projects/microb2010/tests/beacon_tsop/commands.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.c,v 1.7 2009-04-24 19:30:41 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive/pgmspace.h>
  27 #include <aversive/wait.h>
  28 #include <aversive/error.h>
  29
  30 #include <pid.h>
  31 #include <pwm_ng.h>
  32 #include <parse.h>
  33 #include <rdline.h>
  34 #include <parse_string.h>
  35 #include <vect_base.h>
  36 #include <lines.h>
  37 #include <circles.h>
  38
  39 #include "trigo.h"
  40 #include "main.h"
  41
  42 /**********************************************************/
  43 /* Reset */
  44
  45 /* this structure is filled when cmd_reset is parsed successfully */
  46 struct cmd_reset_result {
  47         fixed_string_t arg0;
  48 };
  49
  50 /* function called when cmd_reset is parsed successfully */
  51 static void cmd_reset_parsed(__attribute__((unused)) void *parsed_result,
  52                              __attribute__((unused)) void *data)
  53 {
  54         reset();
  55 }
  56
  57 prog_char str_reset_arg0[] = "reset";
  58 parse_pgm_token_string_t cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
  59
  60 prog_char help_reset[] = "Reset the board";
  61 parse_pgm_inst_t cmd_reset = {
  62         .f = cmd_reset_parsed,  /* function to call */
  63         .data = NULL,      /* 2nd arg of func */
  64         .help_str = help_reset,
  65         .tokens = {        /* token list, NULL terminated */
  66                 (prog_void *)&cmd_reset_arg0,
  67                 NULL,
  68         },
  69 };
  70
  71 /**********************************************************/
  72 /* Debug_Frame */
  73
  74 /* this structure is filled when cmd_debug_frame is parsed successfully */
  75 struct cmd_debug_frame_result {
  76         fixed_string_t arg0;
  77         fixed_string_t arg1;
  78 };
  79
  80 /* function called when cmd_debug_frame is parsed successfully */
  81 static void cmd_debug_frame_parsed(void *parsed_result,
  82                                    __attribute__((unused)) void *data)
  83 {
  84         struct cmd_debug_frame_result *res = parsed_result;
  85         if (!strcmp_P(res->arg1, PSTR("on")))
  86                 beacon_tsop.debug_frame = 1;
  87         else
  88                 beacon_tsop.debug_frame = 0;
  89 }
  90
  91 prog_char str_debug_frame_arg0[] = "debug_frame";
  92 parse_pgm_token_string_t cmd_debug_frame_arg0 =
  93         TOKEN_STRING_INITIALIZER(struct cmd_debug_frame_result,
  94                                  arg0, str_debug_frame_arg0);
  95 prog_char str_debug_frame_arg1[] = "on#off";
  96 parse_pgm_token_string_t cmd_debug_frame_arg1 =
  97         TOKEN_STRING_INITIALIZER(struct cmd_debug_frame_result,
  98                                  arg1, str_debug_frame_arg1);
  99
 100 prog_char help_debug_frame[] = "Enable frame debug [debug_frame on|off]";
 101 parse_pgm_inst_t cmd_debug_frame = {
 102         .f = cmd_debug_frame_parsed,  /* function to call */
 103         .data = NULL,      /* 2nd arg of func */
 104         .help_str = help_debug_frame,
 105         .tokens = {        /* token list, NULL terminated */
 106                 (prog_void *)&cmd_debug_frame_arg0,
 107                 (prog_void *)&cmd_debug_frame_arg1,
 108                 NULL,
 109         },
 110 };
 111
 112 /**********************************************************/
 113 /* Debug_Speed */
 114
 115 /* this structure is filled when cmd_debug_speed is parsed successfully */
 116 struct cmd_debug_speed_result {
 117         fixed_string_t arg0;
 118         fixed_string_t arg1;
 119 };
 120
 121 /* function called when cmd_debug_speed is parsed successfully */
 122 static void cmd_debug_speed_parsed(void *parsed_result,
 123                                    __attribute__((unused)) void *data)
 124 {
 125         struct cmd_debug_speed_result *res = parsed_result;
 126         if (!strcmp_P(res->arg1, PSTR("on")))
 127                 beacon_tsop.debug_speed = 1;
 128         else
 129                 beacon_tsop.debug_speed = 0;
 130 }
 131
 132 prog_char str_debug_speed_arg0[] = "debug_speed";
 133 parse_pgm_token_string_t cmd_debug_speed_arg0 =
 134         TOKEN_STRING_INITIALIZER(struct cmd_debug_speed_result,
 135                                  arg0, str_debug_speed_arg0);
 136 prog_char str_debug_speed_arg1[] = "on#off";
 137 parse_pgm_token_string_t cmd_debug_speed_arg1 =
 138         TOKEN_STRING_INITIALIZER(struct cmd_debug_speed_result,
 139                                  arg1, str_debug_speed_arg1);
 140
 141 prog_char help_debug_speed[] = "Enable speed debug [debug_speed on|off]";
 142 parse_pgm_inst_t cmd_debug_speed = {
 143         .f = cmd_debug_speed_parsed,  /* function to call */
 144         .data = NULL,      /* 2nd arg of func */
 145         .help_str = help_debug_speed,
 146         .tokens = {        /* token list, NULL terminated */
 147                 (prog_void *)&cmd_debug_speed_arg0,
 148                 (prog_void *)&cmd_debug_speed_arg1,
 149                 NULL,
 150         },
 151 };
 152
 153 /**********************************************************/
 154 /* Test */
 155
 156 /* this structure is filled when cmd_test is parsed successfully */
 157 struct cmd_test_result {
 158         fixed_string_t arg0;
 159 };
 160
 161 /* function called when cmd_test is parsed successfully */
 162 static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
 163                              __attribute__((unused)) void *data)
 164 {
 165         point_t pos;
 166         double a01 = 1.65;
 167         double a12 = 2.12;
 168         double a20 = 2.53;
 169         uint16_t time1, time2;
 170
 171         cli();
 172         time1 = TCNT3;
 173         sei();
 174
 175         if (angles_to_posxy(&pos, a01, a12, a20) < 0)
 176                 printf_P(PSTR("error\n"));
 177
 178         cli();
 179         time2 = TCNT3;
 180         sei();
 181
 182         printf_P(PSTR("%2.2f %2.2f (t=%d)\n"), pos.x, pos.y, time2-time1);
 183 }
 184
 185 prog_char str_test_arg0[] = "test";
 186 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
 187
 188 prog_char help_test[] = "Test the board";
 189 parse_pgm_inst_t cmd_test = {
 190         .f = cmd_test_parsed,  /* function to call */
 191         .data = NULL,      /* 2nd arg of func */
 192         .help_str = help_test,
 193         .tokens = {        /* token list, NULL terminated */
 194                 (prog_void *)&cmd_test_arg0,
 195                 NULL,
 196         },
 197 };
 198
 199 /**********************************************************/
 200
 201 /* in progmem */
 202 parse_pgm_ctx_t main_ctx[] = {
 203
 204         /* commands_gen.c */
 205         (parse_pgm_inst_t *)&cmd_reset,
 206         (parse_pgm_inst_t *)&cmd_debug_frame,
 207         (parse_pgm_inst_t *)&cmd_debug_speed,
 208         (parse_pgm_inst_t *)&cmd_test,
 209         NULL,
 210 };