code 2010

[aversive.git] / projects / microb2010 / tests / hostsim / commands_traj.c

diff --git a/projects/microb2010/tests/hostsim/commands_traj.c b/projects/microb2010/tests/hostsim/commands_traj.c
index 55bfe5f..f693820 100644 (file)
--- a/projects/microb2010/tests/hostsim/commands_traj.c
+++ b/projects/microb2010/tests/hostsim/commands_traj.c
@@ -29,7 +29,7 @@
 #include <aversive/error.h>
 
 #include <uart.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -141,7 +141,7 @@ static void cmd_circle_coef_parsed(void *parsed_result, void *data)
                trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
        }
 
-       printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
+       printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
 }
 
 prog_char str_circle_coef_arg0[] = "circle_coef";
@@ -441,12 +441,17 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
                printf_P(PSTR("List empty\r\n"));
                return;
        }
+ restart:
        for (i=0 ; i<pt_list_len ; i++) {
                printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
                if (!strcmp_P(res->arg1, PSTR("start"))) {
                        trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
                        why = wait_traj_end(0xFF); /* all */
                }
+               else if (!strcmp_P(res->arg1, PSTR("loop_start"))) {
+                       trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
+                       why = wait_traj_end(0xFF); /* all */
+               }
                else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
                        while (1) {
                                why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
@@ -457,7 +462,13 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
                }
                if (why & (~(END_TRAJ | END_NEAR)))
                        trajectory_stop(&mainboard.traj);
+               if (why & END_INTR)
+                       break;
        }
+       if (why & END_INTR)
+               return;
+       if (!strcmp_P(res->arg1, PSTR("loop_start")))
+               goto restart;
 }
 
 prog_char str_pt_list_arg0[] = "pt_list";
@@ -521,7 +532,7 @@ parse_pgm_inst_t cmd_pt_list_del = {
 };
 /* show */
 
-prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
+prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start#loop_start";
 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
 
 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
@@ -548,6 +559,7 @@ struct cmd_goto_result {
        int32_t arg2;
        int32_t arg3;
        int32_t arg4;
+       int32_t arg5;
 };
 
 /* function called when cmd_goto is parsed successfully */
@@ -598,6 +610,11 @@ static void cmd_goto_parsed(void * parsed_result, void * data)
        else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
                trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
        }
+       else if (!strcmp_P(res->arg1, PSTR("circle_rel"))) {
+               trajectory_circle_rel(&mainboard.traj, res->arg2, res->arg3,
+                                     res->arg4, res->arg5, 0);
+               return; /* XXX */
+       }
        t1 = time_get_us2();
        while ((err = test_traj_end(0xFF)) == 0) {
                t2 = time_get_us2();
@@ -651,6 +668,28 @@ parse_pgm_inst_t cmd_goto2 = {
        },
 };
 
+prog_char str_goto_arg1_c[] = "circle_rel";
+parse_pgm_token_string_t cmd_goto_arg1_c = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_c);
+parse_pgm_token_num_t cmd_goto_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg4, INT32);
+parse_pgm_token_num_t cmd_goto_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg5, INT32);
+
+/* 4 params */
+prog_char help_goto4[] = "Do a circle: (x,y, radius, angle)";
+parse_pgm_inst_t cmd_goto4 = {
+       .f = cmd_goto_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_goto4,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_goto_arg0,
+               (prog_void *)&cmd_goto_arg1_c,
+               (prog_void *)&cmd_goto_arg2,
+               (prog_void *)&cmd_goto_arg3,
+               (prog_void *)&cmd_goto_arg4,
+               (prog_void *)&cmd_goto_arg5,
+               NULL,
+       },
+};
+
 /**********************************************************/
 /* Position tests */