X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcommands_cobboard.c;h=249a69be9d7a15969d15f5bc2a4f55aeaabcb0a9;hp=b822e4a98327b7c5c879ec218f6d147bdbd415d0;hb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305 diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c index b822e4a..249a69b 100644 --- a/projects/microb2010/cobboard/commands_cobboard.c +++ b/projects/microb2010/cobboard/commands_cobboard.c @@ -50,7 +50,8 @@ #include "state.h" #include "i2c_protocol.h" #include "actuator.h" -#include "actuator.h" +#include "spickle.h" +#include "shovel.h" extern uint16_t state_debug; @@ -185,23 +186,18 @@ static void cmd_state1_parsed(void *parsed_result, __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"; @@ -231,26 +227,43 @@ static void cmd_state2_parsed(void *parsed_result, __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); @@ -283,14 +296,13 @@ static void cmd_state3_parsed(void *parsed_result, __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"; @@ -411,6 +423,95 @@ parse_pgm_inst_t cmd_servo_door = { }, }; +/**********************************************************/ +/* 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 */ @@ -448,6 +549,206 @@ parse_pgm_inst_t cmd_servo_carry = { }, }; +/**********************************************************/ +/* 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 */ +static void cmd_spickle_parsed(void * parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_spickle_result * res = parsed_result; + 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->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[] = "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 */ + .help_str = help_spickle, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_spickle_arg0, + (prog_void *)&cmd_spickle_arg1, + (prog_void *)&cmd_spickle_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* Set Spickle Params */ + +/* this structure is filled when cmd_spickle_params is parsed successfully */ +struct cmd_spickle_params_result { + fixed_string_t arg0; + fixed_string_t arg1; + fixed_string_t arg2; + int32_t arg3; + int32_t arg4; +}; + +/* function called when cmd_spickle_params is parsed successfully */ +static void cmd_spickle_params_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_spickle_params_result * res = parsed_result; + uint8_t side; + + if (!strcmp_P(res->arg1, PSTR("show"))) { + spickle_dump_params(); + return; + } + + 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[] = "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 */ + .help_str = help_spickle_params, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_spickle_params_arg0, + (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); + +prog_char help_spickle_params_show[] = "show spickle params"; +parse_pgm_inst_t cmd_spickle_params_show = { + .f = cmd_spickle_params_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_spickle_params_show, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_spickle_params_arg0, + (prog_void *)&cmd_spickle_params_arg1_show, + NULL, + }, +}; + +/**********************************************************/ +/* 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 */ @@ -463,7 +764,8 @@ static void cmd_test_parsed(__attribute__((unused)) void *parsed_result, } 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 = {