X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fmain.c;h=d36fa5f32debe6d3086fa6aa492ffd0ffa3a2120;hp=9f5a15f7addd3ae1431b6e3a4ef3cd1395c4f373;hb=1714f4ee916fca95ce24120ea6e698237913f947;hpb=1f8274e9bca0d2433f101f267b86bc70dc2ae8c4

diff --git a/projects/microb2010/tests/hostsim/main.c b/projects/microb2010/tests/hostsim/main.c
index 9f5a15f..d36fa5f 100644
--- a/projects/microb2010/tests/hostsim/main.c
+++ b/projects/microb2010/tests/hostsim/main.c
@@ -28,7 +28,6 @@
 
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -42,10 +41,15 @@
 #include <rdline.h>
 
 #include <uart.h>
+#include <clock_time.h>
 //#include <timer.h>
 #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;
@@ -53,37 +57,47 @@ struct mainboard mainboard;
 
 int main(void)
 {
-#ifndef HOST_VERSION
 	uart_init();
+	uart_register_rx_event(CMDLINE_UART, emergency);
+#ifndef HOST_VERSION
 	fdevopen(uart0_dev_send, uart0_dev_recv);
 	sei();
-#else
-	int i;
 #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
-	scheduler_init();
+
 	printf("init\n");
 
-#ifdef HOST_VERSION
-	hostsim_init();
-#endif
-	time_init(TIME_PRIO);
+	scheduler_init();
 
+	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, -90);
 
-	trajectory_d_rel(&mainboard.traj, 100);
+	cmdline_interact();
 
-	time_wait_ms(1000);
 	return 0;
 }