test

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

diff --git a/projects/microb2010/tests/hostsim/main.c b/projects/microb2010/tests/hostsim/main.c
index ec70479..31a7832 100644 (file)
--- a/projects/microb2010/tests/hostsim/main.c
+++ b/projects/microb2010/tests/hostsim/main.c
@@ -28,7 +28,6 @@
 \r
 #include <timer.h>\r
 #include <scheduler.h>\r
-#include <time.h>\r
 \r
 #include <pid.h>\r
 #include <quadramp.h>\r
@@ -42,10 +41,15 @@
 #include <rdline.h>\r
 \r
 #include <uart.h>\r
+#include <clock_time.h>\r
 //#include <timer.h>\r
 #include <hostsim.h>\r
 \r
 #include "cs.h"\r
+#include "cmdline.h"\r
+#include "robotsim.h"\r
+#include "strat.h"\r
+#include "strat_base.h"\r
 #include "main.h"\r
 \r
 struct genboard gen;\r
@@ -53,39 +57,47 @@ struct mainboard mainboard;
 \r
 int main(void)\r
 {\r
-#ifndef HOST_VERSION\r
        uart_init();\r
+       uart_register_rx_event(CMDLINE_UART, emergency);\r
+#ifndef HOST_VERSION\r
        fdevopen(uart0_dev_send, uart0_dev_recv);\r
        sei();\r
-#else\r
-       int i;\r
 #endif\r
 \r
+       memset(&gen, 0, sizeof(gen));\r
+       memset(&mainboard, 0, sizeof(mainboard));\r
+\r
+       /* LOGS */\r
+       error_register_emerg(mylog);\r
+       error_register_error(mylog);\r
+       error_register_warning(mylog);\r
+       error_register_notice(mylog);\r
+       error_register_debug(mylog);\r
+\r
 #ifdef CONFIG_MODULE_TIMER\r
        timer_init();\r
 #endif\r
-       scheduler_init();\r
+\r
        printf("init\n");\r
 \r
-#ifdef HOST_VERSION\r
+       scheduler_init();\r
+\r
        hostsim_init();\r
        robotsim_init();\r
-#endif\r
-       time_init(TIME_PRIO);\r
-\r
 \r
        microb_cs_init();\r
 \r
-       gen.logs[0] = E_USER_CS;\r
-       gen.log_level = 5;\r
+       time_init(TIME_PRIO);\r
+\r
+       printf_P(PSTR("\r\n"));\r
+       printf_P(PSTR("Respect et robustesse.\r\n"));\r
 \r
        mainboard.flags = DO_ENCODERS | DO_RS |\r
                DO_POS | DO_POWER | DO_BD | DO_CS;\r
+       strat_reset_pos(1000, 1000, 0);\r
+\r
+       cmdline_interact();\r
 \r
-       trajectory_d_rel(&mainboard.traj, 1000);\r
-       time_wait_ms(2000);\r
-       trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);\r
-       time_wait_ms(2000);\r
        return 0;\r
 }\r
 \r