#include "i2c_protocol.h"
#include "actuator.h"
#include "spickle.h"
+#include "shovel.h"
extern uint16_t state_debug;
static void cmd_color_parsed(void *parsed_result, __attribute__((unused)) void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("red"))) {
- cobboard.our_color = I2C_COLOR_RED;
+ if (!strcmp_P(res->color, PSTR("yellow"))) {
+ cobboard.our_color = I2C_COLOR_YELLOW;
}
- else if (!strcmp_P(res->color, PSTR("green"))) {
- cobboard.our_color = I2C_COLOR_GREEN;
+ else if (!strcmp_P(res->color, PSTR("blue"))) {
+ cobboard.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";
__attribute__((unused)) void *data)
{
struct cmd_state1_result *res = parsed_result;
- struct i2c_cmd_cobboard_set_mode command;
- if (!strcmp_P(res->arg1, PSTR("init"))) {
+ if (!strcmp_P(res->arg1, PSTR("init")))
state_init();
- return;
- }
+ else if (!strcmp_P(res->arg1, PSTR("eject")))
+ state_set_mode(I2C_COBBOARD_MODE_EJECT);
- if (!strcmp_P(res->arg1, PSTR("manual")))
- command.mode = I2C_COBBOARD_MODE_MANUAL;
- else if (!strcmp_P(res->arg1, PSTR("harvest")))
- command.mode = I2C_COBBOARD_MODE_HARVEST;
- state_set_mode(&command);
+ /* other commands */
}
prog_char str_state1_arg0[] = "cobboard";
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#manual";
+prog_char str_state1_arg1[] = "init#eject";
parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
prog_char help_state1[] = "set cobboard mode";
__attribute__((unused)) void *data)
{
struct cmd_state2_result *res = parsed_result;
- struct i2c_cmd_cobboard_set_mode command;
- uint8_t side;
+ uint8_t side, mode = state_get_mode();
- if (!strcmp_P(res->arg2, PSTR("left")))
+ if (!strcmp_P(res->arg2, PSTR("left"))) {
side = I2C_LEFT_SIDE;
- else if (!strcmp_P(res->arg2, PSTR("right")))
+ mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
+ }
+ else {
side = I2C_RIGHT_SIDE;
+ mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
+ }
- if (!strcmp_P(res->arg1, PSTR("yyy"))) {
+ if (!strcmp_P(res->arg1, PSTR("pack"))) {
+ /* nothing to do */
}
- else if (!strcmp_P(res->arg1, PSTR("xxx"))) {
+ 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;
+ }
+ 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(&command);
+ state_set_mode(mode);
}
prog_char str_state2_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "xxx";
+prog_char str_state2_arg1[] = "harvest#deploy#pack";
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);
__attribute__((unused)) void *data)
{
struct cmd_state3_result *res = parsed_result;
- struct i2c_cmd_cobboard_set_mode command;
if (!strcmp_P(res->arg1, PSTR("xxx"))) {
/* xxx = res->arg2 */
}
else if (!strcmp_P(res->arg1, PSTR("yyy"))) {
}
- state_set_mode(&command);
+ state_set_mode(0);
}
prog_char str_state3_arg0[] = "cobboard";
},
};
+/**********************************************************/
+/* cobroller */
+
+/* this structure is filled when cmd_cobroller is parsed successfully */
+struct cmd_cobroller_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+/* function called when cmd_cobroller is parsed successfully */
+static void cmd_cobroller_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_cobroller_result *res = parsed_result;
+
+ 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();
+ }
+}
+
+prog_char str_cobroller_arg0[] = "cobroller";
+parse_pgm_token_string_t cmd_cobroller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg0, str_cobroller_arg0);
+prog_char str_cobroller_arg1[] = "left#right";
+parse_pgm_token_string_t cmd_cobroller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg1, str_cobroller_arg1);
+prog_char str_cobroller_arg2[] = "on#off";
+parse_pgm_token_string_t cmd_cobroller_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg2, str_cobroller_arg2);
+
+prog_char help_cobroller[] = "Servo door function";
+parse_pgm_inst_t cmd_cobroller = {
+ .f = cmd_cobroller_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* shovel */
+
+/* this structure is filled when cmd_shovel is parsed successfully */
+struct cmd_shovel_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_shovel is parsed successfully */
+static void cmd_shovel_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_shovel_result *res = parsed_result;
+ if (!strcmp_P(res->arg1, PSTR("down")))
+ shovel_down();
+ else if (!strcmp_P(res->arg1, PSTR("up")))
+ shovel_up();
+ else if (!strcmp_P(res->arg1, PSTR("mid")))
+ shovel_mid();
+}
+
+prog_char str_shovel_arg0[] = "shovel";
+parse_pgm_token_string_t cmd_shovel_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_shovel_result, arg0, str_shovel_arg0);
+prog_char str_shovel_arg1[] = "down#up#mid";
+parse_pgm_token_string_t cmd_shovel_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_shovel_result, arg1, str_shovel_arg1);
+
+prog_char help_shovel[] = "Servo shovel function";
+parse_pgm_inst_t cmd_shovel = {
+ .f = cmd_shovel_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
/**********************************************************/
/* Servo_Carry */
};
/**********************************************************/
-/* Spickles tests */
+/* Spickle tests */
/* this structure is filled when cmd_spickle is parsed successfully */
struct cmd_spickle_result {
fixed_string_t arg0;
fixed_string_t arg1;
+ fixed_string_t arg2;
};
/* function called when cmd_spickle is parsed successfully */
__attribute__((unused)) void *data)
{
struct cmd_spickle_result * res = parsed_result;
-
- if (!strcmp_P(res->arg1, PSTR("up"))) {
- spickle_up();
- }
- else if (!strcmp_P(res->arg1, PSTR("down"))) {
- spickle_down();
- }
- else if (!strcmp_P(res->arg1, PSTR("stop"))) {
- spickle_stop();
+ uint8_t side;
+
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ side = I2C_RIGHT_SIDE;
+
+ if (!strcmp_P(res->arg2, PSTR("deploy"))) {
+ spickle_deploy(side);
}
- else if (!strcmp_P(res->arg1, PSTR("auto"))) {
- spickle_auto();
+ else if (!strcmp_P(res->arg2, PSTR("pack"))) {
+ spickle_pack(side);
}
-
printf_P(PSTR("done\r\n"));
}
prog_char str_spickle_arg0[] = "spickle";
-parse_pgm_token_string_t cmd_spickle_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg0, str_spickle_arg0);
-prog_char str_spickle_arg1[] = "auto#up#down#stop";
-parse_pgm_token_string_t cmd_spickle_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg1, str_spickle_arg1);
-
-prog_char help_spickle[] = "spickle auto mode: spickle auto delay_up delay_down";
+parse_pgm_token_string_t cmd_spickle_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg0, str_spickle_arg0);
+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";
+parse_pgm_token_string_t cmd_spickle_arg2 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg2, str_spickle_arg2);
+
+prog_char help_spickle[] = "move spickle";
parse_pgm_inst_t cmd_spickle = {
.f = cmd_spickle_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
.tokens = { /* token list, NULL terminated */
(prog_void *)&cmd_spickle_arg0,
(prog_void *)&cmd_spickle_arg1,
+ (prog_void *)&cmd_spickle_arg2,
NULL,
},
};
struct cmd_spickle_params_result {
fixed_string_t arg0;
fixed_string_t arg1;
- int32_t arg2;
+ fixed_string_t arg2;
int32_t arg3;
+ int32_t arg4;
};
/* function called when cmd_spickle_params is parsed successfully */
__attribute__((unused)) void *data)
{
struct cmd_spickle_params_result * res = parsed_result;
-
-
- if (!strcmp_P(res->arg1, PSTR("delay"))) {
- spickle_set_delays(res->arg2, res->arg3);
- }
- else if (!strcmp_P(res->arg1, PSTR("coef"))) {
- spickle_set_coefs(res->arg2, res->arg3);
- }
- else if (!strcmp_P(res->arg1, PSTR("pos"))) {
- spickle_set_pos(res->arg2, res->arg3);
+ uint8_t side;
+
+ if (!strcmp_P(res->arg1, PSTR("show"))) {
+ spickle_dump_params();
+ return;
}
- /* else show */
- spickle_dump_params();
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ 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);
}
prog_char str_spickle_params_arg0[] = "spickle_params";
-parse_pgm_token_string_t cmd_spickle_params_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg0, str_spickle_params_arg0);
-prog_char str_spickle_params_arg1[] = "delay#pos#coef";
-parse_pgm_token_string_t cmd_spickle_params_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1);
-parse_pgm_token_num_t cmd_spickle_params_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg2, INT32);
-parse_pgm_token_num_t cmd_spickle_params_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg3, INT32);
-
-prog_char help_spickle_params[] = "Set spickle_params values";
+parse_pgm_token_string_t cmd_spickle_params_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg0, str_spickle_params_arg0);
+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";
+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);
+
+prog_char help_spickle_params[] = "Set spickle pos values";
parse_pgm_inst_t cmd_spickle_params = {
.f = cmd_spickle_params_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
(prog_void *)&cmd_spickle_params_arg1,
(prog_void *)&cmd_spickle_params_arg2,
(prog_void *)&cmd_spickle_params_arg3,
+ (prog_void *)&cmd_spickle_params_arg4,
NULL,
},
};
prog_char str_spickle_params_arg1_show[] = "show";
-parse_pgm_token_string_t cmd_spickle_params_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1_show);
+parse_pgm_token_string_t cmd_spickle_params_arg1_show =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1_show);
prog_char help_spickle_params_show[] = "show spickle params";
parse_pgm_inst_t cmd_spickle_params_show = {
},
};
+/**********************************************************/
+/* Set Spickle Params */
+
+/* this structure is filled when cmd_spickle_params2 is parsed successfully */
+struct cmd_spickle_params2_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+ int32_t arg3;
+};
+
+/* function called when cmd_spickle_params2 is parsed successfully */
+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);
+ }
+
+ /* else show */
+ spickle_dump_params();
+}
+
+prog_char str_spickle_params2_arg0[] = "spickle_params2";
+parse_pgm_token_string_t cmd_spickle_params2_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
+prog_char str_spickle_params2_arg1[] = "coef";
+parse_pgm_token_string_t cmd_spickle_params2_arg1 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1);
+parse_pgm_token_num_t cmd_spickle_params2_arg2 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params2_result, arg2, INT32);
+parse_pgm_token_num_t cmd_spickle_params2_arg3 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params2_result, arg3, INT32);
+
+prog_char help_spickle_params2[] = "Set spickle_params2 values";
+parse_pgm_inst_t cmd_spickle_params2 = {
+ .f = cmd_spickle_params2_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+prog_char str_spickle_params2_arg1_show[] = "show";
+parse_pgm_token_string_t cmd_spickle_params2_arg1_show =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1_show);
+
+prog_char help_spickle_params2_show[] = "show spickle params";
+parse_pgm_inst_t cmd_spickle_params2_show = {
+ .f = cmd_spickle_params2_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
/**********************************************************/
/* Test */
}
prog_char str_test_arg0[] = "test";
-parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
+parse_pgm_token_string_t cmd_test_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
prog_char help_test[] = "Test function";
parse_pgm_inst_t cmd_test = {
git.droids-corp.org / aversive.git / blobdiff