X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=52b6b92ca20c03f0e17855610885bd33e40b8122;hp=6349ad70ea1b2b5e09cf4374946b1a0ad8f47340;hb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;hpb=1714f4ee916fca95ce24120ea6e698237913f947 diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c index 6349ad7..52b6b92 100644 --- a/projects/microb2010/mainboard/commands_mainboard.c +++ b/projects/microb2010/mainboard/commands_mainboard.c @@ -1,6 +1,6 @@ /* * Copyright Droids Corporation (2009) - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -17,12 +17,14 @@ * * Revision : $Id: commands_mainboard.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $ * - * Olivier MATZ + * Olivier MATZ */ #include #include +#include +#include #include #include #include @@ -39,6 +41,8 @@ #include #include #include +#include +#include #include #include #include @@ -56,11 +60,14 @@ #include "../common/eeprom_mapping.h" #include "main.h" +#include "robotsim.h" #include "sensor.h" #include "cmdline.h" #include "strat.h" #include "strat_utils.h" #include "strat_base.h" +#include "strat_db.h" +#include "strat_corn.h" #include "i2c_protocol.h" #include "actuator.h" @@ -77,29 +84,30 @@ static void cmd_event_parsed(void *parsed_result, void *data) u08 bit=0; struct cmd_event_result * res = parsed_result; - + if (!strcmp_P(res->arg1, PSTR("all"))) { - bit = DO_ENCODERS | DO_CS | DO_RS | DO_POS | - DO_BD | DO_TIMER | DO_POWER; + bit = 0xFF; if (!strcmp_P(res->arg2, PSTR("on"))) mainboard.flags |= bit; else if (!strcmp_P(res->arg2, PSTR("off"))) mainboard.flags &= bit; else { /* show */ - printf_P(PSTR("encoders is %s\r\n"), + printf_P(PSTR("encoders is %s\r\n"), (DO_ENCODERS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("cs is %s\r\n"), + printf_P(PSTR("cs is %s\r\n"), (DO_CS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("rs is %s\r\n"), + printf_P(PSTR("rs is %s\r\n"), (DO_RS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("pos is %s\r\n"), + printf_P(PSTR("pos is %s\r\n"), (DO_POS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("bd is %s\r\n"), + printf_P(PSTR("bd is %s\r\n"), (DO_BD & mainboard.flags) ? "on":"off"); - printf_P(PSTR("timer is %s\r\n"), + printf_P(PSTR("timer is %s\r\n"), (DO_TIMER & mainboard.flags) ? "on":"off"); - printf_P(PSTR("power is %s\r\n"), + printf_P(PSTR("power is %s\r\n"), (DO_POWER & mainboard.flags) ? "on":"off"); + printf_P(PSTR("errblock is %s\r\n"), + (DO_ERRBLOCKING & mainboard.flags) ? "on":"off"); } return; } @@ -122,23 +130,30 @@ static void cmd_event_parsed(void *parsed_result, void *data) } else if (!strcmp_P(res->arg1, PSTR("power"))) bit = DO_POWER; + else if (!strcmp_P(res->arg1, PSTR("errblock"))) + bit = DO_ERRBLOCKING; if (!strcmp_P(res->arg2, PSTR("on"))) mainboard.flags |= bit; else if (!strcmp_P(res->arg2, PSTR("off"))) { if (!strcmp_P(res->arg1, PSTR("cs"))) { +#ifdef HOST_VERSION + robotsim_pwm(LEFT_PWM, 0); + robotsim_pwm(RIGHT_PWM, 0); +#else pwm_ng_set(LEFT_PWM, 0); pwm_ng_set(RIGHT_PWM, 0); +#endif } mainboard.flags &= (~bit); } - printf_P(PSTR("%s is %s\r\n"), res->arg1, + printf_P(PSTR("%s is %s\r\n"), res->arg1, (bit & mainboard.flags) ? "on":"off"); } prog_char str_event_arg0[] = "event"; parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0); -prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power"; +prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power#errblock"; parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1); prog_char str_event_arg2[] = "on#off#show"; parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2); @@ -149,9 +164,9 @@ parse_pgm_inst_t cmd_event = { .data = NULL, /* 2nd arg of func */ .help_str = help_event, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_event_arg0, - (prog_void *)&cmd_event_arg1, - (prog_void *)&cmd_event_arg2, + (prog_void *)&cmd_event_arg0, + (prog_void *)&cmd_event_arg1, + (prog_void *)&cmd_event_arg2, NULL, }, }; @@ -168,8 +183,11 @@ struct cmd_spi_test_result { /* function called when cmd_spi_test is parsed successfully */ static void cmd_spi_test_parsed(void * parsed_result, void * data) { +#ifdef HOST_VERSION + printf("not implemented\n"); +#else uint16_t i = 0, ret = 0, ret2 = 0; - + if (mainboard.flags & DO_ENCODERS) { printf_P(PSTR("Disable encoder event first\r\n")); return; @@ -187,6 +205,7 @@ static void cmd_spi_test_parsed(void * parsed_result, void * data) i++; } while(!cmdline_keypressed()); +#endif } prog_char str_spi_test_arg0[] = "spi_test"; @@ -198,7 +217,7 @@ parse_pgm_inst_t cmd_spi_test = { .data = NULL, /* 2nd arg of func */ .help_str = help_spi_test, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_spi_test_arg0, + (prog_void *)&cmd_spi_test_arg0, NULL, }, }; @@ -238,8 +257,8 @@ parse_pgm_inst_t cmd_opponent = { .data = NULL, /* 2nd arg of func */ .help_str = help_opponent, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_opponent_arg0, - (prog_void *)&cmd_opponent_arg1, + (prog_void *)&cmd_opponent_arg0, + (prog_void *)&cmd_opponent_arg1, NULL, }, }; @@ -256,10 +275,10 @@ parse_pgm_inst_t cmd_opponent_set = { .data = NULL, /* 2nd arg of func */ .help_str = help_opponent_set, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_opponent_arg0, + (prog_void *)&cmd_opponent_arg0, (prog_void *)&cmd_opponent_arg1_set, - (prog_void *)&cmd_opponent_arg2, - (prog_void *)&cmd_opponent_arg3, + (prog_void *)&cmd_opponent_arg2, + (prog_void *)&cmd_opponent_arg3, NULL, }, }; @@ -283,23 +302,23 @@ static void cmd_start_parsed(void *parsed_result, void *data) gen.logs[NB_LOGS] = E_USER_STRAT; if (!strcmp_P(res->debug, PSTR("debug"))) { - strat_infos.dump_enabled = 1; + strat_db.dump_enabled = 1; gen.log_level = 5; } else { - strat_infos.dump_enabled = 0; + strat_db.dump_enabled = 0; gen.log_level = 0; } - if (!strcmp_P(res->color, PSTR("red"))) { - mainboard.our_color = I2C_COLOR_RED; - i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED); - i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED); + if (!strcmp_P(res->color, PSTR("yellow"))) { + mainboard.our_color = I2C_COLOR_YELLOW; + i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW); + i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW); } - else if (!strcmp_P(res->color, PSTR("green"))) { - mainboard.our_color = I2C_COLOR_GREEN; - i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN); - i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN); + 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); } strat_start(); @@ -310,7 +329,7 @@ static void cmd_start_parsed(void *parsed_result, void *data) prog_char str_start_arg0[] = "start"; parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0); -prog_char str_start_color[] = "green#red"; +prog_char str_start_color[] = "blue#yellow"; parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color); prog_char str_start_debug[] = "debug#match"; parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug); @@ -321,9 +340,9 @@ parse_pgm_inst_t cmd_start = { .data = NULL, /* 2nd arg of func */ .help_str = help_start, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_start_arg0, - (prog_void *)&cmd_start_color, - (prog_void *)&cmd_start_debug, + (prog_void *)&cmd_start_arg0, + (prog_void *)&cmd_start_color, + (prog_void *)&cmd_start_debug, NULL, }, }; @@ -340,8 +359,8 @@ struct cmd_interact_result { static void print_cs(void) { - printf_P(PSTR("cons_d=% .8ld cons_a=% .8ld fil_d=% .8ld fil_a=% .8ld " - "err_d=% .8ld err_a=% .8ld out_d=% .8ld out_a=% .8ld\r\n"), + printf_P(PSTR("cons_d=% .8"PRIi32" cons_a=% .8"PRIi32" fil_d=% .8"PRIi32" fil_a=% .8"PRIi32" " + "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"), cs_get_consign(&mainboard.distance.cs), cs_get_consign(&mainboard.angle.cs), cs_get_filtered_consign(&mainboard.distance.cs), @@ -354,7 +373,7 @@ static void print_cs(void) static void print_pos(void) { - printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"), + printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"), position_get_x_s16(&mainboard.pos), position_get_y_s16(&mainboard.pos), position_get_a_deg_s16(&mainboard.pos)); @@ -385,8 +404,8 @@ static void print_sensors(void) static void print_pid(void) { - printf_P(PSTR("P=% .8ld I=% .8ld D=% .8ld out=% .8ld | " - "P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"), + printf_P(PSTR("P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32" | " + "P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"), pid_get_value_in(&mainboard.distance.pid) * pid_get_gain_P(&mainboard.distance.pid), pid_get_value_I(&mainboard.distance.pid) * pid_get_gain_I(&mainboard.distance.pid), pid_get_value_D(&mainboard.distance.pid) * pid_get_gain_D(&mainboard.distance.pid), @@ -467,7 +486,7 @@ static void cmd_interact_parsed(void * parsed_result, void * data) wait_ms(10); continue; } - + if (cmd == -1) { switch(c) { case '1': print ^= PRINT_POS; break; @@ -477,7 +496,7 @@ static void cmd_interact_parsed(void * parsed_result, void * data) case '5': print ^= PRINT_TIME; break; case '6': print ^= PRINT_BLOCKING; break; - case 'q': + case 'q': if (mainboard.flags & DO_CS) strat_hardstop(); pwm_set_and_save(LEFT_PWM, 0); @@ -487,21 +506,21 @@ static void cmd_interact_parsed(void * parsed_result, void * data) pwm_set_and_save(LEFT_PWM, 0); pwm_set_and_save(RIGHT_PWM, 0); break; - default: + default: break; } } else { switch(cmd) { - case KEY_UP_ARR: + case KEY_UP_ARR: pwm_set_and_save(LEFT_PWM, 1200); pwm_set_and_save(RIGHT_PWM, 1200); break; - case KEY_LEFT_ARR: + case KEY_LEFT_ARR: pwm_set_and_save(LEFT_PWM, -1200); pwm_set_and_save(RIGHT_PWM, 1200); break; - case KEY_DOWN_ARR: + case KEY_DOWN_ARR: pwm_set_and_save(LEFT_PWM, -1200); pwm_set_and_save(RIGHT_PWM, -1200); break; @@ -524,7 +543,7 @@ parse_pgm_inst_t cmd_interact = { .data = NULL, /* 2nd arg of func */ .help_str = help_interact, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_interact_arg0, + (prog_void *)&cmd_interact_arg0, NULL, }, }; @@ -542,23 +561,27 @@ struct cmd_color_result { /* function called when cmd_color is parsed successfully */ static void cmd_color_parsed(void *parsed_result, void *data) { +#ifdef HOST_VERSION + printf("not implemented\n"); +#else struct cmd_color_result *res = (struct cmd_color_result *) parsed_result; - if (!strcmp_P(res->color, PSTR("red"))) { - mainboard.our_color = I2C_COLOR_RED; - i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED); - i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED); + if (!strcmp_P(res->color, PSTR("yellow"))) { + mainboard.our_color = I2C_COLOR_YELLOW; + i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW); + i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW); } - else if (!strcmp_P(res->color, PSTR("green"))) { - mainboard.our_color = I2C_COLOR_GREEN; - i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN); - i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN); + 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); } printf_P(PSTR("Done\r\n")); +#endif } prog_char str_color_arg0[] = "color"; parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0); -prog_char str_color_color[] = "green#red"; +prog_char str_color_color[] = "blue#yellow"; parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color); prog_char help_color[] = "Set our color"; @@ -567,8 +590,8 @@ parse_pgm_inst_t cmd_color = { .data = NULL, /* 2nd arg of func */ .help_str = help_color, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_color_arg0, - (prog_void *)&cmd_color_color, + (prog_void *)&cmd_color_arg0, + (prog_void *)&cmd_color_color, NULL, }, }; @@ -588,15 +611,15 @@ static void cmd_rs_parsed(void *parsed_result, void *data) { // struct cmd_rs_result *res = parsed_result; do { - printf_P(PSTR("angle cons=% .6ld in=% .6ld out=% .6ld / "), + printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "), cs_get_consign(&mainboard.angle.cs), cs_get_filtered_feedback(&mainboard.angle.cs), cs_get_out(&mainboard.angle.cs)); - printf_P(PSTR("distance cons=% .6ld in=% .6ld out=% .6ld / "), + printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "), cs_get_consign(&mainboard.distance.cs), cs_get_filtered_feedback(&mainboard.distance.cs), cs_get_out(&mainboard.distance.cs)); - printf_P(PSTR("l=% .4ld r=% .4ld\r\n"), mainboard.pwm_l, + printf_P(PSTR("l=% .4"PRIi32" r=% .4"PRIi32"\r\n"), mainboard.pwm_l, mainboard.pwm_r); wait_ms(100); } while(!cmdline_keypressed()); @@ -613,8 +636,8 @@ parse_pgm_inst_t cmd_rs = { .data = NULL, /* 2nd arg of func */ .help_str = help_rs, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_rs_arg0, - (prog_void *)&cmd_rs_arg1, + (prog_void *)&cmd_rs_arg0, + (prog_void *)&cmd_rs_arg1, NULL, }, }; @@ -630,8 +653,12 @@ struct cmd_i2cdebug_result { /* function called when cmd_i2cdebug is parsed successfully */ static void cmd_i2cdebug_parsed(void * parsed_result, void * data) { +#ifdef HOST_VERSION + printf("not implemented\n"); +#else i2c_debug(); i2c_protocol_debug(); +#endif } prog_char str_i2cdebug_arg0[] = "i2cdebug"; @@ -643,7 +670,7 @@ parse_pgm_inst_t cmd_i2cdebug = { .data = NULL, /* 2nd arg of func */ .help_str = help_i2cdebug, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_i2cdebug_arg0, + (prog_void *)&cmd_i2cdebug_arg0, NULL, }, }; @@ -660,8 +687,15 @@ struct cmd_cobboard_show_result { /* function called when cmd_cobboard_show is parsed successfully */ static void cmd_cobboard_show_parsed(void * parsed_result, void * data) { +#ifdef HOST_VERSION + printf("not implemented\n"); +#else printf_P(PSTR("mode = %x\r\n"), cobboard.mode); printf_P(PSTR("status = %x\r\n"), cobboard.status); + printf_P(PSTR("cob_count = %x\r\n"), cobboard.cob_count); + printf_P(PSTR("left_cobroller_speed = %d\r\n"), cobboard.left_cobroller_speed); + printf_P(PSTR("right_cobroller_speed = %d\r\n"), cobboard.right_cobroller_speed); +#endif } prog_char str_cobboard_show_arg0[] = "cobboard"; @@ -675,8 +709,8 @@ parse_pgm_inst_t cmd_cobboard_show = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_show, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_show_arg0, - (prog_void *)&cmd_cobboard_show_arg1, + (prog_void *)&cmd_cobboard_show_arg0, + (prog_void *)&cmd_cobboard_show_arg1, NULL, }, }; @@ -696,16 +730,14 @@ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data) struct cmd_cobboard_setmode1_result *res = parsed_result; if (!strcmp_P(res->arg1, PSTR("init"))) - i2c_cobboard_mode_init(); - else if (!strcmp_P(res->arg1, PSTR("manual"))) - i2c_cobboard_mode_manual(); - else if (!strcmp_P(res->arg1, PSTR("harvest"))) - i2c_cobboard_mode_harvest(); + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT); + else if (!strcmp_P(res->arg1, PSTR("eject"))) + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT); } 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#manual#harvest"; +prog_char str_cobboard_setmode1_arg1[] = "init#eject"; 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)"; @@ -714,8 +746,8 @@ parse_pgm_inst_t cmd_cobboard_setmode1 = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_setmode1, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_setmode1_arg0, - (prog_void *)&cmd_cobboard_setmode1_arg1, + (prog_void *)&cmd_cobboard_setmode1_arg0, + (prog_void *)&cmd_cobboard_setmode1_arg1, NULL, }, }; @@ -731,7 +763,7 @@ struct cmd_cobboard_setmode2_result { }; /* function called when cmd_cobboard_setmode2 is parsed successfully */ -static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data) +static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data) { struct cmd_cobboard_setmode2_result *res = parsed_result; uint8_t side = I2C_LEFT_SIDE; @@ -741,15 +773,31 @@ static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data) else if (!strcmp_P(res->arg2, PSTR("right"))) side = I2C_RIGHT_SIDE; - if (!strcmp_P(res->arg1, PSTR("yyy"))) - printf("faux\r\n"); - else if (!strcmp_P(res->arg1, PSTR("xxx"))) - printf("faux\r\n"); + if (!strcmp_P(res->arg1, PSTR("deploy"))) { + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST); + i2c_cobboard_deploy(side); + } + else if (!strcmp_P(res->arg1, PSTR("harvest"))) { + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST); + i2c_cobboard_autoharvest(side); + } + else if (!strcmp_P(res->arg1, PSTR("pack"))) { + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST); + i2c_cobboard_pack(side); + } + else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) { + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST); + i2c_cobboard_deploy_nomove(side); + } + else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) { + i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST); + i2c_cobboard_autoharvest_nomove(side); + } } prog_char str_cobboard_setmode2_arg0[] = "cobboard"; parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0); -prog_char str_cobboard_setmode2_arg1[] = "xxx"; +prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove"; parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1); prog_char str_cobboard_setmode2_arg2[] = "left#right"; parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2); @@ -760,9 +808,9 @@ parse_pgm_inst_t cmd_cobboard_setmode2 = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_setmode2, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_setmode2_arg0, - (prog_void *)&cmd_cobboard_setmode2_arg1, - (prog_void *)&cmd_cobboard_setmode2_arg2, + (prog_void *)&cmd_cobboard_setmode2_arg0, + (prog_void *)&cmd_cobboard_setmode2_arg1, + (prog_void *)&cmd_cobboard_setmode2_arg2, NULL, }, }; @@ -797,9 +845,369 @@ parse_pgm_inst_t cmd_cobboard_setmode3 = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_setmode3, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_setmode3_arg0, - (prog_void *)&cmd_cobboard_setmode3_arg1, - (prog_void *)&cmd_cobboard_setmode3_arg2, + (prog_void *)&cmd_cobboard_setmode3_arg0, + (prog_void *)&cmd_cobboard_setmode3_arg1, + (prog_void *)&cmd_cobboard_setmode3_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* Ballboard_Show */ + +/* this structure is filled when cmd_ballboard_show is parsed successfully */ +struct cmd_ballboard_show_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_ballboard_show is parsed successfully */ +static void cmd_ballboard_show_parsed(void * parsed_result, void * data) +{ +#ifdef HOST_VERSION + printf("not implemented\n"); +#else + printf_P(PSTR("mode = %x\r\n"), ballboard.mode); + printf_P(PSTR("status = %x\r\n"), ballboard.status); + printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count); + printf_P(PSTR("lcob = %d\r\n"), ballboard.lcob); + printf_P(PSTR("rcob = %d\r\n"), ballboard.rcob); +#endif +} + +prog_char str_ballboard_show_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_ballboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg0, str_ballboard_show_arg0); +prog_char str_ballboard_show_arg1[] = "show"; +parse_pgm_token_string_t cmd_ballboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg1, str_ballboard_show_arg1); + +prog_char help_ballboard_show[] = "show ballboard status"; +parse_pgm_inst_t cmd_ballboard_show = { + .f = cmd_ballboard_show_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_ballboard_show, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_ballboard_show_arg0, + (prog_void *)&cmd_ballboard_show_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Ballboard_Setmode1 */ + +/* this structure is filled when cmd_ballboard_setmode1 is parsed successfully */ +struct cmd_ballboard_setmode1_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_ballboard_setmode1 is parsed successfully */ +static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data) +{ + struct cmd_ballboard_setmode1_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("init"))) + i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_INIT); + else if (!strcmp_P(res->arg1, PSTR("off"))) + i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_OFF); + else if (!strcmp_P(res->arg1, PSTR("eject"))) + i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT); + else if (!strcmp_P(res->arg1, PSTR("harvest"))) + i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST); + + /* 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"; +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)"; +parse_pgm_inst_t cmd_ballboard_setmode1 = { + .f = cmd_ballboard_setmode1_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_ballboard_setmode1, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_ballboard_setmode1_arg0, + (prog_void *)&cmd_ballboard_setmode1_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Ballboard_Setmode2 */ + +/* this structure is filled when cmd_ballboard_setmode2 is parsed successfully */ +struct cmd_ballboard_setmode2_result { + fixed_string_t arg0; + fixed_string_t arg1; + fixed_string_t arg2; +}; + +/* 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"; +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); + +prog_char help_ballboard_setmode2[] = "set ballboard mode (mode, side)"; +parse_pgm_inst_t cmd_ballboard_setmode2 = { + .f = cmd_ballboard_setmode2_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_ballboard_setmode2, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_ballboard_setmode2_arg0, + (prog_void *)&cmd_ballboard_setmode2_arg1, + (prog_void *)&cmd_ballboard_setmode2_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* Ballboard_Setmode3 */ + +/* this structure is filled when cmd_ballboard_setmode3 is parsed successfully */ +struct cmd_ballboard_setmode3_result { + fixed_string_t arg0; + fixed_string_t arg1; + uint8_t level; +}; + +/* function called when cmd_ballboard_setmode3 is parsed successfully */ +static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data) +{ + struct cmd_ballboard_setmode3_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("xxx"))) + printf("faux\r\n"); +} + +prog_char str_ballboard_setmode3_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_ballboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg0, str_ballboard_setmode3_arg0); +prog_char str_ballboard_setmode3_arg1[] = "xxx"; +parse_pgm_token_string_t cmd_ballboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg1, str_ballboard_setmode3_arg1); +parse_pgm_token_num_t cmd_ballboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_ballboard_setmode3_result, level, UINT8); + +prog_char help_ballboard_setmode3[] = "set ballboard mode (mode, level)"; +parse_pgm_inst_t cmd_ballboard_setmode3 = { + .f = cmd_ballboard_setmode3_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_ballboard_setmode3, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_ballboard_setmode3_arg0, + (prog_void *)&cmd_ballboard_setmode3_arg1, + (prog_void *)&cmd_ballboard_setmode3_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* Servo_Balls */ + +/* this structure is filled when cmd_servo_balls is parsed successfully */ +struct cmd_servo_balls_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_servo_balls is parsed successfully */ +static void cmd_servo_balls_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_servo_balls_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("deploy"))) + support_balls_deploy(); + else if (!strcmp_P(res->arg1, PSTR("pack"))) + support_balls_pack(); +} + +prog_char str_servo_balls_arg0[] = "support_balls"; +parse_pgm_token_string_t cmd_servo_balls_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg0, str_servo_balls_arg0); +prog_char str_servo_balls_arg1[] = "deploy#pack"; +parse_pgm_token_string_t cmd_servo_balls_arg1 = + TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg1, str_servo_balls_arg1); + +prog_char help_servo_balls[] = "control support balls"; +parse_pgm_inst_t cmd_servo_balls = { + .f = cmd_servo_balls_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_servo_balls, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_servo_balls_arg0, + (prog_void *)&cmd_servo_balls_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Clitoid */ + +/* this structure is filled when cmd_clitoid is parsed successfully */ +struct cmd_clitoid_result { + fixed_string_t arg0; + float alpha_deg; + float beta_deg; + float R_mm; + float Vd; + float Amax; + float d_inter_mm; +}; + +/* function called when cmd_test is parsed successfully */ +static void cmd_clitoid_parsed(void *parsed_result, void *data) +{ + struct cmd_clitoid_result *res = parsed_result; +/* clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */ +/* res->Vd, res->Amax, res->d_inter_mm); */ + double x = position_get_x_double(&mainboard.pos); + double y = position_get_y_double(&mainboard.pos); + double a = position_get_a_rad_double(&mainboard.pos); + + strat_set_speed(res->Vd, SPEED_ANGLE_FAST); + trajectory_clitoid(&mainboard.traj, x, y, a, 150., + res->alpha_deg, res->beta_deg, res->R_mm, + res->d_inter_mm); +} + +prog_char str_clitoid_arg0[] = "clitoid"; +parse_pgm_token_string_t cmd_clitoid_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result, + arg0, str_clitoid_arg0); +parse_pgm_token_num_t cmd_clitoid_alpha_deg = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + alpha_deg, FLOAT); +parse_pgm_token_num_t cmd_clitoid_beta_deg = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + beta_deg, FLOAT); +parse_pgm_token_num_t cmd_clitoid_R_mm = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + R_mm, FLOAT); +parse_pgm_token_num_t cmd_clitoid_Vd = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + Vd, FLOAT); +parse_pgm_token_num_t cmd_clitoid_Amax = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + Amax, FLOAT); +parse_pgm_token_num_t cmd_clitoid_d_inter_mm = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + d_inter_mm, FLOAT); + +prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)"; +parse_pgm_inst_t cmd_clitoid = { + .f = cmd_clitoid_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_clitoid, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_clitoid_arg0, + (prog_void *)&cmd_clitoid_alpha_deg, + (prog_void *)&cmd_clitoid_beta_deg, + (prog_void *)&cmd_clitoid_R_mm, + (prog_void *)&cmd_clitoid_Vd, + (prog_void *)&cmd_clitoid_Amax, + (prog_void *)&cmd_clitoid_d_inter_mm, + NULL, + }, +}; + +/**********************************************************/ +/* Time_Monitor */ + +/* this structure is filled when cmd_time_monitor is parsed successfully */ +struct cmd_time_monitor_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_time_monitor is parsed successfully */ +static void cmd_time_monitor_parsed(void *parsed_result, void *data) +{ +#ifndef HOST_VERSION + struct cmd_time_monitor_result *res = parsed_result; + uint16_t seconds; + + if (!strcmp_P(res->arg1, PSTR("reset"))) { + eeprom_write_word(EEPROM_TIME_ADDRESS, 0); + } + seconds = eeprom_read_word(EEPROM_TIME_ADDRESS); + printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60); +#endif +} + +prog_char str_time_monitor_arg0[] = "time_monitor"; +parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0); +prog_char str_time_monitor_arg1[] = "show#reset"; +parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1); + +prog_char help_time_monitor[] = "Show since how long we are running"; +parse_pgm_inst_t cmd_time_monitor = { + .f = cmd_time_monitor_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_time_monitor, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_time_monitor_arg0, + (prog_void *)&cmd_time_monitor_arg1, + NULL, + }, +}; + + +/**********************************************************/ +/* Strat_Event */ + +/* this structure is filled when cmd_strat_event is parsed successfully */ +struct cmd_strat_event_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_strat_event is parsed successfully */ +static void cmd_strat_event_parsed(void *parsed_result, void *data) +{ + struct cmd_strat_event_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("on"))) + strat_event_enable(); + else + strat_event_disable(); +} + +prog_char str_strat_event_arg0[] = "strat_event"; +parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0); +prog_char str_strat_event_arg1[] = "on#off"; +parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1); + +prog_char help_strat_event[] = "Enable/disable strat_event callback"; +parse_pgm_inst_t cmd_strat_event = { + .f = cmd_strat_event_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_strat_event, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_strat_event_arg0, + (prog_void *)&cmd_strat_event_arg1, NULL, }, }; @@ -811,16 +1219,30 @@ parse_pgm_inst_t cmd_cobboard_setmode3 = { struct cmd_test_result { fixed_string_t arg0; int32_t radius; + int32_t dist; }; /* function called when cmd_test is parsed successfully */ static void cmd_test_parsed(void *parsed_result, void *data) { + strat_db.dump_enabled = 1; + strat_db_dump(__FUNCTION__); + + corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK); + strat_db_dump(__FUNCTION__); + + corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE); + strat_db_dump(__FUNCTION__); + corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE); + strat_db_dump(__FUNCTION__); + corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE); + strat_db_dump(__FUNCTION__); } 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_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32); +parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32); prog_char help_test[] = "Test function"; parse_pgm_inst_t cmd_test = { @@ -829,7 +1251,78 @@ parse_pgm_inst_t cmd_test = { .help_str = help_test, .tokens = { /* token list, NULL terminated */ (prog_void *)&cmd_test_arg0, - (prog_void *)&cmd_test_arg1, + NULL, + }, +}; + + + + +/**********************************************************/ +/* Climb */ + +/* this structure is filled when cmd_climb is parsed successfully */ +struct cmd_climb_result { + fixed_string_t arg0; + int32_t radius; + int32_t dist; +}; + + +//#define DIM_BALLS_DOWN 620 +//#define DIM_BALLS_UP 700 + +#define DIM_BALLS_DOWN 530 +#define DIM_BALLS_UP 700 + +/* function called when cmd_climb is parsed successfully */ +static void cmd_climb_parsed(void *parsed_result, void *data) +{ + uint8_t err; + + printf_P(PSTR("starting Clifenger\r\n")); + strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW ); + + trajectory_goto_xy_abs(&mainboard.traj, 250, 250); + err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST); + trajectory_a_abs(&mainboard.traj, 0); + err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST); + + + + trajectory_goto_xy_abs(&mainboard.traj, 1250, 250); + err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_DOWN, 0xFF); + printf_P(PSTR("ball_pack\r\n")); + support_balls_pack(); + err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_UP, 0xFF); + printf_P(PSTR("ball_deploy\r\n")); + support_balls_deploy(); + err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST); + + /* reach top, go down */ + trajectory_goto_xy_abs(&mainboard.traj, 250, 250); + err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)