!strcmp_P(res->arg1, PSTR("deploy"))) {
 782                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 783                 i2c_cobboard_deploy(side);
 784         }
 785         else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
 786                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 787                 i2c_cobboard_autoharvest(side);
 788         }
 789         else if (!strcmp_P(res->arg1, PSTR("pack"))) {
 790                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 791                 i2c_cobboard_pack(side);
 792         }
 793         else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
 794                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 795                 i2c_cobboard_deploy_nomove(side);
 796         }
 797         else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
 798                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 799                 i2c_cobboard_autoharvest_nomove(side);
 800         }
 801 }
 802
 803 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
 804 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
 805 prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
 806 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
 807 prog_char str_cobboard_setmode2_arg2[] = "left#right";
 808 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
 809
 810 prog_char help_cobboard_setmode2[] = "set cobboard mode (mode, side)";
 811 parse_pgm_inst_t cmd_cobboard_setmode2 = {
 812         .f = cmd_cobboard_setmode2_parsed,  /* function to call */
 813         .data = NULL,      /* 2nd arg of func */
 814         .help_str = help_cobboard_setmode2,
 815         .tokens = {        /* token list, NULL terminated */
 816                 (prog_void *)&cmd_cobboard_setmode2_arg0,
 817                 (prog_void *)&cmd_cobboard_setmode2_arg1,
 818                 (prog_void *)&cmd_cobboard_setmode2_arg2,
 819                 NULL,
 820         },
 821 };
 822
 823 /**********************************************************/
 824 /* Cobboard_Setmode3 */
 825
 826 /* this structure is filled when cmd_cobboard_setmode3 is parsed successfully */
 827 struct cmd_cobboard_setmode3_result {
 828         fixed_string_t arg0;
 829         fixed_string_t arg1;
 830         uint8_t level;
 831 };
 832
 833 /* function called when cmd_cobboard_setmode3 is parsed successfully */
 834 static void cmd_cobboard_setmode3_parsed(void *parsed_result, void *data)
 835 {
 836         struct cmd_cobboard_setmode3_result *res = parsed_result;
 837         if (!strcmp_P(res->arg1, PSTR("xxx")))
 838                 printf("faux\r\n");
 839 }
 840
 841 prog_char str_cobboard_setmode3_arg0[] = "cobboard";
 842 parse_pgm_token_string_t cmd_cobboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg0, str_cobboard_setmode3_arg0);
 843 prog_char str_cobboard_setmode3_arg1[] = "xxx";
 844 parse_pgm_token_string_t cmd_cobboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg1, str_cobboard_setmode3_arg1);
 845 parse_pgm_token_num_t cmd_cobboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_cobboard_setmode3_result, level, UINT8);
 846
 847 prog_char help_cobboard_setmode3[] = "set cobboard mode (mode, level)";
 848 parse_pgm_inst_t cmd_cobboard_setmode3 = {
 849         .f = cmd_cobboard_setmode3_parsed,  /* function to call */
 850         .data = NULL,      /* 2nd arg of func */
 851         .help_str = help_cobboard_setmode3,
 852         .tokens = {        /* token list, NULL terminated */
 853                 (prog_void *)&cmd_cobboard_setmode3_arg0,
 854                 (prog_void *)&cmd_cobboard_setmode3_arg1,
 855                 (prog_void *)&cmd_cobboard_setmode3_arg2,
 856                 NULL,
 857         },
 858 };
 859
 860 /**********************************************************/
 861 /* Ballboard_Show */
 862
 863 /* this structure is filled when cmd_ballboard_show is parsed successfully */
 864 struct cmd_ballboard_show_result {
 865         fixed_string_t arg0;
 866         fixed_string_t arg1;
 867 };
 868
 869 /* function called when cmd_ballboard_show is parsed successfully */
 870 static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
 871 {
 872 #ifdef HOST_VERSION
 873         printf("not implemented\n");
 874 #else
 875         printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
 876         printf_P(PSTR("status = %x\r\n"), ballboard.status);
 877         printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
 878         printf_P(PSTR("lcob = %d\r\n"), ballboard.lcob);
 879         printf_P(PSTR("rcob = %d\r\n"), ballboard.rcob);
 880 #endif
 881 }
 882
 883 prog_char str_ballboard_show_arg0[] = "ballboard";
 884 parse_pgm_token_string_t cmd_ballboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg0, str_ballboard_show_arg0);
 885 prog_char str_ballboard_show_arg1[] = "show";
 886 parse_pgm_token_string_t cmd_ballboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg1, str_ballboard_show_arg1);
 887
 888 prog_char help_ballboard_show[] = "show ballboard status";
 889 parse_pgm_inst_t cmd_ballboard_show = {
 890         .f = cmd_ballboard_show_parsed,  /* function to call */
 891         .data = NULL,      /* 2nd arg of func */
 892         .help_str = help_ballboard_show,
 893         .tokens = {        /* token list, NULL terminated */
 894                 (prog_void *)&cmd_ballboard_show_arg0,
 895                 (prog_void *)&cmd_ballboard_show_arg1,
 896                 NULL,
 897         },
 898 };
 899
 900 /**********************************************************/
 901 /* Ballboard_Setmode1 */
 902
 903 /* this structure is filled when cmd_ballboard_setmode1 is parsed successfully */
 904 struct cmd_ballboard_setmode1_result {
 905         fixed_string_t arg0;
 906         fixed_string_t arg1;
 907 };
 908
 909 /* function called when cmd_ballboard_setmode1 is parsed successfully */
 910 static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
 911 {
 912         struct cmd_ballboard_setmode1_result *res = parsed_result;
 913
 914         if (!strcmp_P(res->arg1, PSTR("init")))
 915                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_INIT);
 916         else if (!strcmp_P(res->arg1, PSTR("off")))
 917                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_OFF);
 918         else if (!strcmp_P(res->arg1, PSTR("eject")))
 919                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 920         else if (!strcmp_P(res->arg1, PSTR("harvest")))
 921                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 922
 923         /* other commands */
 924 }
 925
 926 prog_char str_ballboard_setmode1_arg0[] = "ballboard";
 927 parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
 928 prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
 929 parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
 930
 931 prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
 932 parse_pgm_inst_t cmd_ballboard_setmode1 = {
 933         .f = cmd_ballboard_setmode1_parsed,  /* function to call */
 934         .data = NULL,      /* 2nd arg of func */
 935         .help_str = help_ballboard_setmode1,
 936         .tokens = {        /* token list, NULL terminated */
 937                 (prog_void *)&cmd_ballboard_setmode1_arg0,
 938                 (prog_void *)&cmd_ballboard_setmode1_arg1,
 939                 NULL,
 940         },
 941 };
 942
 943 /**********************************************************/
 944 /* Ballboard_Setmode2 */
 945
 946 /* this structure is filled when cmd_ballboard_setmode2 is parsed successfully */
 947 struct cmd_ballboard_setmode2_result {
 948         fixed_string_t arg0;
 949         fixed_string_t arg1;
 950         fixed_string_t arg2;
 951 };
 952
 953 /* function called when cmd_ballboard_setmode2 is parsed successfully */
 954 static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
 955 {
 956         struct cmd_ballboard_setmode2_result *res = parsed_result;
 957         uint8_t mode = I2C_BALLBOARD_MODE_INIT;
 958
 959         if (!strcmp_P(res->arg2, PSTR("left"))) {
 960                 if (!strcmp_P(res->arg1, PSTR("prepare")))
 961                         mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
 962                 else if (!strcmp_P(res->arg1, PSTR("take")))
 963                         mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
 964         }
 965         else {
 966                 if (!strcmp_P(res->arg1, PSTR("prepare")))
 967                         mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
 968                 else if (!strcmp_P(res->arg1, PSTR("take")))
 969                         mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
 970         }
 971         i2c_ballboard_set_mode(mode);
 972 }
 973
 974 prog_char str_ballboard_setmode2_arg0[] = "ballboard";
 975 parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
 976 prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
 977 parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
 978 prog_char str_ballboard_setmode2_arg2[] = "left#right";
 979 parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);
 980
 981 prog_char help_ballboard_setmode2[] = "set ballboard mode (mode, side)";
 982 parse_pgm_inst_t cmd_ballboard_setmode2 = {
 983         .f = cmd_ballboard_setmode2_parsed,  /* function to call */
 984         .data = NULL,      /* 2nd arg of func */
 985         .help_str = help_ballboard_setmode2,
 986         .tokens = {        /* token list, NULL terminated */
 987                 (prog_void *)&cmd_ballboard_setmode2_arg0,
 988                 (prog_void *)&cmd_ballboard_setmode2_arg1,
 989                 (prog_void *)&cmd_ballboard_setmode2_arg2,
 990                 NULL,
 991         },
 992 };
 993
 994 /**********************************************************/
 995 /* Ballboard_Setmode3 */
 996
 997 /* this structure is filled when cmd_ballboard_setmode3 is parsed successfully */
 998 struct cmd_ballboard_setmode3_result {
 999         fixed_string_t arg0;
1000         fixed_string_t arg1;
1001         uint8_t level;
1002 };
1003
1004 /* function called when cmd_ballboard_setmode3 is parsed successfully */
1005 static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data)
1006 {
1007         struct cmd_ballboard_setmode3_result *res = parsed_result;
1008         if (!strcmp_P(res->arg1, PSTR("xxx")))
1009                 printf("faux\r\n");
1010 }
1011
1012 prog_char str_ballboard_setmode3_arg0[] = "ballboard";
1013 parse_pgm_token_string_t cmd_ballboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg0, str_ballboard_setmode3_arg0);
1014 prog_char str_ballboard_setmode3_arg1[] = "xxx";
1015 parse_pgm_token_string_t cmd_ballboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg1, str_ballboard_setmode3_arg1);
1016 parse_pgm_token_num_t cmd_ballboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_ballboard_setmode3_result, level, UINT8);
1017
1018 prog_char help_ballboard_setmode3[] = "set ballboard mode (mode, level)";
1019 parse_pgm_inst_t cmd_ballboard_setmode3 = {
1020         .f = cmd_ballboard_setmode3_parsed,  /* function to call */
1021         .data = NULL,      /* 2nd arg of func */
1022         .help_str = help_ballboard_setmode3,
1023         .tokens = {        /* token list, NULL terminated */
1024                 (prog_void *)&cmd_ballboard_setmode3_arg0,
1025                 (prog_void *)&cmd_ballboard_setmode3_arg1,
1026                 (prog_void *)&cmd_ballboard_setmode3_arg2,
1027                 NULL,
1028         },
1029 };
1030
1031 /**********************************************************/
1032 /* Servo_Balls */
1033
1034 /* this structure is filled when cmd_servo_balls is parsed successfully */
1035 struct cmd_servo_balls_result {
1036         fixed_string_t arg0;
1037         fixed_string_t arg1;
1038 };
1039
1040 /* function called when cmd_servo_balls is parsed successfully */
1041 static void cmd_servo_balls_parsed(void *parsed_result,
1042                                    __attribute__((unused)) void *data)
1043 {
1044         struct cmd_servo_balls_result *res = parsed_result;
1045
1046         if (!strcmp_P(res->arg1, PSTR("deploy")))
1047                 support_balls_deploy();
1048         else if (!strcmp_P(res->arg1, PSTR("pack")))
1049                 support_balls_pack();
1050 }
1051
1052 prog_char str_servo_balls_arg0[] = "support_balls";
1053 parse_pgm_token_string_t cmd_servo_balls_arg0 =
1054         TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg0, str_servo_balls_arg0);
1055 prog_char str_servo_balls_arg1[] = "deploy#pack";
1056 parse_pgm_token_string_t cmd_servo_balls_arg1 =
1057         TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg1, str_servo_balls_arg1);
1058
1059 prog_char help_servo_balls[] = "control support balls";
1060 parse_pgm_inst_t cmd_servo_balls = {
1061         .f = cmd_servo_balls_parsed,  /* function to call */
1062         .data = NULL,      /* 2nd arg of func */
1063         .help_str = help_servo_balls,
1064         .tokens = {        /* token list, NULL terminated */
1065                 (prog_void *)&cmd_servo_balls_arg0,
1066                 (prog_void *)&cmd_servo_balls_arg1,
1067                 NULL,
1068         },
1069 };
1070
1071 /**********************************************************/
1072 /* Clitoid */
1073
1074 /* this structure is filled when cmd_clitoid is parsed successfully */
1075 struct cmd_clitoid_result {
1076         fixed_string_t arg0;
1077         float alpha_deg;
1078         float beta_deg;
1079         float R_mm;
1080         float Vd;
1081         float Amax;
1082         float d_inter_mm;
1083 };
1084
1085 /* function called when cmd_test is parsed successfully */
1086 static void cmd_clitoid_parsed(void *parsed_result, void *data)
1087 {
1088         struct cmd_clitoid_result *res = parsed_result;
1089 /*      clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */
1090 /*              res->Vd, res->Amax, res->d_inter_mm); */
1091         double x = position_get_x_double(&mainboard.pos);
1092         double y = position_get_y_double(&mainboard.pos);
1093         double a = position_get_a_rad_double(&mainboard.pos);
1094
1095         strat_set_speed(res->Vd, SPEED_ANGLE_FAST);
1096         trajectory_clitoid(&mainboard.traj, x, y, a, 150.,
1097                            res->alpha_deg, res->beta_deg, res->R_mm,
1098                            res->d_inter_mm);
1099 }
1100
1101 prog_char str_clitoid_arg0[] = "clitoid";
1102 parse_pgm_token_string_t cmd_clitoid_arg0 =
1103         TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result,
1104                                  arg0, str_clitoid_arg0);
1105 parse_pgm_token_num_t cmd_clitoid_alpha_deg =
1106         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1107                               alpha_deg, FLOAT);
1108 parse_pgm_token_num_t cmd_clitoid_beta_deg =
1109         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1110                               beta_deg, FLOAT);
1111 parse_pgm_token_num_t cmd_clitoid_R_mm =
1112         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1113                               R_mm, FLOAT);
1114 parse_pgm_token_num_t cmd_clitoid_Vd =
1115         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1116                               Vd, FLOAT);
1117 parse_pgm_token_num_t cmd_clitoid_Amax =
1118         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1119                               Amax, FLOAT);
1120 parse_pgm_token_num_t cmd_clitoid_d_inter_mm =
1121         TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1122                               d_inter_mm, FLOAT);
1123
1124 prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)";
1125 parse_pgm_inst_t cmd_clitoid = {
1126         .f = cmd_clitoid_parsed,  /* function to call */
1127         .data = NULL,      /* 2nd arg of func */
1128         .help_str = help_clitoid,
1129         .tokens = {        /* token list, NULL terminated */
1130                 (prog_void *)&cmd_clitoid_arg0,
1131                 (prog_void *)&cmd_clitoid_alpha_deg,
1132                 (prog_void *)&cmd_clitoid_beta_deg,
1133                 (prog_void *)&cmd_clitoid_R_mm,
1134                 (prog_void *)&cmd_clitoid_Vd,
1135                 (prog_void *)&cmd_clitoid_Amax,
1136                 (prog_void *)&cmd_clitoid_d_inter_mm,
1137                 NULL,
1138         },
1139 };
1140
1141 /**********************************************************/
1142 /* Time_Monitor */
1143
1144 /* this structure is filled when cmd_time_monitor is parsed successfully */
1145 struct cmd_time_monitor_result {
1146         fixed_string_t arg0;
1147         fixed_string_t arg1;
1148 };
1149
1150 /* function called when cmd_time_monitor is parsed successfully */
1151 static void cmd_time_monitor_parsed(void *parsed_result, void *data)
1152 {
1153 #ifndef HOST_VERSION
1154         struct cmd_time_monitor_result *res = parsed_result;
1155         uint16_t seconds;
1156
1157         if (!strcmp_P(res->arg1, PSTR("reset"))) {
1158                 eeprom_write_word(EEPROM_TIME_ADDRESS, 0);
1159         }
1160         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
1161         printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
1162 #endif
1163 }
1164
1165 prog_char str_time_monitor_arg0[] = "time_monitor";
1166 parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0);
1167 prog_char str_time_monitor_arg1[] = "show#reset";
1168 parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1);
1169
1170 prog_char help_time_monitor[] = "Show since how long we are running";
1171 parse_pgm_inst_t cmd_time_monitor = {
1172         .f = cmd_time_monitor_parsed,  /* function to call */
1173         .data = NULL,      /* 2nd arg of func */
1174         .help_str = help_time_monitor,
1175         .tokens = {        /* token list, NULL terminated */
1176                 (prog_void *)&cmd_time_monitor_arg0,
1177                 (prog_void *)&cmd_time_monitor_arg1,
1178                 NULL,
1179         },
1180 };
1181
1182
1183 /**********************************************************/
1184 /* Strat_Event */
1185
1186 /* this structure is filled when cmd_strat_event is parsed successfully */
1187 struct cmd_strat_event_result {
1188         fixed_string_t arg0;
1189         fixed_string_t arg1;
1190 };
1191
1192 /* function called when cmd_strat_event is parsed successfully */
1193 static void cmd_strat_event_parsed(void *parsed_result, void *data)
1194 {
1195         struct cmd_strat_event_result *res = parsed_result;
1196
1197         if (!strcmp_P(res->arg1, PSTR("on")))
1198                 strat_event_enable();
1199         else
1200                 strat_event_disable();
1201 }
1202
1203 prog_char str_strat_event_arg0[] = "strat_event";
1204 parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
1205 prog_char str_strat_event_arg1[] = "on#off";
1206 parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
1207
1208 prog_char help_strat_event[] = "Enable/disable strat_event callback";
1209 parse_pgm_inst_t cmd_strat_event = {
1210         .f = cmd_strat_event_parsed,  /* function to call */
1211         .data = NULL,      /* 2nd arg of func */
1212         .help_str = help_strat_event,
1213         .tokens = {        /* token list, NULL terminated */
1214                 (prog_void *)&cmd_strat_event_arg0,
1215                 (prog_void *)&cmd_strat_event_arg1,
1216                 NULL,
1217         },
1218 };
1219
1220 /**********************************************************/
1221 /* Sleep */
1222
1223 /* this structure is filled when cmd_sleep is parsed successfully */
1224 struct cmd_sleep_result {
1225         fixed_string_t arg0;
1226         uint32_t ms;
1227 };
1228
1229 /* function called when cmd_sleep is parsed successfully */
1230 static void cmd_sleep_parsed(void *parsed_result, void *data)
1231 {
1232         struct cmd_sleep_result *res = parsed_result;
1233         time_wait_ms(res->ms);
1234 }
1235
1236 prog_char str_sleep_arg0[] = "sleep";
1237 parse_pgm_token_string_t cmd_sleep_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sleep_result, arg0, str_sleep_arg0);
1238 parse_pgm_token_num_t cmd_sleep_ms = TOKEN_NUM_INITIALIZER(struct cmd_sleep_result, ms, UINT32);
1239
1240 prog_char help_sleep[] = "Sleep during some miliseconds";
1241 parse_pgm_inst_t cmd_sleep = {
1242         .f = cmd_sleep_parsed,  /* function to call */
1243         .data = NULL,      /* 2nd arg of func */
1244         .help_str = help_sleep,
1245         .tokens = {        /* token list, NULL terminated */
1246                 (prog_void *)&cmd_sleep_arg0,
1247                 (prog_void *)&cmd_sleep_ms,
1248                 NULL,
1249         },
1250 };
1251
1252
1253 /**********************************************************/
1254 /* Test */
1255
1256 /* this structure is filled when cmd_test is parsed successfully */
1257 struct cmd_test_result {
1258         fixed_string_t arg0;
1259         int32_t radius;
1260         int32_t dist;
1261 };
1262
1263 /* function called when cmd_test is parsed successfully */
1264 static void cmd_test_parsed(void *parsed_result, void *data)
1265 {
1266         strat_db.dump_enabled = 1;
1267         strat_db_dump(__FUNCTION__);
1268
1269         corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
1270         strat_db_dump(__FUNCTION__);
1271
1272         corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
1273         strat_db_dump(__FUNCTION__);
1274         corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
1275         strat_db_dump(__FUNCTION__);
1276         corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
1277         strat_db_dump(__FUNCTION__);
1278 }
1279
1280 prog_char str_test_arg0[] = "test";
1281 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
1282 parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
1283 parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32);
1284
1285 prog_char help_test[] = "Test function";
1286 parse_pgm_inst_t cmd_test = {
1287         .f = cmd_test_parsed,  /* function to call */
1288         .data = NULL,      /* 2nd arg of func */
1289         .help_str = help_test,
1290         .tokens = {        /* token list, NULL terminated */
1291                 (prog_void *)&cmd_test_arg0,
1292                 NULL,
1293         },
1294 };
1295
1296
1297
1298
1299 /**********************************************************/
1300 /* Climb */
1301
1302 /* this structure is filled when cmd_climb is parsed successfully */
1303 struct cmd_climb_result {
1304         fixed_string_t arg0;
1305         int32_t radius;
1306         int32_t dist;
1307 };
1308
1309
1310 //#define DIM_BALLS_DOWN 620
1311 //#define DIM_BALLS_UP 700
1312
1313 #define DIM_BALLS_DOWN 530
1314 #define DIM_BALLS_UP 700
1315
1316 /* function called when cmd_climb is parsed successfully */
1317 static void cmd_climb_parsed(void *parsed_result, void *data)
1318 {
1319         uint8_t err;
1320
1321         printf_P(PSTR("starting Clifenger\r\n"));
1322         strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW );
1323
1324         trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
1325         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
1326         trajectory_a_abs(&mainboard.traj, 0);
1327         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
1328
1329
1330
1331         trajectory_goto_xy_abs(&mainboard.traj, 1250, 250);
1332         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_DOWN, 0xFF);
1333         printf_P(PSTR("ball_pack\r\n"));
1334         support_balls_pack();
1335         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_UP, 0xFF);
1336         printf_P(PSTR("ball_deploy\r\n"));
1337         support_balls_deploy();
1338         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
1339
1340         /* reach top, go down */
1341         trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
1342         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_UP, 0xFF);
1343         printf_P(PSTR("ball_pack\r\n"));
1344         support_balls_pack();
1345         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_DOWN, 0xFF);
1346         printf_P(PSTR("ball_deploy\r\n"));
1347         support_balls_deploy();
1348
1349         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
1350 }
1351
1352 prog_char str_climb_arg0[] = "climb";
1353 parse_pgm_token_string_t cmd_climb_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_climb_result, arg0, str_climb_arg0);
1354 parse_pgm_token_num_t cmd_climb_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, radius, INT32);
1355 parse_pgm_token_num_t cmd_climb_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, dist, INT32);
1356
1357 prog_char help_climb[] = "Climb function";
1358 parse_pgm_inst_t cmd_climb = {
1359         .f = cmd_climb_parsed,  /* function to call */
1360         .data = NULL,      /* 2nd arg of func */
1361         .help_str = help_climb,
1362         .tokens = {        /* token list, NULL terminated */
1363                 (prog_void *)&cmd_climb_arg0,
1364                 NULL,
1365         },
1366 };