cob detection

[aversive.git] / projects / microb2010 / mainboard / robotsim.c

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index 5fc2e37..2d0d7be 100644 (file)
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -57,9 +57,23 @@ static int32_t l_pwm, r_pwm;
 static int32_t l_enc, r_enc;
 
 static int fdr, fdw;
+/*
+ * Debug with GDB:
+ *
+ * (gdb) handle SIGUSR1 pass
+ * Signal        Stop  Print   Pass to program Description
+ * SIGUSR1       Yes   Yes     Yes             User defined signal 1
+ * (gdb) handle SIGUSR2 pass
+ * Signal        Stop  Print   Pass to program Description
+ * SIGUSR2       Yes   Yes     Yes             User defined signal 2
+ * (gdb) handle SIGUSR1 noprint
+ * Signal        Stop  Print   Pass to program Description
+ * SIGUSR1       No    No      Yes             User defined signal 1
+ * (gdb) handle SIGUSR2 noprint
+ */
 
 /* */
-#define FILTER  97
+#define FILTER  98
 #define FILTER2 (100-FILTER)
 #define SHIFT   4
 
@@ -67,11 +81,16 @@ void robotsim_dump(void)
 {
        char buf[BUFSIZ];
        int len;
+       int16_t x, y, a;
+
+       x = position_get_x_s16(&mainboard.pos);
+       y = position_get_y_s16(&mainboard.pos);
+       a = position_get_a_deg_s16(&mainboard.pos);
+/*     y = COLOR_Y(y); */
+/*     a = COLOR_A(a); */
 
        len = snprintf(buf, sizeof(buf), "pos=%d,%d,%d\n",
-                     position_get_x_s16(&mainboard.pos),
-                     position_get_y_s16(&mainboard.pos),
-                     position_get_a_deg_s16(&mainboard.pos));
+                      x, y, a);
        hostsim_lock();
        write(fdw, buf, len);
        hostsim_unlock();
@@ -91,14 +110,17 @@ robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
        return 0;
 }
 
-static int8_t
-robotsim_i2c_cobboard_set_mode(struct i2c_cmd_cobboard_set_mode *cmd)
+int8_t
+robotsim_i2c_cobboard_set_mode(uint8_t mode)
 {
        char buf[BUFSIZ];
        int len;
 
-       cobboard.mode = cmd->mode;
-       len = snprintf(buf, sizeof(buf), "cobboard=%d\n", cmd->mode);
+       if (cobboard.mode == mode)
+               return 0;
+
+       cobboard.mode = mode;
+       len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
        hostsim_lock();
        write(fdw, buf, len);
        hostsim_unlock();
@@ -127,15 +149,17 @@ robotsim_i2c_ballboard(uint8_t addr, uint8_t *buf, uint8_t size)
 static int8_t
 robotsim_i2c_cobboard(uint8_t addr, uint8_t *buf, uint8_t size)
 {
-       void *void_cmd = buf;
+       //      void *void_cmd = buf;
 
        switch (buf[0]) {
+#if 0 /* deleted */
        case I2C_CMD_COBBOARD_SET_MODE:
                {
                        struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
                        robotsim_i2c_cobboard_set_mode(cmd);
                        break;
                }
+#endif
        default:
                break;
        }