X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=7bf6057b52a83be8ab6cfa1b92430a9141ac5ba1;hp=ea124d3cd0ceb4fd74d2846a43394f77f40c7fac;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=e0908eab4d4b00cf19083f91a9921b3e8d0cae63 diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c index ea124d3..7bf6057 100644 --- a/projects/microb2010/mainboard/commands_traj.c +++ b/projects/microb2010/mainboard/commands_traj.c @@ -23,6 +23,7 @@ #include #include +#include #include #include #include @@ -30,7 +31,7 @@ #include #include #include -#include +#include #include #include @@ -38,6 +39,7 @@ #include #include #include +#include #include #include #include @@ -56,7 +58,6 @@ #include "cmdline.h" #include "strat_utils.h" #include "strat_base.h" -#include "strat_avoid.h" #include "strat.h" #include "../common/i2c_commands.h" #include "i2c_protocol.h" @@ -145,7 +146,7 @@ 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"; @@ -265,6 +266,9 @@ struct cmd_rs_gains_result { /* function called when cmd_rs_gains is parsed successfully */ static void cmd_rs_gains_parsed(void * parsed_result, void * data) { +#ifdef HOST_VERSION + printf("not implemented\n"); +#else struct cmd_rs_gains_result * res = parsed_result; if (!strcmp_P(res->arg1, PSTR("set"))) { @@ -273,11 +277,9 @@ static void cmd_rs_gains_parsed(void * parsed_result, void * data) rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, RIGHT_ENCODER, res->right); //en augmentant on tourne à droite } - printf_P(PSTR("rs_gains set ")); - f64_print(mainboard.rs.left_ext_gain); - printf_P(PSTR(" ")); - f64_print(mainboard.rs.right_ext_gain); - printf_P(PSTR("\r\n")); + printf_P(PSTR("rs_gains set %2.2f %2.2f\r\n"), + mainboard.rs.left_ext_gain, mainboard.rs.right_ext_gain); +#endif } prog_char str_rs_gains_arg0[] = "rs_gains"; @@ -402,6 +404,10 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data) if (!strcmp_P(res->arg1, PSTR("append"))) { res->arg2 = pt_list_len; } + if (!strcmp_P(res->arg1, PSTR("avoid_start"))) { + printf_P(PSTR("removed\r\n")); + return; + } if (!strcmp_P(res->arg1, PSTR("insert")) || !strcmp_P(res->arg1, PSTR("append"))) { @@ -441,12 +447,18 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data) printf_P(PSTR("List empty\r\n")); return; } + restart: for (i=0 ; iarg1, 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 */ + } +#if 0 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); @@ -455,9 +467,16 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data) break; } } +#endif 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 +540,7 @@ 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"; @@ -580,14 +599,24 @@ static void cmd_goto_parsed(void * parsed_result, void * data) trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3); } else if (!strcmp_P(res->arg1, PSTR("avoid"))) { +#if 0 err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF); if (err != END_TRAJ && err != END_NEAR) strat_hardstop(); +#else + printf_P(PSTR("not implemented\r\n")); + return; +#endif } else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) { +#if 0 err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF); if (err != END_TRAJ && err != END_NEAR) strat_hardstop(); +#else + printf_P(PSTR("not implemented\r\n")); + return; +#endif } else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) { trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3); @@ -673,43 +702,46 @@ static void auto_position(void) strat_get_speed(&old_spdd, &old_spda); strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST); - trajectory_d_rel(&mainboard.traj, -300); + trajectory_d_rel(&mainboard.traj, 300); err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING); if (err == END_INTR) goto intr; wait_ms(100); - strat_reset_pos(ROBOT_LENGTH/2, 0, 0); + strat_reset_pos(ROBOT_WIDTH/2, + COLOR_Y(ROBOT_HALF_LENGTH_FRONT), + COLOR_A(-90)); - trajectory_d_rel(&mainboard.traj, 120); + trajectory_d_rel(&mainboard.traj, -180); err = wait_traj_end(END_INTR|END_TRAJ); if (err == END_INTR) goto intr; - trajectory_a_rel(&mainboard.traj, COLOR_A(90)); + trajectory_a_rel(&mainboard.traj, COLOR_A(-90)); err = wait_traj_end(END_INTR|END_TRAJ); if (err == END_INTR) goto intr; - trajectory_d_rel(&mainboard.traj, -300); + trajectory_d_rel(&mainboard.traj, 300); err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING); if (err == END_INTR) goto intr; wait_ms(100); - strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2), - COLOR_A(90)); + strat_reset_pos(ROBOT_HALF_LENGTH_FRONT, + DO_NOT_SET_POS, + 180); - trajectory_d_rel(&mainboard.traj, 120); + trajectory_d_rel(&mainboard.traj, -170); err = wait_traj_end(END_INTR|END_TRAJ); if (err == END_INTR) goto intr; wait_ms(100); - - trajectory_a_rel(&mainboard.traj, COLOR_A(-40)); + + trajectory_a_rel(&mainboard.traj, COLOR_A(-110)); err = wait_traj_end(END_INTR|END_TRAJ); if (err == END_INTR) goto intr; wait_ms(100); - + strat_set_speed(old_spdd, old_spda); return; @@ -722,7 +754,7 @@ intr: static void cmd_position_parsed(void * parsed_result, void * data) { struct cmd_position_result * res = parsed_result; - + /* display raw position values */ if (!strcmp_P(res->arg1, PSTR("reset"))) { position_set(&mainboard.pos, 0, 0, 0); @@ -730,16 +762,20 @@ static void cmd_position_parsed(void * parsed_result, void * data) else if (!strcmp_P(res->arg1, PSTR("set"))) { position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4); } - else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) { - mainboard.our_color = I2C_COLOR_GREEN; - i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN); - i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN); + else if (!strcmp_P(res->arg1, PSTR("autoset_blue"))) { + mainboard.our_color = I2C_COLOR_BLUE; +#ifndef HOST_VERSION + i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE); + i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE); +#endif auto_position(); } - else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) { - mainboard.our_color = I2C_COLOR_RED; - i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED); - i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED); + else if (!strcmp_P(res->arg1, PSTR("autoset_yellow"))) { + mainboard.our_color = I2C_COLOR_YELLOW; +#ifndef HOST_VERSION + i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW); + i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW); +#endif auto_position(); } @@ -752,7 +788,7 @@ static void cmd_position_parsed(void * parsed_result, void * data) prog_char str_position_arg0[] = "position"; parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0); -prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red"; +prog_char str_position_arg1[] = "show#reset#autoset_blue#autoset_yellow"; parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1); prog_char help_position[] = "Show/reset (x,y,a) position"; @@ -840,74 +876,15 @@ struct cmd_strat_conf_result { /* function called when cmd_strat_conf is parsed successfully */ static void cmd_strat_conf_parsed(void *parsed_result, void *data) { - struct cmd_strat_conf_result *res = parsed_result; - - if (!strcmp_P(res->arg1, PSTR("base"))) { - strat_infos.conf.flags = 0; - strat_infos.conf.scan_our_min_time = 90; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 90; - strat_infos.conf.delay_between_opp_scan = 90; - } - else if (!strcmp_P(res->arg1, PSTR("big3"))) { - strat_infos.conf.flags = - STRAT_CONF_STORE_STATIC2 | - STRAT_CONF_BIG_3_TEMPLE; - strat_infos.conf.scan_our_min_time = 90; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 90; - strat_infos.conf.delay_between_opp_scan = 90; - } - else if (!strcmp_P(res->arg1, PSTR("base_check"))) { - strat_infos.conf.flags = 0; - strat_infos.conf.scan_our_min_time = 35; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 90; - strat_infos.conf.delay_between_opp_scan = 90; - } - else if (!strcmp_P(res->arg1, PSTR("big3_check"))) { - strat_infos.conf.flags = - STRAT_CONF_STORE_STATIC2 | - STRAT_CONF_BIG_3_TEMPLE; - strat_infos.conf.scan_our_min_time = 35; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 90; - strat_infos.conf.delay_between_opp_scan = 90; - } - else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) { - strat_infos.conf.flags = - STRAT_CONF_TAKE_ONE_LINTEL | - STRAT_CONF_STORE_STATIC2 | - STRAT_CONF_EARLY_SCAN | - STRAT_CONF_PUSH_OPP_COLS; - strat_infos.conf.scan_our_min_time = 50; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 15; - strat_infos.conf.delay_between_opp_scan = 90; - strat_infos.conf.wait_opponent = 5; - } - else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) { - strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL; - strat_infos.conf.scan_our_min_time = 90; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 30; - strat_infos.conf.delay_between_opp_scan = 90; - } - else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) { - strat_infos.conf.flags = - STRAT_CONF_ONLY_ONE_ON_DISC; - strat_infos.conf.scan_our_min_time = 90; - strat_infos.conf.delay_between_our_scan = 90; - strat_infos.conf.scan_opp_min_time = 90; - strat_infos.conf.delay_between_opp_scan = 90; - } + // struct cmd_strat_conf_result *res = parsed_result; + strat_infos.dump_enabled = 1; strat_dump_conf(); } prog_char str_strat_conf_arg0[] = "strat_conf"; parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0); -prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc"; +prog_char str_strat_conf_arg1[] = "show#base"; parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1); prog_char help_strat_conf[] = "configure strat options"; @@ -943,6 +920,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data) else on = 0; +#if 0 if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc"))) bit = STRAT_CONF_ONLY_ONE_ON_DISC; else if (!strcmp_P(res->arg1, PSTR("bypass_static2"))) @@ -959,6 +937,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data) bit = STRAT_CONF_EARLY_SCAN; else if (!strcmp_P(res->arg1, PSTR("push_opp_cols"))) bit = STRAT_CONF_PUSH_OPP_COLS; +#endif if (on) strat_infos.conf.flags |= bit; @@ -971,7 +950,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data) prog_char str_strat_conf2_arg0[] = "strat_conf"; parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0); -prog_char str_strat_conf2_arg1[] = "push_opp_cols#one_temple_on_disc#bypass_static2#take_one_lintel#skip_when_check_fail#store_static2#big3_temple#early_opp_scan"; +prog_char str_strat_conf2_arg1[] = "faux"; parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1); prog_char str_strat_conf2_arg2[] = "on#off"; parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2); @@ -1003,6 +982,7 @@ struct cmd_strat_conf3_result { /* function called when cmd_strat_conf3 is parsed successfully */ static void cmd_strat_conf3_parsed(void *parsed_result, void *data) { +#if 0 struct cmd_strat_conf3_result *res = parsed_result; if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) { @@ -1031,13 +1011,14 @@ static void cmd_strat_conf3_parsed(void *parsed_result, void *data) else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) { strat_infos.conf.lintel_min_time = res->arg2; } +#endif strat_infos.dump_enabled = 1; strat_dump_conf(); } prog_char str_strat_conf3_arg0[] = "strat_conf"; parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0); -prog_char str_strat_conf3_arg1[] = "lintel_min_time#scan_opponent_min_time#delay_between_opponent_scan#scan_our_min_time#delay_between_our_scan#wait_opponent"; +prog_char str_strat_conf3_arg1[] = "faux2"; parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1); parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16); @@ -1054,47 +1035,6 @@ parse_pgm_inst_t cmd_strat_conf3 = { }, }; -/**********************************************************/ -/* strat configuration */ - -/* this structure is filled when cmd_strat_conf4 is parsed successfully */ -struct cmd_strat_conf4_result { - fixed_string_t arg0; - fixed_string_t arg1; - int16_t arg2; -}; - -/* function called when cmd_strat_conf4 is parsed successfully */ -static void cmd_strat_conf4_parsed(void *parsed_result, void *data) -{ - struct cmd_strat_conf4_result *res = parsed_result; - - if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) { - strat_infos.conf.scan_opp_angle = res->arg2; - } - strat_infos.dump_enabled = 1; - strat_dump_conf(); -} - -prog_char str_strat_conf4_arg0[] = "strat_conf"; -parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0); -prog_char str_strat_conf4_arg1[] = "scan_opponent_angle"; -parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1); -parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16); - -prog_char help_strat_conf4[] = "configure strat options"; -parse_pgm_inst_t cmd_strat_conf4 = { - .f = cmd_strat_conf4_parsed, /* function to call */ - .data = NULL, /* 2nd arg of func */ - .help_str = help_strat_conf4, - .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_strat_conf4_arg0, - (prog_void *)&cmd_strat_conf4_arg1, - (prog_void *)&cmd_strat_conf4_arg2, - NULL, - }, -}; - /**********************************************************/ /* Subtraj */ @@ -1112,76 +1052,15 @@ struct cmd_subtraj_result { /* function called when cmd_subtraj is parsed successfully */ static void cmd_subtraj_parsed(void *parsed_result, void *data) { - struct cmd_subtraj_result *res = parsed_result; - uint8_t err = 0; - struct column_dispenser *disp; - - if (strcmp_P(res->arg1, PSTR("static")) == 0) { - err = strat_static_columns(res->arg2); - } - else if (strcmp_P(res->arg1, PSTR("static2")) == 0) { - strat_infos.s_cols.configuration = res->arg2; - switch (res->arg2) { - case 1: - position_set(&mainboard.pos, 1398, - COLOR_Y(1297), COLOR_A(-66)); - break; - case 2: - position_set(&mainboard.pos, 1232, - COLOR_Y(1051), COLOR_A(4)); - break; - case 3: - position_set(&mainboard.pos, 1232, - COLOR_Y(1043), COLOR_A(5)); - break; - case 4: - position_set(&mainboard.pos, 1346, - COLOR_Y(852), COLOR_A(57)); - break; - default: - return; - } - if (res->arg2 == 1 && res->arg3 == 1) { - strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE; - } - if (res->arg2 == 1 && res->arg3 == 2) { - strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE; - } - err = strat_static_columns_pass2(); - } - else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) { - err = strat_goto_lintel_disp(&strat_infos.l1); - } - else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) { - err = strat_goto_lintel_disp(&strat_infos.l2); - } - else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) { - disp = &strat_infos.c1; - err = strat_goto_col_disp(&disp); - } - else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) { - disp = &strat_infos.c2; - err = strat_goto_col_disp(&disp); - } - else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) { - disp = &strat_infos.c3; - err = strat_goto_col_disp(&disp); - } - else if (strcmp_P(res->arg1, PSTR("disc")) == 0) { - if (res->arg2 == 0) { - printf_P(PSTR("bad level\r\n")); - return; - } - err = strat_goto_disc(res->arg2); - } +/* struct cmd_subtraj_result *res = parsed_result; */ - printf_P(PSTR("substrat returned %s\r\n"), get_err(err)); + printf_P(PSTR("TODO\r\n")); trajectory_hardstop(&mainboard.traj); } prog_char str_subtraj_arg0[] = "subtraj"; parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0); -prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2"; +prog_char str_subtraj_arg1[] = "faux"; parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1); parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32); parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);