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beacon, prepare integration
[aversive.git] / projects / microb2010 / mainboard / commands_mainboard.c
diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index b43f05b..aae4b61 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -70,6 +70,7 @@
 #include "strat_corn.h"
 #include "i2c_protocol.h"
 #include "actuator.h"
+#include "beacon.h"
 
 struct cmd_event_result {
        fixed_string_t arg0;
@@ -283,6 +284,43 @@ parse_pgm_inst_t cmd_opponent_set = {
        },
 };
 
+/**********************************************************/
+/* Beacon tests */
+
+/* this structure is filled when cmd_beacon is parsed successfully */
+struct cmd_beacon_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+};
+
+/* function called when cmd_beacon is parsed successfully */
+static void cmd_beacon_parsed(void *parsed_result, void *data)
+{
+       int16_t x, y;
+       double a;
+
+       if (beacon_get_pos(&x, &y, &a) < 0)
+               printf_P(PSTR("No position from beacon\r\n"));
+       else
+               printf_P(PSTR("x=%d y=%d a=%2.2f\r\n"), x, y, a);
+}
+
+prog_char str_beacon_arg0[] = "beacon";
+parse_pgm_token_string_t cmd_beacon_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_result, arg0, str_beacon_arg0);
+prog_char str_beacon_arg1[] = "show";
+parse_pgm_token_string_t cmd_beacon_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_result, arg1, str_beacon_arg1);
+
+prog_char help_beacon[] = "Show (x,y) beacon";
+parse_pgm_inst_t cmd_beacon = {
+       .f = cmd_beacon_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_beacon,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_beacon_arg0,
+               (prog_void *)&cmd_beacon_arg1,
+               NULL,
+       },
+};
 
 /**********************************************************/
 /* Start */
@@ -314,11 +352,13 @@ static void cmd_start_parsed(void *parsed_result, void *data)
                mainboard.our_color = I2C_COLOR_YELLOW;
                i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
                i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+               beacon_set_color(I2C_COLOR_YELLOW);
        }
        else if (!strcmp_P(res->color, PSTR("blue"))) {
                mainboard.our_color = I2C_COLOR_BLUE;
                i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
                i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+               beacon_set_color(I2C_COLOR_BLUE);
        }
 
        strat_start();
@@ -512,7 +552,7 @@ static void cmd_interact_parsed(void * parsed_result, void * data)
                }
                else {
 #ifdef HOST_VERSION
-#define PWM_INTERACT 300
+#define PWM_INTERACT 1200
 #else
 #define PWM_INTERACT 1200
 #endif
@@ -574,11 +614,13 @@ static void cmd_color_parsed(void *parsed_result, void *data)
                mainboard.our_color = I2C_COLOR_YELLOW;
                i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
                i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+               beacon_set_color(I2C_COLOR_YELLOW);
        }
        else if (!strcmp_P(res->color, PSTR("blue"))) {
                mainboard.our_color = I2C_COLOR_BLUE;
                i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
                i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+               beacon_set_color(I2C_COLOR_BLUE);
        }
        printf_P(PSTR("Done\r\n"));
 #endif
@@ -738,13 +780,15 @@ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
                i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
        else if (!strcmp_P(res->arg1, PSTR("eject")))
                i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
-       else if (!strcmp_P(res->arg1, PSTR("kickstand")))
-               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
+       else if (!strcmp_P(res->arg1, PSTR("kickstand_up")))
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+       else if (!strcmp_P(res->arg1, PSTR("kickstand_down")))
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
 }
 
 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
-prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand_up#kickstand_down";
 parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
 
 prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
@@ -925,13 +969,17 @@ static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
                i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
        else if (!strcmp_P(res->arg1, PSTR("harvest")))
                i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+       else if (!strcmp_P(res->arg1, PSTR("prepare")))
+               i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+       else if (!strcmp_P(res->arg1, PSTR("take")))
+               i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 
        /* other commands */
 }
 
 prog_char str_ballboard_setmode1_arg0[] = "ballboard";
 parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
-prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
+prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off#take#prepare";
 parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
 
 prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
@@ -959,27 +1007,11 @@ struct cmd_ballboard_setmode2_result {
 /* function called when cmd_ballboard_setmode2 is parsed successfully */
 static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
 {
-       struct cmd_ballboard_setmode2_result *res = parsed_result;
-       uint8_t mode = I2C_BALLBOARD_MODE_INIT;
-
-       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;
-       }
-       i2c_ballboard_set_mode(mode);
 }
 
 prog_char str_ballboard_setmode2_arg0[] = "ballboard";
 parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
-prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
+prog_char str_ballboard_setmode2_arg1[] = "xxx";
 parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
 prog_char str_ballboard_setmode2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);
Framework and libraries for AVR