/*
* 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_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>
#include "spickle.h"
#include "shovel.h"
-extern uint16_t state_debug;
-
struct cmd_event_result {
fixed_string_t arg0;
fixed_string_t arg1;
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")))
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;
}
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")))
}
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);
.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,
},
};
.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,
},
};
.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,
},
};
__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";
.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,
},
};
};
/* 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;
.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,
},
};
.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,
},
};
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 timer for state machine";
+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,
+ (prog_void *)&cmd_state_debug_arg0,
+ (prog_void *)&cmd_state_debug_on,
NULL,
},
};
servo_door_open();
else if (!strcmp_P(res->arg1, PSTR("closed")))
servo_door_close();
+ else if (!strcmp_P(res->arg1, PSTR("block")))
+ servo_door_close();
}
prog_char str_servo_door_arg0[] = "door";
parse_pgm_token_string_t cmd_servo_door_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg0, str_servo_door_arg0);
-prog_char str_servo_door_arg1[] = "open#closed";
+prog_char str_servo_door_arg1[] = "open#closed#block";
parse_pgm_token_string_t cmd_servo_door_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg1, str_servo_door_arg1);
prog_char help_servo_door[] = "Servo door function";
.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,
},
};
__attribute__((unused)) void *data)
{
struct cmd_cobroller_result *res = parsed_result;
+ uint8_t side;
- if (!strcmp_P(res->arg1, PSTR("left"))) {
- if (!strcmp_P(res->arg2, PSTR("on")))
- left_cobroller_on();
- else if (!strcmp_P(res->arg2, PSTR("off")))
- left_cobroller_off();
- }
- else if (!strcmp_P(res->arg1, PSTR("right"))) {
- if (!strcmp_P(res->arg2, PSTR("on")))
- right_cobroller_on();
- else if (!strcmp_P(res->arg2, PSTR("off")))
- right_cobroller_off();
- }
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ side = I2C_RIGHT_SIDE;
+
+ if (!strcmp_P(res->arg2, PSTR("on")))
+ cobroller_on(side);
+ else if (!strcmp_P(res->arg2, PSTR("off")))
+ cobroller_off(side);
}
prog_char str_cobroller_arg0[] = "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,
},
};
.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,
},
};
.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,
},
};
else if (!strcmp_P(res->arg2, PSTR("pack"))) {
spickle_pack(side);
}
+ else if (!strcmp_P(res->arg2, PSTR("mid"))) {
+ spickle_mid(side);
+ }
printf_P(PSTR("done\r\n"));
}
prog_char str_spickle_arg1[] = "left#right";
parse_pgm_token_string_t cmd_spickle_arg1 =
TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg1, str_spickle_arg1);
-prog_char str_spickle_arg2[] = "deploy#pack";
+prog_char str_spickle_arg2[] = "deploy#pack#mid";
parse_pgm_token_string_t cmd_spickle_arg2 =
TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg2, str_spickle_arg2);
.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,
},
};
fixed_string_t arg2;
int32_t arg3;
int32_t arg4;
+ int32_t arg5;
};
/* function called when cmd_spickle_params is parsed successfully */
side = I2C_RIGHT_SIDE;
if (!strcmp_P(res->arg2, PSTR("pos")))
- spickle_set_pos(side, res->arg3, res->arg4);
- else if (!strcmp_P(res->arg2, PSTR("delay")))
- spickle_set_delay(side, res->arg3, res->arg4);
+ spickle_set_pos(side, res->arg3, res->arg4, res->arg5);
}
prog_char str_spickle_params_arg0[] = "spickle_params";
prog_char str_spickle_params_arg1[] = "left#right";
parse_pgm_token_string_t cmd_spickle_params_arg1 =
TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1);
-prog_char str_spickle_params_arg2[] = "pos#delay";
+prog_char str_spickle_params_arg2[] = "pos";
parse_pgm_token_string_t cmd_spickle_params_arg2 =
TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg2, str_spickle_params_arg2);
parse_pgm_token_num_t cmd_spickle_params_arg3 =
TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg3, INT32);
parse_pgm_token_num_t cmd_spickle_params_arg4 =
TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg4, INT32);
+parse_pgm_token_num_t cmd_spickle_params_arg5 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg5, INT32);
-prog_char help_spickle_params[] = "Set spickle pos values";
+prog_char help_spickle_params[] = "Set spickle pos values: left|right pos INTPACK INTMID INTDEPL";
parse_pgm_inst_t cmd_spickle_params = {
.f = cmd_spickle_params_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
.help_str = help_spickle_params,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_spickle_params_arg0,
- (prog_void *)&cmd_spickle_params_arg1,
- (prog_void *)&cmd_spickle_params_arg2,
- (prog_void *)&cmd_spickle_params_arg3,
- (prog_void *)&cmd_spickle_params_arg4,
+ (prog_void *)&cmd_spickle_params_arg0,
+ (prog_void *)&cmd_spickle_params_arg1,
+ (prog_void *)&cmd_spickle_params_arg2,
+ (prog_void *)&cmd_spickle_params_arg3,
+ (prog_void *)&cmd_spickle_params_arg4,
+ (prog_void *)&cmd_spickle_params_arg5,
NULL,
},
};
.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,
},
};
__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);
}
.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,
},
};
.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,
},
};
.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