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oranges and enhance strats
[aversive.git] / projects / microb2010 / ballboard / commands_ballboard.c
diff --git a/projects/microb2010/ballboard/commands_ballboard.c b/projects/microb2010/ballboard/commands_ballboard.c
index fd45914..70ae084 100644 (file)
--- a/projects/microb2010/ballboard/commands_ballboard.c
+++ b/projects/microb2010/ballboard/commands_ballboard.c
@@ -1,6 +1,6 @@
 /*
  *  Copyright Droids Corporation (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -17,7 +17,7 @@
  *
  *  Revision : $Id: commands_ballboard.c,v 1.2 2009-04-24 19:30:42 zer0 Exp $
  *
- *  Olivier MATZ <zer0@droids-corp.org> 
+ *  Olivier MATZ <zer0@droids-corp.org>
  */
 
 #include <stdio.h>
@@ -63,22 +63,24 @@ static void cmd_event_parsed(void *parsed_result, void *data)
        u08 bit=0;
 
        struct cmd_event_result * res = parsed_result;
-       
+
        if (!strcmp_P(res->arg1, PSTR("all"))) {
-               bit = DO_ENCODERS | DO_CS | DO_BD | DO_POWER;
+               bit = 0xFF;
                if (!strcmp_P(res->arg2, PSTR("on")))
                        ballboard.flags |= bit;
                else if (!strcmp_P(res->arg2, PSTR("off")))
                        ballboard.flags &= bit;
                else { /* show */
-                       printf_P(PSTR("encoders is %s\r\n"), 
+                       printf_P(PSTR("encoders is %s\r\n"),
                                 (DO_ENCODERS & ballboard.flags) ? "on":"off");
-                       printf_P(PSTR("cs is %s\r\n"), 
+                       printf_P(PSTR("cs is %s\r\n"),
                                 (DO_CS & ballboard.flags) ? "on":"off");
-                       printf_P(PSTR("bd is %s\r\n"), 
+                       printf_P(PSTR("bd is %s\r\n"),
                                 (DO_BD & ballboard.flags) ? "on":"off");
-                       printf_P(PSTR("power is %s\r\n"), 
+                       printf_P(PSTR("power is %s\r\n"),
                                 (DO_POWER & ballboard.flags) ? "on":"off");
+                       printf_P(PSTR("errblock is %s\r\n"),
+                                (DO_ERRBLOCKING & ballboard.flags) ? "on":"off");
                }
                return;
        }
@@ -92,6 +94,8 @@ static void cmd_event_parsed(void *parsed_result, void *data)
                bit = DO_BD;
        else if (!strcmp_P(res->arg1, PSTR("power")))
                bit = DO_POWER;
+       else if (!strcmp_P(res->arg1, PSTR("errblock")))
+               bit = DO_ERRBLOCKING;
 
 
        if (!strcmp_P(res->arg2, PSTR("on")))
@@ -104,13 +108,13 @@ static void cmd_event_parsed(void *parsed_result, void *data)
                }
                ballboard.flags &= (~bit);
        }
-       printf_P(PSTR("%s is %s\r\n"), res->arg1, 
+       printf_P(PSTR("%s is %s\r\n"), res->arg1,
                      (bit & ballboard.flags) ? "on":"off");
 }
 
 prog_char str_event_arg0[] = "event";
 parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
-prog_char str_event_arg1[] = "all#encoders#cs#bd#power";
+prog_char str_event_arg1[] = "all#encoders#cs#bd#power#errblock";
 parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
 prog_char str_event_arg2[] = "on#off#show";
 parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
@@ -121,9 +125,9 @@ parse_pgm_inst_t cmd_event = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_event,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_event_arg0, 
-               (prog_void *)&cmd_event_arg1, 
-               (prog_void *)&cmd_event_arg2, 
+               (prog_void *)&cmd_event_arg0,
+               (prog_void *)&cmd_event_arg1,
+               (prog_void *)&cmd_event_arg2,
                NULL,
        },
 };
@@ -161,8 +165,8 @@ parse_pgm_inst_t cmd_color = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_color,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_color_arg0, 
-               (prog_void *)&cmd_color_color, 
+               (prog_void *)&cmd_color_arg0,
+               (prog_void *)&cmd_color_color,
                NULL,
        },
 };
@@ -191,13 +195,17 @@ static void cmd_state1_parsed(void *parsed_result,
                state_set_mode(I2C_BALLBOARD_MODE_EJECT);
        else if (!strcmp_P(res->arg1, PSTR("harvest")))
                state_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+       else if (!strcmp_P(res->arg1, PSTR("prepare")))
+               state_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+       else if (!strcmp_P(res->arg1, PSTR("take")))
+               state_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 
        /* other commands */
 }
 
 prog_char str_state1_arg0[] = "ballboard";
 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
-prog_char str_state1_arg1[] = "init#eject#harvest#off";
+prog_char str_state1_arg1[] = "init#eject#harvest#off#prepare#take";
 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 
 prog_char help_state1[] = "set ballboard mode";
@@ -226,27 +234,11 @@ struct cmd_state2_result {
 static void cmd_state2_parsed(void *parsed_result,
                              __attribute__((unused)) void *data)
 {
-       struct cmd_state2_result *res = parsed_result;
-       uint8_t mode;
-
-       if (!strcmp_P(res->arg2, PSTR("left"))) {
-               if (!strcmp_P(res->arg1, PSTR("prepare")))
-                       mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
-               else if (!strcmp_P(res->arg1, PSTR("take")))
-                       mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
-       }
-       else {
-               if (!strcmp_P(res->arg1, PSTR("prepare")))
-                       mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
-               else if (!strcmp_P(res->arg1, PSTR("take")))
-                       mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
-       }
-       //state_set_mode(mode);
 }
 
 prog_char str_state2_arg0[] = "ballboard";
 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "prepare#take";
+prog_char str_state2_arg1[] = "xxx";
 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 prog_char str_state2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
@@ -275,7 +267,7 @@ struct cmd_state3_result {
 };
 
 /* function called when cmd_state3 is parsed successfully */
-static void cmd_state3_parsed(void *parsed_result, 
+static void cmd_state3_parsed(void *parsed_result,
                              __attribute__((unused)) void *data)
 {
        struct cmd_state3_result *res = parsed_result;
@@ -300,9 +292,9 @@ parse_pgm_inst_t cmd_state3 = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_state3,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_state3_arg0, 
-               (prog_void *)&cmd_state3_arg1, 
-               (prog_void *)&cmd_state3_arg2, 
+               (prog_void *)&cmd_state3_arg0,
+               (prog_void *)&cmd_state3_arg1,
+               (prog_void *)&cmd_state3_arg2,
                NULL,
        },
 };
@@ -331,7 +323,7 @@ parse_pgm_inst_t cmd_state_machine = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_state_machine,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_state_machine_arg0, 
+               (prog_void *)&cmd_state_machine_arg0,
                NULL,
        },
 };
@@ -363,8 +355,8 @@ parse_pgm_inst_t cmd_state_debug = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_state_debug,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_state_debug_arg0, 
-               (prog_void *)&cmd_state_debug_on, 
+               (prog_void *)&cmd_state_debug_arg0,
+               (prog_void *)&cmd_state_debug_on,
                NULL,
        },
 };
@@ -387,17 +379,13 @@ static void cmd_fork_parsed(void *parsed_result,
                fork_deploy();
        else if (!strcmp_P(res->arg1, PSTR("pack")))
                fork_pack();
-       else if (!strcmp_P(res->arg1, PSTR("left")))
-               fork_left();
-       else if (!strcmp_P(res->arg1, PSTR("right")))
-               fork_right();
        else if (!strcmp_P(res->arg1, PSTR("middle")))
-               fork_middle();
+               fork_mid();
 }
 
 prog_char str_fork_arg0[] = "fork";
 parse_pgm_token_string_t cmd_fork_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg0, str_fork_arg0);
-prog_char str_fork_arg1[] = "deploy#pack#left#right#middle";
+prog_char str_fork_arg1[] = "deploy#pack#middle";
 parse_pgm_token_string_t cmd_fork_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg1, str_fork_arg1);
 
 prog_char help_fork[] = "move fork";
@@ -406,8 +394,8 @@ parse_pgm_inst_t cmd_fork = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_fork,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_fork_arg0, 
-               (prog_void *)&cmd_fork_arg1, 
+               (prog_void *)&cmd_fork_arg0,
+               (prog_void *)&cmd_fork_arg1,
                NULL,
        },
 };
@@ -445,8 +433,8 @@ parse_pgm_inst_t cmd_roller = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_roller,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_roller_arg0, 
-               (prog_void *)&cmd_roller_arg1, 
+               (prog_void *)&cmd_roller_arg0,
+               (prog_void *)&cmd_roller_arg1,
                NULL,
        },
 };
@@ -474,7 +462,7 @@ parse_pgm_inst_t cmd_test = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_test,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_test_arg0, 
+               (prog_void *)&cmd_test_arg0,
                NULL,
        },
 };
Framework and libraries for AVR