X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Frobotsim.c;h=7c5283576c21d25343d53360e5fde1ed7867b150;hp=d0aa3ae7ea00b7f2a7c14af014089db38f101667;hb=092caa88280f71fb58e5938114304fe2e94d6855;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index d0aa3ae..7c52835 100644
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -48,6 +48,7 @@
 #include <parse.h>
 #include <rdline.h>
 
+#include "../common/i2c_commands.h"
 #include "strat.h"
 #include "strat_utils.h"
 #include "main.h"
@@ -56,24 +57,132 @@ static int32_t l_pwm, r_pwm;
 static int32_t l_enc, r_enc;
 
 static int fdr, fdw;
+/*
+ * Debug with GDB:
+ *
+ * (gdb) handle SIGUSR1 pass
+ * Signal        Stop	Print	Pass to program	Description
+ * SIGUSR1       Yes	Yes	Yes		User defined signal 1
+ * (gdb) handle SIGUSR2 pass
+ * Signal        Stop	Print	Pass to program	Description
+ * SIGUSR2       Yes	Yes	Yes		User defined signal 2
+ * (gdb) handle SIGUSR1 noprint
+ * Signal        Stop	Print	Pass to program	Description
+ * SIGUSR1       No	No	Yes		User defined signal 1
+ * (gdb) handle SIGUSR2 noprint
+ */
 
 /* */
-#define FILTER  97
+#define FILTER  98
 #define FILTER2 (100-FILTER)
 #define SHIFT   4
 
 void robotsim_dump(void)
+{
+	char buf[BUFSIZ];
+	int len;
+	int16_t x, y, a;
+
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
+	a = position_get_a_deg_s16(&mainboard.pos);
+/* 	y = COLOR_Y(y); */
+/* 	a = COLOR_A(a); */
+
+	len = snprintf(buf, sizeof(buf), "pos=%d,%d,%d\n",
+		       x, y, a);
+	hostsim_lock();
+	write(fdw, buf, len);
+	hostsim_unlock();
+}
+
+static int8_t
+robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
 {
 	char buf[BUFSIZ];
 	int len;
 
-	len = snprintf(buf, sizeof(buf), "%d %d %d\n",
-		      position_get_x_s16(&mainboard.pos),
-		      position_get_y_s16(&mainboard.pos),
-		      position_get_a_deg_s16(&mainboard.pos));
+	ballboard.mode = cmd->mode;
+	len = snprintf(buf, sizeof(buf), "ballboard=%d\n", cmd->mode);
 	hostsim_lock();
 	write(fdw, buf, len);
 	hostsim_unlock();
+	return 0;
+}
+
+int8_t
+robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
+{
+	char buf[BUFSIZ];
+	int len;
+
+	if (side == I2C_LEFT_SIDE) {
+		if (cobboard.lspickle == flags)
+			return 0;
+		else
+			cobboard.lspickle = flags;
+	}
+	if (side == I2C_RIGHT_SIDE) {
+		if (cobboard.rspickle == flags)
+			return 0;
+		else
+			cobboard.rspickle = flags;
+	}
+
+	len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
+	hostsim_lock();
+	write(fdw, buf, len);
+	hostsim_unlock();
+	return 0;
+}
+
+static int8_t
+robotsim_i2c_ballboard(uint8_t addr, uint8_t *buf, uint8_t size)
+{
+	void *void_cmd = buf;
+
+	switch (buf[0]) {
+	case I2C_CMD_BALLBOARD_SET_MODE:
+		{
+			struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
+			robotsim_i2c_ballboard_set_mode(cmd);
+			break;
+		}
+
+	default:
+		break;
+	}
+	return 0;
+}
+
+static int8_t
+robotsim_i2c_cobboard(uint8_t addr, uint8_t *buf, uint8_t size)
+{
+	//	void *void_cmd = buf;
+
+	switch (buf[0]) {
+#if 0 /* deleted */
+	case I2C_CMD_COBBOARD_SET_MODE:
+		{
+			struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
+			robotsim_i2c_cobboard_set_mode(cmd);
+			break;
+		}
+#endif
+	default:
+		break;
+	}
+	return 0;
+}
+
+int8_t
+robotsim_i2c(uint8_t addr, uint8_t *buf, uint8_t size)
+{
+	if (addr == I2C_BALLBOARD_ADDR)
+		return robotsim_i2c_ballboard(addr, buf, size);
+	else if (addr == I2C_COBBOARD_ADDR)
+		return robotsim_i2c_cobboard(addr, buf, size);
+	return 0;
 }
 
 /* must be called periodically */
@@ -118,8 +227,8 @@ void robotsim_update(void)
 		((local_r_pwm * 1000 * FILTER2)/1000);
 
 	/* basic collision detection */
-	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
-	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
+	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
 
 	xfl = x + cos(a+a2) * d;
 	yfl = y + sin(a+a2) * d;