X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fmain.c;h=31a7832ed8e111ee509bd0a61b7ecca3d349b1b8;hp=3907c2a1b9acaead51a2c2aebc0a8b746dc67c12;hb=ef732b9dd629cab8602783d77bffa2395100393a;hpb=450875fb3d6f1f6966e1b0f79af0572126eea3d3

diff --git a/projects/microb2010/tests/hostsim/main.c b/projects/microb2010/tests/hostsim/main.c
index 3907c2a..31a7832 100644
--- a/projects/microb2010/tests/hostsim/main.c
+++ b/projects/microb2010/tests/hostsim/main.c
@@ -46,6 +46,10 @@
 #include <hostsim.h>
 
 #include "cs.h"
+#include "cmdline.h"
+#include "robotsim.h"
+#include "strat.h"
+#include "strat_base.h"
 #include "main.h"
 
 struct genboard gen;
@@ -53,38 +57,47 @@ struct mainboard mainboard;
 
 int main(void)
 {
+	uart_init();
+	uart_register_rx_event(CMDLINE_UART, emergency);
+#ifndef HOST_VERSION
+	fdevopen(uart0_dev_send, uart0_dev_recv);
+	sei();
+#endif
+
+	memset(&gen, 0, sizeof(gen));
+	memset(&mainboard, 0, sizeof(mainboard));
+
+	/* LOGS */
+	error_register_emerg(mylog);
+	error_register_error(mylog);
+	error_register_warning(mylog);
+	error_register_notice(mylog);
+	error_register_debug(mylog);
+
+#ifdef CONFIG_MODULE_TIMER
+	timer_init();
+#endif
+
 	printf("init\n");
 
 	scheduler_init();
-	time_init(TIME_PRIO);
 
 	hostsim_init();
 	robotsim_init();
 
 	microb_cs_init();
 
- 	gen.logs[0] = E_USER_CS;
- 	gen.log_level = 5;
+	time_init(TIME_PRIO);
+
+	printf_P(PSTR("\r\n"));
+	printf_P(PSTR("Respect et robustesse.\r\n"));
 
 	mainboard.flags = DO_ENCODERS | DO_RS |
 		DO_POS | DO_POWER | DO_BD | DO_CS;
+	strat_reset_pos(1000, 1000, 0);
+
+	cmdline_interact();
 
-	time_wait_ms(1000);
-	printf("init\n");
-	trajectory_d_rel(&mainboard.traj, 1000);
-	time_wait_ms(1300);
-	/*
-	printf("init\n");
-	trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);
-	time_wait_ms(2000);
-	*/
-	trajectory_circle_rel(&mainboard.traj,
-			      1000, 500,
-			      500,
-			      400,
-			      0);
-
-	time_wait_ms(10000);
 	return 0;
 }