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[aversive.git] / projects / microb2010 / cobboard / commands_cobboard.c
diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index 4ea3b80..dbbdd79 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.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_cobboard.c,v 1.6 2009-11-08 17:25:00 zer0 Exp $
  *
- *  Olivier MATZ <zer0@droids-corp.org> 
+ *  Olivier MATZ <zer0@droids-corp.org>
  */
 
 #include <stdio.h>
@@ -68,20 +68,22 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void *
        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")))
                        cobboard.flags |= bit;
                else if (!strcmp_P(res->arg2, PSTR("off")))
                        cobboard.flags &= bit;
                else { /* show */
-                       printf_P(PSTR("encoders is %s\r\n"), 
+                       printf_P(PSTR("encoders is %s\r\n"),
                                 (DO_ENCODERS & cobboard.flags) ? "on":"off");
-                       printf_P(PSTR("cs is %s\r\n"), 
+                       printf_P(PSTR("cs is %s\r\n"),
                                 (DO_CS & cobboard.flags) ? "on":"off");
-                       printf_P(PSTR("bd is %s\r\n"), 
+                       printf_P(PSTR("bd is %s\r\n"),
                                 (DO_BD & cobboard.flags) ? "on":"off");
-                       printf_P(PSTR("power is %s\r\n"), 
+                       printf_P(PSTR("power is %s\r\n"),
                                 (DO_POWER & cobboard.flags) ? "on":"off");
+                       printf_P(PSTR("errblock is %s\r\n"),
+                                (DO_ERRBLOCKING & cobboard.flags) ? "on":"off");
                }
                return;
        }
@@ -95,6 +97,8 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void *
                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")))
@@ -107,13 +111,13 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void *
                }
                cobboard.flags &= (~bit);
        }
-       printf_P(PSTR("%s is %s\r\n"), res->arg1, 
+       printf_P(PSTR("%s is %s\r\n"), res->arg1,
                      (bit & cobboard.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);
@@ -124,9 +128,9 @@ 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,
        },
 };
@@ -164,8 +168,8 @@ 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,
        },
 };
@@ -204,8 +208,8 @@ parse_pgm_inst_t cmd_state1 = {
        .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, 
+               (prog_void *)&cmd_state1_arg0,
+               (prog_void *)&cmd_state1_arg1,
                NULL,
        },
 };
@@ -225,38 +229,26 @@ static void cmd_state2_parsed(void *parsed_result,
                              __attribute__((unused)) void *data)
 {
        struct cmd_state2_result *res = parsed_result;
-       uint8_t side, mode = state_get_mode();
+       uint8_t side;
 
-       if (!strcmp_P(res->arg2, PSTR("left"))) {
+       if (!strcmp_P(res->arg2, PSTR("left")))
                side = I2C_LEFT_SIDE;
-               mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
-       }
-       else {
+       else
                side = I2C_RIGHT_SIDE;
-               mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
-       }
 
        if (!strcmp_P(res->arg1, PSTR("pack"))) {
-               /* nothing to do */
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, 0);
        }
        else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
-               if (side == I2C_LEFT_SIDE)
-                       mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-               else
-                       mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
        }
        else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
-               if (side == I2C_LEFT_SIDE) {
-                       mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-                       mode |= I2C_COBBOARD_MODE_L_HARVEST;
-               }
-               else {
-                       mode |= I2C_COBBOARD_MODE_R_DEPLOY;
-                       mode |= I2C_COBBOARD_MODE_R_HARVEST;
-               }
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                 I2C_COBBOARD_SPK_AUTOHARVEST);
        }
-
-       state_set_mode(mode);
 }
 
 prog_char str_state2_arg0[] = "cobboard";
@@ -272,9 +264,9 @@ parse_pgm_inst_t cmd_state2 = {
        .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, 
+               (prog_void *)&cmd_state2_arg0,
+               (prog_void *)&cmd_state2_arg1,
+               (prog_void *)&cmd_state2_arg2,
                NULL,
        },
 };
@@ -290,7 +282,7 @@ 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;
@@ -315,9 +307,9 @@ 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,
        },
 };
@@ -346,7 +338,7 @@ 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,
        },
 };
@@ -378,8 +370,8 @@ 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,
        },
 };
@@ -417,8 +409,8 @@ parse_pgm_inst_t cmd_servo_door = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_servo_door,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_servo_door_arg0, 
-               (prog_void *)&cmd_servo_door_arg1, 
+               (prog_void *)&cmd_servo_door_arg0,
+               (prog_void *)&cmd_servo_door_arg1,
                NULL,
        },
 };
@@ -464,9 +456,9 @@ parse_pgm_inst_t cmd_cobroller = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_cobroller,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_cobroller_arg0, 
-               (prog_void *)&cmd_cobroller_arg1, 
-               (prog_void *)&cmd_cobroller_arg2, 
+               (prog_void *)&cmd_cobroller_arg0,
+               (prog_void *)&cmd_cobroller_arg1,
+               (prog_void *)&cmd_cobroller_arg2,
                NULL,
        },
 };
@@ -504,8 +496,8 @@ parse_pgm_inst_t cmd_shovel = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_shovel,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_shovel_arg0, 
-               (prog_void *)&cmd_shovel_arg1, 
+               (prog_void *)&cmd_shovel_arg0,
+               (prog_void *)&cmd_shovel_arg1,
                NULL,
        },
 };
@@ -541,8 +533,8 @@ parse_pgm_inst_t cmd_servo_carry = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_servo_carry,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_servo_carry_arg0, 
-               (prog_void *)&cmd_servo_carry_arg1, 
+               (prog_void *)&cmd_servo_carry_arg0,
+               (prog_void *)&cmd_servo_carry_arg1,
                NULL,
        },
 };
@@ -597,9 +589,9 @@ parse_pgm_inst_t cmd_spickle = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_spickle,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_spickle_arg0, 
-               (prog_void *)&cmd_spickle_arg1, 
-               (prog_void *)&cmd_spickle_arg2, 
+               (prog_void *)&cmd_spickle_arg0,
+               (prog_void *)&cmd_spickle_arg1,
+               (prog_void *)&cmd_spickle_arg2,
                NULL,
        },
 };
@@ -680,8 +672,8 @@ parse_pgm_inst_t cmd_spickle_params_show = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_spickle_params_show,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_spickle_params_arg0, 
-               (prog_void *)&cmd_spickle_params_arg1_show, 
+               (prog_void *)&cmd_spickle_params_arg0,
+               (prog_void *)&cmd_spickle_params_arg1_show,
                NULL,
        },
 };
@@ -702,7 +694,7 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
                                      __attribute__((unused)) void *data)
 {
        struct cmd_spickle_params2_result * res = parsed_result;
-       
+
        if (!strcmp_P(res->arg1, PSTR("coef"))) {
                spickle_set_coefs(res->arg2, res->arg3);
        }
@@ -728,10 +720,10 @@ parse_pgm_inst_t cmd_spickle_params2 = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_spickle_params2,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_spickle_params2_arg0, 
-               (prog_void *)&cmd_spickle_params2_arg1, 
-               (prog_void *)&cmd_spickle_params2_arg2, 
-               (prog_void *)&cmd_spickle_params2_arg3, 
+               (prog_void *)&cmd_spickle_params2_arg0,
+               (prog_void *)&cmd_spickle_params2_arg1,
+               (prog_void *)&cmd_spickle_params2_arg2,
+               (prog_void *)&cmd_spickle_params2_arg3,
                NULL,
        },
 };
@@ -746,8 +738,8 @@ parse_pgm_inst_t cmd_spickle_params2_show = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_spickle_params2_show,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_spickle_params2_arg0, 
-               (prog_void *)&cmd_spickle_params2_arg1_show, 
+               (prog_void *)&cmd_spickle_params2_arg0,
+               (prog_void *)&cmd_spickle_params2_arg1_show,
                NULL,
        },
 };
@@ -776,7 +768,7 @@ 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