/*
* 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
*
* 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>
#include <parse_num.h>
#include "main.h"
+#include "state.h"
#include "cmdline.h"
#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
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;
}
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")))
}
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);
.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,
},
};
static void cmd_color_parsed(void *parsed_result, void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("red"))) {
- ballboard.our_color = I2C_COLOR_RED;
+ if (!strcmp_P(res->color, PSTR("yellow"))) {
+ ballboard.our_color = I2C_COLOR_YELLOW;
}
- else if (!strcmp_P(res->color, PSTR("green"))) {
- ballboard.our_color = I2C_COLOR_GREEN;
+ else if (!strcmp_P(res->color, PSTR("blue"))) {
+ ballboard.our_color = I2C_COLOR_BLUE;
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "green#red";
+prog_char str_color_color[] = "blue#yellow";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our 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,
},
};
+/**********************************************************/
+/* State1 */
+
+/* this structure is filled when cmd_state1 is parsed successfully */
+struct cmd_state1_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_state1 is parsed successfully */
+static void cmd_state1_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_state1_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("init")))
+ state_init();
+ else if (!strcmp_P(res->arg1, PSTR("off")))
+ state_set_mode(I2C_BALLBOARD_MODE_OFF);
+ else if (!strcmp_P(res->arg1, PSTR("eject")))
+ state_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ else if (!strcmp_P(res->arg1, PSTR("harvest")))
+ state_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+
+ /* 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";
+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";
+parse_pgm_inst_t cmd_state1 = {
+ .f = cmd_state1_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_state1,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_state1_arg0,
+ (prog_void *)&cmd_state1_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* State2 */
+
+/* this structure is filled when cmd_state2 is parsed successfully */
+struct cmd_state2_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+/* function called when cmd_state2 is parsed successfully */
+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";
+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);
+
+prog_char help_state2[] = "set ballboard mode";
+parse_pgm_inst_t cmd_state2 = {
+ .f = cmd_state2_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_state2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_state2_arg0,
+ (prog_void *)&cmd_state2_arg1,
+ (prog_void *)&cmd_state2_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* State3 */
+
+/* this structure is filled when cmd_state3 is parsed successfully */
+struct cmd_state3_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t arg2;
+};
+
+/* function called when cmd_state3 is parsed successfully */
+static void cmd_state3_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_state3_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("xxx"))) {
+ /* xxx = res->arg2 */
+ }
+ else if (!strcmp_P(res->arg1, PSTR("yyy"))) {
+ }
+ state_set_mode(0);
+}
+
+prog_char str_state3_arg0[] = "ballboard";
+parse_pgm_token_string_t cmd_state3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg0, str_state3_arg0);
+prog_char str_state3_arg1[] = "xxx";
+parse_pgm_token_string_t cmd_state3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg1, str_state3_arg1);
+parse_pgm_token_num_t cmd_state3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_state3_result, arg2, UINT8);
+
+prog_char help_state3[] = "set ballboard mode";
+parse_pgm_inst_t cmd_state3 = {
+ .f = cmd_state3_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* State_Machine */
+
+/* this structure is filled when cmd_state_machine is parsed successfully */
+struct cmd_state_machine_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_state_machine is parsed successfully */
+static void cmd_state_machine_parsed(__attribute__((unused)) void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ state_machine();
+}
+
+prog_char str_state_machine_arg0[] = "state_machine";
+parse_pgm_token_string_t cmd_state_machine_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_machine_result, arg0, str_state_machine_arg0);
+
+prog_char help_state_machine[] = "launch state machine";
+parse_pgm_inst_t cmd_state_machine = {
+ .f = cmd_state_machine_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_state_machine,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_state_machine_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* State_Debug */
+
+/* this structure is filled when cmd_state_debug is parsed successfully */
+struct cmd_state_debug_result {
+ fixed_string_t arg0;
+ uint8_t on;
+};
+
+/* function called when cmd_state_debug is parsed successfully */
+static void cmd_state_debug_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_state_debug_result *res = parsed_result;
+ state_debug = res->on;
+}
+
+prog_char str_state_debug_arg0[] = "state_debug";
+parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0);
+parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8);
+
+prog_char help_state_debug[] = "Set debug for state machine";
+parse_pgm_inst_t cmd_state_debug = {
+ .f = cmd_state_debug_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Fork */
+
+/* this structure is filled when cmd_fork is parsed successfully */
+struct cmd_fork_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_fork is parsed successfully */
+static void cmd_fork_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_fork_result *res = parsed_result;
+ if (!strcmp_P(res->arg1, PSTR("deploy")))
+ 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();
+}
+
+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";
+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";
+parse_pgm_inst_t cmd_fork = {
+ .f = cmd_fork_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Roller */
+
+/* this structure is filled when cmd_roller is parsed successfully */
+struct cmd_roller_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_roller is parsed successfully */
+static void cmd_roller_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_roller_result *res = parsed_result;
+ if (!strcmp_P(res->arg1, PSTR("on")))
+ roller_on();
+ else if (!strcmp_P(res->arg1, PSTR("off")))
+ roller_off();
+ else if (!strcmp_P(res->arg1, PSTR("reverse")))
+ roller_reverse();
+}
+
+prog_char str_roller_arg0[] = "roller";
+parse_pgm_token_string_t cmd_roller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg0, str_roller_arg0);
+prog_char str_roller_arg1[] = "on#off#reverse";
+parse_pgm_token_string_t cmd_roller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg1, str_roller_arg1);
+
+prog_char help_roller[] = "Servo door function";
+parse_pgm_inst_t cmd_roller = {
+ .f = cmd_roller_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
/**********************************************************/
/* Test */
static void cmd_test_parsed(void *parsed_result, void *data)
{
//struct cmd_test_result *res = parsed_result;
-
}
prog_char str_test_arg0[] = "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,
},
};
git.droids-corp.org / aversive.git / blobdiff