projects/microb2010/tests/hostsim/commands_traj.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_traj.c,v 1.8 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
  26 #include <hostsim.h>
  27 #include <aversive/pgmspace.h>
  28 #include <aversive/wait.h>
  29 #include <aversive/error.h>
  30
  31 #include <uart.h>
  32 #include <clock_time.h>
  33
  34 #include <pid.h>
  35 #include <quadramp.h>
  36 #include <control_system_manager.h>
  37 #include <trajectory_manager.h>
  38 #include <vect_base.h>
  39 #include <lines.h>
  40 #include <polygon.h>
  41 #include <obstacle_avoidance.h>
  42 #include <blocking_detection_manager.h>
  43 #include <robot_system.h>
  44 #include <position_manager.h>
  45
  46 #include <rdline.h>
  47 #include <parse.h>
  48 #include <parse_string.h>
  49 #include <parse_num.h>
  50
  51 #include "i2c_commands.h"
  52 #include "main.h"
  53 #include "cs.h"
  54 #include "cmdline.h"
  55 #include "strat.h"
  56 #include "strat_utils.h"
  57 #include "strat_base.h"
  58 #include "strat_avoid.h"
  59
  60 /**********************************************************/
  61 /* Traj_Speeds for trajectory_manager */
  62
  63 /* this structure is filled when cmd_traj_speed is parsed successfully */
  64 struct cmd_traj_speed_result {
  65         fixed_string_t arg0;
  66         fixed_string_t arg1;
  67         uint16_t s;
  68 };
  69
  70 /* function called when cmd_traj_speed is parsed successfully */
  71 static void cmd_traj_speed_parsed(void *parsed_result, void *data)
  72 {
  73         struct cmd_traj_speed_result * res = parsed_result;
  74
  75         if (!strcmp_P(res->arg1, PSTR("angle"))) {
  76                 trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
  77         }
  78         else if (!strcmp_P(res->arg1, PSTR("distance"))) {
  79                 trajectory_set_speed(&mainboard.traj, res->s, mainboard.traj.a_speed);
  80         }
  81         /* else it is a "show" */
  82
  83         printf_P(PSTR("angle %u, distance %u\r\n"),
  84                  mainboard.traj.a_speed,
  85                  mainboard.traj.d_speed);
  86 }
  87
  88 prog_char str_traj_speed_arg0[] = "traj_speed";
  89 parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
  90 prog_char str_traj_speed_arg1[] = "angle#distance";
  91 parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
  92 parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
  93
  94 prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
  95 parse_pgm_inst_t cmd_traj_speed = {
  96         .f = cmd_traj_speed_parsed,  /* function to call */
  97         .data = NULL,      /* 2nd arg of func */
  98         .help_str = help_traj_speed,
  99         .tokens = {        /* token list, NULL terminated */
 100                 (prog_void *)&cmd_traj_speed_arg0,
 101                 (prog_void *)&cmd_traj_speed_arg1,
 102                 (prog_void *)&cmd_traj_speed_s,
 103                 NULL,
 104         },
 105 };
 106
 107 /* show */
 108
 109 prog_char str_traj_speed_show_arg[] = "show";
 110 parse_pgm_token_string_t cmd_traj_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_show_arg);
 111
 112 prog_char help_traj_speed_show[] = "Show traj_speed values for trajectory manager";
 113 parse_pgm_inst_t cmd_traj_speed_show = {
 114         .f = cmd_traj_speed_parsed,  /* function to call */
 115         .data = NULL,      /* 2nd arg of func */
 116         .help_str = help_traj_speed_show,
 117         .tokens = {        /* token list, NULL terminated */
 118                 (prog_void *)&cmd_traj_speed_arg0,
 119                 (prog_void *)&cmd_traj_speed_show_arg,
 120                 NULL,
 121         },
 122 };
 123
 124 /**********************************************************/
 125 /* circle coef configuration */
 126
 127 /* this structure is filled when cmd_circle_coef is parsed successfully */
 128 struct cmd_circle_coef_result {
 129         fixed_string_t arg0;
 130         fixed_string_t arg1;
 131         float circle_coef;
 132 };
 133
 134
 135 /* function called when cmd_circle_coef is parsed successfully */
 136 static void cmd_circle_coef_parsed(void *parsed_result, void *data)
 137 {
 138         struct cmd_circle_coef_result *res = parsed_result;
 139
 140         if (!strcmp_P(res->arg1, PSTR("set"))) {
 141                 trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
 142         }
 143
 144         printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
 145 }
 146
 147 prog_char str_circle_coef_arg0[] = "circle_coef";
 148 parse_pgm_token_string_t cmd_circle_coef_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg0, str_circle_coef_arg0);
 149 prog_char str_circle_coef_arg1[] = "set";
 150 parse_pgm_token_string_t cmd_circle_coef_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_arg1);
 151 parse_pgm_token_num_t cmd_circle_coef_val = TOKEN_NUM_INITIALIZER(struct cmd_circle_coef_result, circle_coef, FLOAT);
 152
 153 prog_char help_circle_coef[] = "Set circle coef";
 154 parse_pgm_inst_t cmd_circle_coef = {
 155         .f = cmd_circle_coef_parsed,  /* function to call */
 156         .data = NULL,      /* 2nd arg of func */
 157         .help_str = help_circle_coef,
 158         .tokens = {        /* token list, NULL terminated */
 159                 (prog_void *)&cmd_circle_coef_arg0,
 160                 (prog_void *)&cmd_circle_coef_arg1,
 161                 (prog_void *)&cmd_circle_coef_val,
 162                 NULL,
 163         },
 164 };
 165
 166 /* show */
 167
 168 prog_char str_circle_coef_show_arg[] = "show";
 169 parse_pgm_token_string_t cmd_circle_coef_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_show_arg);
 170
 171 prog_char help_circle_coef_show[] = "Show circle coef";
 172 parse_pgm_inst_t cmd_circle_coef_show = {
 173         .f = cmd_circle_coef_parsed,  /* function to call */
 174         .data = NULL,      /* 2nd arg of func */
 175         .help_str = help_circle_coef_show,
 176         .tokens = {        /* token list, NULL terminated */
 177                 (prog_void *)&cmd_circle_coef_arg0,
 178                 (prog_void *)&cmd_circle_coef_show_arg,
 179                 NULL,
 180         },
 181 };
 182
 183 /**********************************************************/
 184 /* trajectory window configuration */
 185
 186 /* this structure is filled when cmd_trajectory is parsed successfully */
 187 struct cmd_trajectory_result {
 188         fixed_string_t arg0;
 189         fixed_string_t arg1;
 190         float d_win;
 191         float a_win;
 192         float a_start;
 193 };
 194
 195
 196 /* function called when cmd_trajectory is parsed successfully */
 197 static void cmd_trajectory_parsed(void * parsed_result, void * data)
 198 {
 199         struct cmd_trajectory_result * res = parsed_result;
 200
 201         if (!strcmp_P(res->arg1, PSTR("set"))) {
 202                 trajectory_set_windows(&mainboard.traj, res->d_win,
 203                                        res->a_win, res->a_start);
 204         }
 205
 206         printf_P(PSTR("trajectory %2.2f %2.2f %2.2f\r\n"), mainboard.traj.d_win,
 207                  DEG(mainboard.traj.a_win_rad), DEG(mainboard.traj.a_start_rad));
 208 }
 209
 210 prog_char str_trajectory_arg0[] = "trajectory";
 211 parse_pgm_token_string_t cmd_trajectory_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg0, str_trajectory_arg0);
 212 prog_char str_trajectory_arg1[] = "set";
 213 parse_pgm_token_string_t cmd_trajectory_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_arg1);
 214 parse_pgm_token_num_t cmd_trajectory_d = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, d_win, FLOAT);
 215 parse_pgm_token_num_t cmd_trajectory_a = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_win, FLOAT);
 216 parse_pgm_token_num_t cmd_trajectory_as = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_start, FLOAT);
 217
 218 prog_char help_trajectory[] = "Set trajectory windows (distance, angle, angle_start)";
 219 parse_pgm_inst_t cmd_trajectory = {
 220         .f = cmd_trajectory_parsed,  /* function to call */
 221         .data = NULL,      /* 2nd arg of func */
 222         .help_str = help_trajectory,
 223         .tokens = {        /* token list, NULL terminated */
 224                 (prog_void *)&cmd_trajectory_arg0,
 225                 (prog_void *)&cmd_trajectory_arg1,
 226                 (prog_void *)&cmd_trajectory_d,
 227                 (prog_void *)&cmd_trajectory_a,
 228                 (prog_void *)&cmd_trajectory_as,
 229                 NULL,
 230         },
 231 };
 232
 233 /* show */
 234
 235 prog_char str_trajectory_show_arg[] = "show";
 236 parse_pgm_token_string_t cmd_trajectory_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_show_arg);
 237
 238 prog_char help_trajectory_show[] = "Show trajectory window configuration";
 239 parse_pgm_inst_t cmd_trajectory_show = {
 240         .f = cmd_trajectory_parsed,  /* function to call */
 241         .data = NULL,      /* 2nd arg of func */
 242         .help_str = help_trajectory_show,
 243         .tokens = {        /* token list, NULL terminated */
 244                 (prog_void *)&cmd_trajectory_arg0,
 245                 (prog_void *)&cmd_trajectory_show_arg,
 246                 NULL,
 247         },
 248 };
 249
 250 /**********************************************************/
 251 /* rs_gains configuration */
 252
 253 /* this structure is filled when cmd_rs_gains is parsed successfully */
 254 struct cmd_rs_gains_result {
 255         fixed_string_t arg0;
 256         fixed_string_t arg1;
 257         float left;
 258         float right;
 259 };
 260
 261 /* function called when cmd_rs_gains is parsed successfully */
 262 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 263 {
 264 #ifdef HOST_VERSION
 265         printf("not implemented\n");
 266 #else
 267         struct cmd_rs_gains_result * res = parsed_result;
 268
 269         if (!strcmp_P(res->arg1, PSTR("set"))) {
 270                 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 271                                         LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
 272                 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 273                                          RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
 274         }
 275         printf_P(PSTR("rs_gains set "));
 276         f64_print(mainboard.rs.left_ext_gain);
 277         printf_P(PSTR(" "));
 278         f64_print(mainboard.rs.right_ext_gain);
 279         printf_P(PSTR("\r\n"));
 280 #endif
 281 }
 282
 283 prog_char str_rs_gains_arg0[] = "rs_gains";
 284 parse_pgm_token_string_t cmd_rs_gains_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg0, str_rs_gains_arg0);
 285 prog_char str_rs_gains_arg1[] = "set";
 286 parse_pgm_token_string_t cmd_rs_gains_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_arg1);
 287 parse_pgm_token_num_t cmd_rs_gains_l = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, left, FLOAT);
 288 parse_pgm_token_num_t cmd_rs_gains_r = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, right, FLOAT);
 289
 290 prog_char help_rs_gains[] = "Set rs_gains (left, right)";
 291 parse_pgm_inst_t cmd_rs_gains = {
 292         .f = cmd_rs_gains_parsed,  /* function to call */
 293         .data = NULL,      /* 2nd arg of func */
 294         .help_str = help_rs_gains,
 295         .tokens = {        /* token list, NULL terminated */
 296                 (prog_void *)&cmd_rs_gains_arg0,
 297                 (prog_void *)&cmd_rs_gains_arg1,
 298                 (prog_void *)&cmd_rs_gains_l,
 299                 (prog_void *)&cmd_rs_gains_r,
 300                 NULL,
 301         },
 302 };
 303
 304 /* show */
 305
 306 prog_char str_rs_gains_show_arg[] = "show";
 307 parse_pgm_token_string_t cmd_rs_gains_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_show_arg);
 308
 309 prog_char help_rs_gains_show[] = "Show rs_gains";
 310 parse_pgm_inst_t cmd_rs_gains_show = {
 311         .f = cmd_rs_gains_parsed,  /* function to call */
 312         .data = NULL,      /* 2nd arg of func */
 313         .help_str = help_rs_gains_show,
 314         .tokens = {        /* token list, NULL terminated */
 315                 (prog_void *)&cmd_rs_gains_arg0,
 316                 (prog_void *)&cmd_rs_gains_show_arg,
 317                 NULL,
 318         },
 319 };
 320
 321 /**********************************************************/
 322 /* track configuration */
 323
 324 /* this structure is filled when cmd_track is parsed successfully */
 325 struct cmd_track_result {
 326         fixed_string_t arg0;
 327         fixed_string_t arg1;
 328         float val;
 329 };
 330
 331 /* function called when cmd_track is parsed successfully */
 332 static void cmd_track_parsed(void * parsed_result, void * data)
 333 {
 334         struct cmd_track_result * res = parsed_result;
 335
 336         if (!strcmp_P(res->arg1, PSTR("set"))) {
 337                 position_set_physical_params(&mainboard.pos, res->val, DIST_IMP_MM);
 338         }
 339         printf_P(PSTR("track set %f\r\n"), mainboard.pos.phys.track_mm);
 340 }
 341
 342 prog_char str_track_arg0[] = "track";
 343 parse_pgm_token_string_t cmd_track_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg0, str_track_arg0);
 344 prog_char str_track_arg1[] = "set";
 345 parse_pgm_token_string_t cmd_track_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_arg1);
 346 parse_pgm_token_num_t cmd_track_val = TOKEN_NUM_INITIALIZER(struct cmd_track_result, val, FLOAT);
 347
 348 prog_char help_track[] = "Set track in mm";
 349 parse_pgm_inst_t cmd_track = {
 350         .f = cmd_track_parsed,  /* function to call */
 351         .data = NULL,      /* 2nd arg of func */
 352         .help_str = help_track,
 353         .tokens = {        /* token list, NULL terminated */
 354                 (prog_void *)&cmd_track_arg0,
 355                 (prog_void *)&cmd_track_arg1,
 356                 (prog_void *)&cmd_track_val,
 357                 NULL,
 358         },
 359 };
 360
 361 /* show */
 362
 363 prog_char str_track_show_arg[] = "show";
 364 parse_pgm_token_string_t cmd_track_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_show_arg);
 365
 366 prog_char help_track_show[] = "Show track";
 367 parse_pgm_inst_t cmd_track_show = {
 368         .f = cmd_track_parsed,  /* function to call */
 369         .data = NULL,      /* 2nd arg of func */
 370         .help_str = help_track_show,
 371         .tokens = {        /* token list, NULL terminated */
 372                 (prog_void *)&cmd_track_arg0,
 373                 (prog_void *)&cmd_track_show_arg,
 374                 NULL,
 375         },
 376 };
 377
 378
 379
 380 /**********************************************************/
 381 /* Pt_Lists for testing traj */
 382
 383 #define PT_LIST_SIZE 10
 384 static struct xy_point pt_list[PT_LIST_SIZE];
 385 static uint16_t pt_list_len = 0;
 386
 387 /* this structure is filled when cmd_pt_list is parsed successfully */
 388 struct cmd_pt_list_result {
 389         fixed_string_t arg0;
 390         fixed_string_t arg1;
 391         uint16_t arg2;
 392         int16_t arg3;
 393         int16_t arg4;
 394 };
 395
 396 /* function called when cmd_pt_list is parsed successfully */
 397 static void cmd_pt_list_parsed(void * parsed_result, void * data)
 398 {
 399         struct cmd_pt_list_result * res = parsed_result;
 400         uint8_t i, why=0;
 401
 402         if (!strcmp_P(res->arg1, PSTR("append"))) {
 403                 res->arg2 = pt_list_len;
 404         }
 405
 406         if (!strcmp_P(res->arg1, PSTR("insert")) ||
 407             !strcmp_P(res->arg1, PSTR("append"))) {
 408                 if (res->arg2 > pt_list_len) {
 409                         printf_P(PSTR("Index too large\r\n"));
 410                         return;
 411                 }
 412                 if (pt_list_len >= PT_LIST_SIZE) {
 413                         printf_P(PSTR("List is too large\r\n"));
 414                         return;
 415                 }
 416                 memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
 417                        PT_LIST_SIZE-1-res->arg2);
 418                 pt_list[res->arg2].x = res->arg3;
 419                 pt_list[res->arg2].y = res->arg4;
 420                 pt_list_len++;
 421         }
 422         else if (!strcmp_P(res->arg1, PSTR("del"))) {
 423                 if (pt_list_len <= 0) {
 424                         printf_P(PSTR("Error: list empty\r\n"));
 425                         return;
 426                 }
 427                 if (res->arg2 > pt_list_len) {
 428                         printf_P(PSTR("Index too large\r\n"));
 429                         return;
 430                 }
 431                 memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
 432                        (PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
 433                 pt_list_len--;
 434         }
 435         else if (!strcmp_P(res->arg1, PSTR("reset"))) {
 436                 pt_list_len = 0;
 437         }
 438
 439         /* else it is a "show" or a "start" */
 440         if (pt_list_len == 0) {
 441                 printf_P(PSTR("List empty\r\n"));
 442                 return;
 443         }
 444         for (i=0 ; i<pt_list_len ; i++) {
 445                 printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
 446                 if (!strcmp_P(res->arg1, PSTR("start"))) {
 447                         trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
 448                         why = wait_traj_end(0xFF); /* all */
 449                 }
 450                 else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
 451                         while (1) {
 452                                 why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
 453                                 printf("next point\r\n");
 454                                 if (why != END_OBSTACLE)
 455                                         break;
 456                         }
 457                 }
 458                 if (why & (~(END_TRAJ | END_NEAR)))
 459                         trajectory_stop(&mainboard.traj);
 460         }
 461 }
 462
 463 prog_char str_pt_list_arg0[] = "pt_list";
 464 parse_pgm_token_string_t cmd_pt_list_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg0, str_pt_list_arg0);
 465 prog_char str_pt_list_arg1[] = "insert";
 466 parse_pgm_token_string_t cmd_pt_list_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1);
 467 parse_pgm_token_num_t cmd_pt_list_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg2, UINT16);
 468 parse_pgm_token_num_t cmd_pt_list_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg3, INT16);
 469 parse_pgm_token_num_t cmd_pt_list_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg4, INT16);
 470
 471 prog_char help_pt_list[] = "Insert point in pt_list (idx,x,y)";
 472 parse_pgm_inst_t cmd_pt_list = {
 473         .f = cmd_pt_list_parsed,  /* function to call */
 474         .data = NULL,      /* 2nd arg of func */
 475         .help_str = help_pt_list,
 476         .tokens = {        /* token list, NULL terminated */
 477                 (prog_void *)&cmd_pt_list_arg0,
 478                 (prog_void *)&cmd_pt_list_arg1,
 479                 (prog_void *)&cmd_pt_list_arg2,
 480                 (prog_void *)&cmd_pt_list_arg3,
 481                 (prog_void *)&cmd_pt_list_arg4,
 482                 NULL,
 483         },
 484 };
 485
 486 /* append */
 487
 488 prog_char str_pt_list_arg1_append[] = "append";
 489 parse_pgm_token_string_t cmd_pt_list_arg1_append = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1_append);
 490
 491 prog_char help_pt_list_append[] = "Append point in pt_list (x,y)";
 492 parse_pgm_inst_t cmd_pt_list_append = {
 493         .f = cmd_pt_list_parsed,  /* function to call */
 494         .data = NULL,      /* 2nd arg of func */
 495         .help_str = help_pt_list_append,
 496         .tokens = {        /* token list, NULL terminated */
 497                 (prog_void *)&cmd_pt_list_arg0,
 498                 (prog_void *)&cmd_pt_list_arg1_append,
 499                 (prog_void *)&cmd_pt_list_arg3,
 500                 (prog_void *)&cmd_pt_list_arg4,
 501                 NULL,
 502         },
 503 };
 504
 505 /* del */
 506
 507 prog_char str_pt_list_del_arg[] = "del";
 508 parse_pgm_token_string_t cmd_pt_list_del_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_del_arg);
 509
 510 prog_char help_pt_list_del[] = "Del or insert point in pt_list (num)";
 511 parse_pgm_inst_t cmd_pt_list_del = {
 512         .f = cmd_pt_list_parsed,  /* function to call */
 513         .data = NULL,      /* 2nd arg of func */
 514         .help_str = help_pt_list_del,
 515         .tokens = {        /* token list, NULL terminated */
 516                 (prog_void *)&cmd_pt_list_arg0,
 517                 (prog_void *)&cmd_pt_list_del_arg,
 518                 (prog_void *)&cmd_pt_list_arg2,
 519                 NULL,
 520         },
 521 };
 522 /* show */
 523
 524 prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
 525 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
 526
 527 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
 528 parse_pgm_inst_t cmd_pt_list_show = {
 529         .f = cmd_pt_list_parsed,  /* function to call */
 530         .data = NULL,      /* 2nd arg of func */
 531         .help_str = help_pt_list_show,
 532         .tokens = {        /* token list, NULL terminated */
 533                 (prog_void *)&cmd_pt_list_arg0,
 534                 (prog_void *)&cmd_pt_list_show_arg,
 535                 NULL,
 536         },
 537 };
 538
 539
 540
 541 /**********************************************************/
 542 /* Goto function */
 543
 544 /* this structure is filled when cmd_goto is parsed successfully */
 545 struct cmd_goto_result {
 546         fixed_string_t arg0;
 547         fixed_string_t arg1;
 548         int32_t arg2;
 549         int32_t arg3;
 550         int32_t arg4;
 551 };
 552
 553 /* function called when cmd_goto is parsed successfully */
 554 static void cmd_goto_parsed(void * parsed_result, void * data)
 555 {
 556         struct cmd_goto_result * res = parsed_result;
 557         uint8_t err;
 558         microseconds t1, t2;
 559
 560         interrupt_traj_reset();
 561         if (!strcmp_P(res->arg1, PSTR("a_rel"))) {
 562                 trajectory_a_rel(&mainboard.traj, res->arg2);
 563         }
 564         else if (!strcmp_P(res->arg1, PSTR("d_rel"))) {
 565                 trajectory_d_rel(&mainboard.traj, res->arg2);
 566         }
 567         else if (!strcmp_P(res->arg1, PSTR("a_abs"))) {
 568                 trajectory_a_abs(&mainboard.traj, res->arg2);
 569         }
 570         else if (!strcmp_P(res->arg1, PSTR("a_to_xy"))) {
 571                 trajectory_turnto_xy(&mainboard.traj, res->arg2, res->arg3);
 572         }
 573         else if (!strcmp_P(res->arg1, PSTR("a_behind_xy"))) {
 574                 trajectory_turnto_xy_behind(&mainboard.traj, res->arg2, res->arg3);
 575         }
 576         else if (!strcmp_P(res->arg1, PSTR("xy_rel"))) {
 577                 trajectory_goto_xy_rel(&mainboard.traj, res->arg2, res->arg3);
 578         }
 579         else if (!strcmp_P(res->arg1, PSTR("xy_abs"))) {
 580                 trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
 581         }
 582         else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
 583                 err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
 584                 if (err != END_TRAJ && err != END_NEAR)
 585                         strat_hardstop();
 586         }
 587         else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
 588                 err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
 589                 if (err != END_TRAJ && err != END_NEAR)
 590                         strat_hardstop();
 591         }
 592         else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
 593                 trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
 594         }
 595         else if (!strcmp_P(res->arg1, PSTR("xy_abs_back"))) {
 596                 trajectory_goto_backward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
 597         }
 598         else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
 599                 trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
 600         }
 601         t1 = time_get_us2();
 602         while ((err = test_traj_end(0xFF)) == 0) {
 603                 t2 = time_get_us2();
 604                 if (t2 - t1 > 200000) {
 605                         dump_cs_debug("angle", &mainboard.angle.cs);
 606                         dump_cs_debug("distance", &mainboard.distance.cs);
 607                         t1 = t2;
 608                 }
 609         }
 610         if (err != END_TRAJ && err != END_NEAR)
 611                 strat_hardstop();
 612         printf_P(PSTR("returned %s\r\n"), get_err(err));
 613 }
 614
 615 prog_char str_goto_arg0[] = "goto";
 616 parse_pgm_token_string_t cmd_goto_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg0, str_goto_arg0);
 617 prog_char str_goto_arg1_a[] = "d_rel#a_rel#a_abs";
 618 parse_pgm_token_string_t cmd_goto_arg1_a = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_a);
 619 parse_pgm_token_num_t cmd_goto_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg2, INT32);
 620
 621 /* 1 params */
 622 prog_char help_goto1[] = "Change orientation of the mainboard";
 623 parse_pgm_inst_t cmd_goto1 = {
 624         .f = cmd_goto_parsed,  /* function to call */
 625         .data = NULL,      /* 2nd arg of func */
 626         .help_str = help_goto1,
 627         .tokens = {        /* token list, NULL terminated */
 628                 (prog_void *)&cmd_goto_arg0,
 629                 (prog_void *)&cmd_goto_arg1_a,
 630                 (prog_void *)&cmd_goto_arg2,
 631                 NULL,
 632         },
 633 };
 634
 635 prog_char str_goto_arg1_b[] = "xy_rel#xy_abs#xy_abs_fow#xy_abs_back#da_rel#a_to_xy#avoid#avoid_bw#a_behind_xy";
 636 parse_pgm_token_string_t cmd_goto_arg1_b = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_b);
 637 parse_pgm_token_num_t cmd_goto_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg3, INT32);
 638
 639 /* 2 params */
 640 prog_char help_goto2[] = "Go to a (x,y) or (d,a) position";
 641 parse_pgm_inst_t cmd_goto2 = {
 642         .f = cmd_goto_parsed,  /* function to call */
 643         .data = NULL,      /* 2nd arg of func */
 644         .help_str = help_goto2,
 645         .tokens = {        /* token list, NULL terminated */
 646                 (prog_void *)&cmd_goto_arg0,
 647                 (prog_void *)&cmd_goto_arg1_b,
 648                 (prog_void *)&cmd_goto_arg2,
 649                 (prog_void *)&cmd_goto_arg3,
 650                 NULL,
 651         },
 652 };
 653
 654 /**********************************************************/
 655 /* Position tests */
 656
 657 /* this structure is filled when cmd_position is parsed successfully */
 658 struct cmd_position_result {
 659         fixed_string_t arg0;
 660         fixed_string_t arg1;
 661         int32_t arg2;
 662         int32_t arg3;
 663         int32_t arg4;
 664 };
 665
 666 #define AUTOPOS_SPEED_FAST 200
 667 static void auto_position(void)
 668 {
 669         uint8_t err;
 670         uint16_t old_spdd, old_spda;
 671
 672         interrupt_traj_reset();
 673         strat_get_speed(&old_spdd, &old_spda);
 674         strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 675
 676         trajectory_d_rel(&mainboard.traj, -300);
 677         err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
 678         if (err == END_INTR)
 679                 goto intr;
 680         wait_ms(100);
 681         strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
 682
 683         trajectory_d_rel(&mainboard.traj, 120);
 684         err = wait_traj_end(END_INTR|END_TRAJ);
 685         if (err == END_INTR)
 686                 goto intr;
 687
 688         trajectory_a_rel(&mainboard.traj, COLOR_A(90));
 689         err = wait_traj_end(END_INTR|END_TRAJ);
 690         if (err == END_INTR)
 691                 goto intr;
 692
 693         trajectory_d_rel(&mainboard.traj, -300);
 694         err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
 695         if (err == END_INTR)
 696                 goto intr;
 697         wait_ms(100);
 698         strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
 699                         COLOR_A(90));
 700
 701         trajectory_d_rel(&mainboard.traj, 120);
 702         err = wait_traj_end(END_INTR|END_TRAJ);
 703         if (err == END_INTR)
 704                 goto intr;
 705         wait_ms(100);
 706
 707         trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
 708         err = wait_traj_end(END_INTR|END_TRAJ);
 709         if (err == END_INTR)
 710                 goto intr;
 711         wait_ms(100);
 712
 713         strat_set_speed(old_spdd, old_spda);
 714         return;
 715
 716 intr:
 717         strat_hardstop();
 718         strat_set_speed(old_spdd, old_spda);
 719 }
 720
 721 /* function called when cmd_position is parsed successfully */
 722 static void cmd_position_parsed(void * parsed_result, void * data)
 723 {
 724         struct cmd_position_result * res = parsed_result;
 725
 726         /* display raw position values */
 727         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 728                 position_set(&mainboard.pos, 0, 0, 0);
 729         }
 730         else if (!strcmp_P(res->arg1, PSTR("set"))) {
 731                 position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
 732         }
 733         else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
 734                 mainboard.our_color = I2C_COLOR_GREEN;
 735 #ifndef HOST_VERSION
 736                 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
 737                 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
 738 #endif
 739                 auto_position();
 740         }
 741         else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
 742                 mainboard.our_color = I2C_COLOR_RED;
 743 #ifndef HOST_VERSION
 744                 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
 745                 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
 746 #endif
 747                 auto_position();
 748         }
 749
 750         /* else it's just a "show" */
 751         printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
 752                  position_get_x_double(&mainboard.pos),
 753                  position_get_y_double(&mainboard.pos),
 754                  DEG(position_get_a_rad_double(&mainboard.pos)));
 755 }
 756
 757 prog_char str_position_arg0[] = "position";
 758 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
 759 prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
 760 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
 761
 762 prog_char help_position[] = "Show/reset (x,y,a) position";
 763 parse_pgm_inst_t cmd_position = {
 764         .f = cmd_position_parsed,  /* function to call */
 765         .data = NULL,      /* 2nd arg of func */
 766         .help_str = help_position,
 767         .tokens = {        /* token list, NULL terminated */
 768                 (prog_void *)&cmd_position_arg0,
 769                 (prog_void *)&cmd_position_arg1,
 770                 NULL,
 771         },
 772 };
 773
 774
 775 prog_char str_position_arg1_set[] = "set";
 776 parse_pgm_token_string_t cmd_position_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1_set);
 777 parse_pgm_token_num_t cmd_position_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg2, INT32);
 778 parse_pgm_token_num_t cmd_position_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg3, INT32);
 779 parse_pgm_token_num_t cmd_position_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg4, INT32);
 780
 781 prog_char help_position_set[] = "Set (x,y,a) position";
 782 parse_pgm_inst_t cmd_position_set = {
 783         .f = cmd_position_parsed,  /* function to call */
 784         .data = NULL,      /* 2nd arg of func */
 785         .help_str = help_position_set,
 786         .tokens = {        /* token list, NULL terminated */
 787                 (prog_void *)&cmd_position_arg0,
 788                 (prog_void *)&cmd_position_arg1_set,
 789                 (prog_void *)&cmd_position_arg2,
 790                 (prog_void *)&cmd_position_arg3,
 791                 (prog_void *)&cmd_position_arg4,
 792                 NULL,
 793         },
 794 };
 795
 796
 797 /**********************************************************/
 798 /* strat configuration */
 799
 800 /* this structure is filled when cmd_strat_infos is parsed successfully */
 801 struct cmd_strat_infos_result {
 802         fixed_string_t arg0;
 803         fixed_string_t arg1;
 804 };
 805
 806 /* function called when cmd_strat_infos is parsed successfully */
 807 static void cmd_strat_infos_parsed(void *parsed_result, void *data)
 808 {
 809         struct cmd_strat_infos_result *res = parsed_result;
 810
 811         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 812                 strat_reset_infos();
 813         }
 814         strat_infos.dump_enabled = 1;
 815         strat_dump_infos(__FUNCTION__);
 816 }
 817
 818 prog_char str_strat_infos_arg0[] = "strat_infos";
 819 parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
 820 prog_char str_strat_infos_arg1[] = "show#reset";
 821 parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
 822
 823 prog_char help_strat_infos[] = "reset/show strat_infos";
 824 parse_pgm_inst_t cmd_strat_infos = {
 825         .f = cmd_strat_infos_parsed,  /* function to call */
 826         .data = NULL,      /* 2nd arg of func */
 827         .help_str = help_strat_infos,
 828         .tokens = {        /* token list, NULL terminated */
 829                 (prog_void *)&cmd_strat_infos_arg0,
 830                 (prog_void *)&cmd_strat_infos_arg1,
 831                 NULL,
 832         },
 833 };
 834
 835 /**********************************************************/
 836 /* strat configuration */
 837
 838 /* this structure is filled when cmd_strat_conf is parsed successfully */
 839 struct cmd_strat_conf_result {
 840         fixed_string_t arg0;
 841         fixed_string_t arg1;
 842 };
 843
 844 /* function called when cmd_strat_conf is parsed successfully */
 845 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 846 {
 847         struct cmd_strat_conf_result *res = parsed_result;
 848
 849         if (!strcmp_P(res->arg1, PSTR("base"))) {
 850                 strat_infos.conf.flags = 0;
 851                 strat_infos.conf.scan_our_min_time = 90;
 852                 strat_infos.conf.delay_between_our_scan = 90;
 853                 strat_infos.conf.scan_opp_min_time = 90;
 854                 strat_infos.conf.delay_between_opp_scan = 90;
 855         }
 856         else if (!strcmp_P(res->arg1, PSTR("big3"))) {
 857                 strat_infos.conf.flags =
 858                         STRAT_CONF_STORE_STATIC2 |
 859                         STRAT_CONF_BIG_3_TEMPLE;
 860                 strat_infos.conf.scan_our_min_time = 90;
 861                 strat_infos.conf.delay_between_our_scan = 90;
 862                 strat_infos.conf.scan_opp_min_time = 90;
 863                 strat_infos.conf.delay_between_opp_scan = 90;
 864         }
 865         else if (!strcmp_P(res->arg1, PSTR("base_check"))) {
 866                 strat_infos.conf.flags = 0;
 867                 strat_infos.conf.scan_our_min_time = 35;
 868                 strat_infos.conf.delay_between_our_scan = 90;
 869                 strat_infos.conf.scan_opp_min_time = 90;
 870                 strat_infos.conf.delay_between_opp_scan = 90;
 871         }
 872         else if (!strcmp_P(res->arg1, PSTR("big3_check"))) {
 873                 strat_infos.conf.flags =
 874                         STRAT_CONF_STORE_STATIC2 |
 875                         STRAT_CONF_BIG_3_TEMPLE;
 876                 strat_infos.conf.scan_our_min_time = 35;
 877                 strat_infos.conf.delay_between_our_scan = 90;
 878                 strat_infos.conf.scan_opp_min_time = 90;
 879                 strat_infos.conf.delay_between_opp_scan = 90;
 880         }
 881         else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) {
 882                 strat_infos.conf.flags =
 883                         STRAT_CONF_TAKE_ONE_LINTEL |
 884                         STRAT_CONF_STORE_STATIC2 |
 885                         STRAT_CONF_EARLY_SCAN |
 886                         STRAT_CONF_PUSH_OPP_COLS;
 887                 strat_infos.conf.scan_our_min_time = 50;
 888                 strat_infos.conf.delay_between_our_scan = 90;
 889                 strat_infos.conf.scan_opp_min_time = 15;
 890                 strat_infos.conf.delay_between_opp_scan = 90;
 891                 strat_infos.conf.wait_opponent = 5;
 892         }
 893         else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) {
 894                 strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL;
 895                 strat_infos.conf.scan_our_min_time = 90;
 896                 strat_infos.conf.delay_between_our_scan = 90;
 897                 strat_infos.conf.scan_opp_min_time = 30;
 898                 strat_infos.conf.delay_between_opp_scan = 90;
 899         }
 900         else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) {
 901                 strat_infos.conf.flags =
 902                         STRAT_CONF_ONLY_ONE_ON_DISC;
 903                 strat_infos.conf.scan_our_min_time = 90;
 904                 strat_infos.conf.delay_between_our_scan = 90;
 905                 strat_infos.conf.scan_opp_min_time = 90;
 906                 strat_infos.conf.delay_between_opp_scan = 90;
 907         }
 908         strat_infos.dump_enabled = 1;
 909         strat_dump_conf();
 910 }
 911
 912 prog_char str_strat_conf_arg0[] = "strat_conf";
 913 parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
 914 prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc";
 915 parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
 916
 917 prog_char help_strat_conf[] = "configure strat options";
 918 parse_pgm_inst_t cmd_strat_conf = {
 919         .f = cmd_strat_conf_parsed,  /* function to call */
 920         .data = NULL,      /* 2nd arg of func */
 921         .help_str = help_strat_conf,
 922         .tokens = {        /* token list, NULL terminated */
 923                 (prog_void *)&cmd_strat_conf_arg0,
 924                 (prog_void *)&cmd_strat_conf_arg1,
 925                 NULL,
 926         },
 927 };
 928
 929 /**********************************************************/
 930 /* strat configuration */
 931
 932 /* this structure is filled when cmd_strat_conf2 is parsed successfully */
 933 struct cmd_strat_conf2_result {
 934         fixed_string_t arg0;
 935         fixed_string_t arg1;
 936         fixed_string_t arg2;
 937 };
 938
 939 /* function called when cmd_strat_conf2 is parsed successfully */
 940 static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 941 {
 942         struct cmd_strat_conf2_result *res = parsed_result;
 943         uint8_t on, bit = 0;
 944
 945         if (!strcmp_P(res->arg2, PSTR("on")))
 946                 on = 1;
 947         else
 948                 on = 0;
 949
 950         if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
 951                 bit = STRAT_CONF_ONLY_ONE_ON_DISC;
 952         else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
 953                 bit = STRAT_CONF_BYPASS_STATIC2;
 954         else if (!strcmp_P(res->arg1, PSTR("take_one_lintel")))
 955                 bit = STRAT_CONF_TAKE_ONE_LINTEL;
 956         else if (!strcmp_P(res->arg1, PSTR("skip_when_check_fail")))
 957                 bit = STRAT_CONF_TAKE_ONE_LINTEL;
 958         else if (!strcmp_P(res->arg1, PSTR("store_static2")))
 959                 bit = STRAT_CONF_STORE_STATIC2;
 960         else if (!strcmp_P(res->arg1, PSTR("big3_temple")))
 961                 bit = STRAT_CONF_BIG_3_TEMPLE;
 962         else if (!strcmp_P(res->arg1, PSTR("early_opp_scan")))
 963                 bit = STRAT_CONF_EARLY_SCAN;
 964         else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
 965                 bit = STRAT_CONF_PUSH_OPP_COLS;
 966
 967         if (on)
 968                 strat_infos.conf.flags |= bit;
 969         else
 970                 strat_infos.conf.flags &= (~bit);
 971
 972         strat_infos.dump_enabled = 1;
 973         strat_dump_conf();
 974 }
 975
 976 prog_char str_strat_conf2_arg0[] = "strat_conf";
 977 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
 978 prog_char str_strat_conf2_arg1[] = "push_opp_cols#one_temple_on_disc#bypass_static2#take_one_lintel#skip_when_check_fail#store_static2#big3_temple#early_opp_scan";
 979 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
 980 prog_char str_strat_conf2_arg2[] = "on#off";
 981 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
 982
 983
 984 prog_char help_strat_conf2[] = "configure strat options";
 985 parse_pgm_inst_t cmd_strat_conf2 = {
 986         .f = cmd_strat_conf2_parsed,  /* function to call */
 987         .data = NULL,      /* 2nd arg of func */
 988         .help_str = help_strat_conf2,
 989         .tokens = {        /* token list, NULL terminated */
 990                 (prog_void *)&cmd_strat_conf2_arg0,
 991                 (prog_void *)&cmd_strat_conf2_arg1,
 992                 (prog_void *)&cmd_strat_conf2_arg2,
 993                 NULL,
 994         },
 995 };
 996
 997 /**********************************************************/
 998 /* strat configuration */
 999
1000 /* this structure is filled when cmd_strat_conf3 is parsed successfully */
1001 struct cmd_strat_conf3_result {
1002         fixed_string_t arg0;
1003         fixed_string_t arg1;
1004         uint8_t arg2;
1005 };
1006
1007 /* function called when cmd_strat_conf3 is parsed successfully */
1008 static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
1009 {
1010         struct cmd_strat_conf3_result *res = parsed_result;
1011
1012         if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
1013                 if (res->arg2 > 90)
1014                         res->arg2 = 90;
1015                 strat_infos.conf.scan_opp_min_time = res->arg2;
1016         }
1017         else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
1018                 if (res->arg2 > 90)
1019                         res->arg2 = 90;
1020                 strat_infos.conf.delay_between_opp_scan = res->arg2;
1021         }
1022         else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
1023                 if (res->arg2 > 90)
1024                         res->arg2 = 90;
1025                 strat_infos.conf.scan_our_min_time = res->arg2;
1026         }
1027         else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
1028                 if (res->arg2 > 90)
1029                         res->arg2 = 90;
1030                 strat_infos.conf.delay_between_our_scan = res->arg2;
1031         }
1032         else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
1033                 strat_infos.conf.wait_opponent = res->arg2;
1034         }
1035         else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
1036                 strat_infos.conf.lintel_min_time = res->arg2;
1037         }
1038         strat_infos.dump_enabled = 1;
1039         strat_dump_conf();
1040 }
1041
1042 prog_char str_strat_conf3_arg0[] = "strat_conf";
1043 parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
1044 prog_char str_strat_conf3_arg1[] = "lintel_min_time#scan_opponent_min_time#delay_between_opponent_scan#scan_our_min_time#delay_between_our_scan#wait_opponent";
1045 parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
1046 parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
1047
1048 prog_char help_strat_conf3[] = "configure strat options";
1049 parse_pgm_inst_t cmd_strat_conf3 = {
1050         .f = cmd_strat_conf3_parsed,  /* function to call */
1051         .data = NULL,      /* 2nd arg of func */
1052         .help_str = help_strat_conf3,
1053         .tokens = {        /* token list, NULL terminated */
1054                 (prog_void *)&cmd_strat_conf3_arg0,
1055                 (prog_void *)&cmd_strat_conf3_arg1,
1056                 (prog_void *)&cmd_strat_conf3_arg2,
1057                 NULL,
1058         },
1059 };
1060
1061 /**********************************************************/
1062 /* strat configuration */
1063
1064 /* this structure is filled when cmd_strat_conf4 is parsed successfully */
1065 struct cmd_strat_conf4_result {
1066         fixed_string_t arg0;
1067         fixed_string_t arg1;
1068         int16_t arg2;
1069 };
1070
1071 /* function called when cmd_strat_conf4 is parsed successfully */
1072 static void cmd_strat_conf4_parsed(void *parsed_result, void *data)
1073 {
1074         struct cmd_strat_conf4_result *res = parsed_result;
1075
1076         if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) {
1077                 strat_infos.conf.scan_opp_angle = res->arg2;
1078         }
1079         strat_infos.dump_enabled = 1;
1080         strat_dump_conf();
1081 }
1082
1083 prog_char str_strat_conf4_arg0[] = "strat_conf";
1084 parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0);
1085 prog_char str_strat_conf4_arg1[] = "scan_opponent_angle";
1086 parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1);
1087 parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16);
1088
1089 prog_char help_strat_conf4[] = "configure strat options";
1090 parse_pgm_inst_t cmd_strat_conf4 = {
1091         .f = cmd_strat_conf4_parsed,  /* function to call */
1092         .data = NULL,      /* 2nd arg of func */
1093         .help_str = help_strat_conf4,
1094         .tokens = {        /* token list, NULL terminated */
1095                 (prog_void *)&cmd_strat_conf4_arg0,
1096                 (prog_void *)&cmd_strat_conf4_arg1,
1097                 (prog_void *)&cmd_strat_conf4_arg2,
1098                 NULL,
1099         },
1100 };
1101
1102
1103 /**********************************************************/
1104 /* Subtraj */
1105
1106 /* this structure is filled when cmd_subtraj is parsed successfully */
1107 struct cmd_subtraj_result {
1108         fixed_string_t arg0;
1109         fixed_string_t arg1;
1110         int32_t arg2;
1111         int32_t arg3;
1112         int32_t arg4;
1113         int32_t arg5;
1114 };
1115
1116 /* function called when cmd_subtraj is parsed successfully */
1117 static void cmd_subtraj_parsed(void *parsed_result, void *data)
1118 {
1119 #ifdef HOST_VERSION
1120         printf("not implemented\n");
1121 #else
1122         struct cmd_subtraj_result *res = parsed_result;
1123         uint8_t err = 0;
1124         struct column_dispenser *disp;
1125
1126         if (strcmp_P(res->arg1, PSTR("static")) == 0) {
1127                 err = strat_static_columns(res->arg2);
1128         }
1129         else if (strcmp_P(res->arg1, PSTR("static2")) == 0) {
1130                 strat_infos.s_cols.configuration = res->arg2;
1131                 switch (res->arg2) {
1132                 case 1:
1133                         position_set(&mainboard.pos, 1398,
1134                                      COLOR_Y(1297), COLOR_A(-66));
1135                         break;
1136                 case 2:
1137                         position_set(&mainboard.pos, 1232,
1138                                      COLOR_Y(1051), COLOR_A(4));
1139                         break;
1140                 case 3:
1141                         position_set(&mainboard.pos, 1232,
1142                                      COLOR_Y(1043), COLOR_A(5));
1143                         break;
1144                 case 4:
1145                         position_set(&mainboard.pos, 1346,
1146                                      COLOR_Y(852), COLOR_A(57));
1147                         break;
1148                 default:
1149                         return;
1150                 }
1151                 if (res->arg2 == 1 && res->arg3 == 1) {
1152                         strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE;
1153                 }
1154                 if (res->arg2 == 1 && res->arg3 == 2) {
1155                         strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE;
1156                 }
1157                 err = strat_static_columns_pass2();
1158         }
1159         else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) {
1160                 err = strat_goto_lintel_disp(&strat_infos.l1);
1161         }
1162         else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) {
1163                 err = strat_goto_lintel_disp(&strat_infos.l2);
1164         }
1165         else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) {
1166                 disp = &strat_infos.c1;
1167                 err = strat_goto_col_disp(&disp);
1168         }
1169         else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) {
1170                 disp = &strat_infos.c2;
1171                 err = strat_goto_col_disp(&disp);
1172         }
1173         else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) {
1174                 disp = &strat_infos.c3;
1175                 err = strat_goto_col_disp(&disp);
1176         }
1177         else if (strcmp_P(res->arg1, PSTR("disc")) == 0) {
1178                 if (res->arg2 == 0) {
1179                         printf_P(PSTR("bad level\r\n"));
1180                         return;
1181                 }
1182                 err = strat_goto_disc(res->arg2);
1183         }
1184
1185         printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
1186         trajectory_hardstop(&mainboard.traj);
1187 #endif
1188 }
1189
1190 prog_char str_subtraj_arg0[] = "subtraj";
1191 parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
1192 prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2";
1193 parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
1194 parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
1195 parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
1196 parse_pgm_token_num_t cmd_subtraj_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg4, INT32);
1197 parse_pgm_token_num_t cmd_subtraj_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg5, INT32);
1198
1199 prog_char help_subtraj[] = "Test sub-trajectories (a,b,c,d: specific params)";
1200 parse_pgm_inst_t cmd_subtraj = {
1201         .f = cmd_subtraj_parsed,  /* function to call */
1202         .data = NULL,      /* 2nd arg of func */
1203         .help_str = help_subtraj,
1204         .tokens = {        /* token list, NULL terminated */
1205                 (prog_void *)&cmd_subtraj_arg0,
1206                 (prog_void *)&cmd_subtraj_arg1,
1207                 (prog_void *)&cmd_subtraj_arg2,
1208                 (prog_void *)&cmd_subtraj_arg3,
1209                 (prog_void *)&cmd_subtraj_arg4,
1210                 (prog_void *)&cmd_subtraj_arg5,
1211                 NULL,
1212         },
1213 };