#define nothing() do {} while(0)
#define cli() do {} while(0)
#define sei() do {} while(0)
+#define reset() exit(1)
#endif /* HOST_VERSION */
/**
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
+#include <fcntl.h>
#include <string.h>
#include <pthread.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/wait.h>
+#include <termios.h>
#ifdef CONFIG_MODULE_SCHEDULER
#include <scheduler.h>
#endif
+#ifdef CONFIG_MODULE_UART
+#include <uart_host.h>
+#endif
static pthread_mutex_t mut = PTHREAD_MUTEX_INITIALIZER;
static volatile int cpt = 0;
+static struct termios oldterm;
+/* static */ int old_stdin, old_stdout;
+static int stdin_pipe[2];
+static int stdout_pipe[2];
+
+enum msg_type {
+ SCHED,
+ UART_RCV,
+ UART_SND,
+};
+
+struct message {
+ enum msg_type type;
+ char c;
+};
+static struct message g_msg;
+
#ifdef SA_SIGINFO
static void sigusr1(__attribute__((unused)) int sig,
__attribute__((unused)) siginfo_t *info,
void sigusr1(__attribute__((unused)) int sig)
#endif
{
- pthread_mutex_unlock(&mut);
+ struct message m;
+ m = g_msg;
#ifdef CONFIG_MODULE_SCHEDULER
- scheduler_interrupt();
+ if (m.type == SCHED) {
+ pthread_mutex_unlock(&mut);
+ scheduler_interrupt();
+ }
+#endif
+
+#ifdef CONFIG_MODULE_UART
+ if (m.type == UART_RCV) {
+ uart_host_rx_event(m.c);
+ pthread_mutex_unlock(&mut);
+ }
+ if (m.type == UART_SND) {
+ uart_host_tx_event(m.c);
+ pthread_mutex_unlock(&mut);
+ }
#endif
}
/* sends signal to child */
void *parent(void *arg)
{
- pthread_t *thread = arg;
+ pthread_t thread = (pthread_t)arg;
struct timeval cur_tv, prev_tv, tv_millisec;
int n;
n = 0;
}
pthread_mutex_lock(&mut);
- pthread_kill(*thread, SIGUSR1);
+ g_msg.type = SCHED;
+ pthread_kill(thread, SIGUSR1);
/* signal was acked */
tv_millisec.tv_sec = 0;
return NULL;
}
+void *hostsim_uart_stdin(void *arg)
+{
+ pthread_t thread = (pthread_t)arg;
+ int n;
+ char c;
+
+ /* read on old stdin and put it in pipe */
+ while (1) {
+ n = read(old_stdin, &c, 1);
+ if (n <= 0)
+ break;
+
+ pthread_mutex_lock(&mut);
+ g_msg.type = UART_RCV;
+ g_msg.c = c;
+ pthread_kill(thread, SIGUSR1);
+
+ write(stdin_pipe[1], &c, 1);
+ }
+ pthread_exit(NULL);
+ return NULL;
+}
+
+void *hostsim_uart_stdout(void *arg)
+{
+ pthread_t thread = (pthread_t)arg;
+ int n;
+ char c;
+
+ /* read on our pipe, and forward it to the old stdout */
+ while (1) {
+ n = read(stdout_pipe[0], &c, 1);
+ if (n <= 0)
+ break;
+
+ pthread_mutex_lock(&mut);
+ g_msg.type = UART_SND;
+ g_msg.c = c;
+ pthread_kill(thread, SIGUSR1);
+
+ write(old_stdout, &c, 1);
+ }
+ pthread_exit(NULL);
+ return NULL;
+}
+
+int hostsim_uart_init(void)
+{
+ struct termios term;
+
+ tcgetattr(0, &oldterm);
+ memcpy(&term, &oldterm, sizeof(term));
+ term.c_lflag &= ~(ICANON | ECHO | ISIG);
+ tcsetattr(0, TCSANOW, &term);
+
+ /* duplicate stdin */
+ old_stdin = dup(0);
+ if (old_stdin < 0)
+ return 1;
+
+ /* duplicate stdout */
+ old_stdout = dup(1);
+ if (old_stdout < 0)
+ return -1;
+
+ /* create 2 pipes */
+ if (pipe(stdin_pipe) < 0)
+ return -1;
+ if (pipe(stdout_pipe) < 0)
+ return -1;
+
+ /* replace file desc 0 (stdin) by our pipe */
+ if (dup2(stdin_pipe[0], 0) < 0)
+ return -1;
+ close(stdin_pipe[0]);
+
+ /* replace file desc 1 (stdout) by our pipe */
+ if (dup2(stdout_pipe[1], 1) < 0)
+ return -1;
+ close(stdout_pipe[1]);
+ setbuf(stdin, NULL);
+ setbuf(stdout, NULL);
+
+ return 0;
+}
+
int hostsim_init(void)
{
struct sigaction sigact;
- pthread_t parent_id, child_id;
+ pthread_t parent_id, child_id, child2_id, child3_id;
int ret;
parent_id = pthread_self();
return -1;
}
+#ifdef CONFIG_MODULE_UART
+ if (hostsim_uart_init())
+ return -1;
+
+ ret = pthread_create(&child2_id, NULL, hostsim_uart_stdin, (void *)parent_id);
+ if (ret) {
+ printf("pthread_create() returned %d\n", ret);
+ pthread_mutex_unlock(&mut);
+ return -1;
+ }
+ ret = pthread_create(&child3_id, NULL, hostsim_uart_stdout, (void *)parent_id);
+ if (ret) {
+ printf("pthread_create() returned %d\n", ret);
+ pthread_mutex_unlock(&mut);
+ return -1;
+ }
+#endif
+
/* register a signal handler, which is interruptible */
memset(&sigact, 0, sizeof(sigact));
sigemptyset(&sigact.sa_mask);
if (siginterrupt (SIGUSR1, 0) != 0)
return -1;
- printf("hostsim_init()\n", ret);
pthread_mutex_unlock(&mut);
return 0;
}
+
+int hostsim_exit(void)
+{
+#ifdef CONFIG_MODULE_UART
+ tcsetattr(0, TCSANOW, &oldterm);
+#endif
+ return 0;
+}
#endif /* HOST_VERSION */
*
*/
-/* initialize hostsim framework */
+/* initialize / exit hostsim framework */
int hostsim_init(void);
+int hostsim_exit(void);
/* replacement for wait_ms() */
void host_wait_ms(int ms);
TARGET = scheduler
# List C source files here. (C dependencies are automatically generated.)
-SRC = scheduler_add.c scheduler_del.c scheduler_interrupt.c scheduler_dump.c
+SRC := scheduler_add.c scheduler_del.c scheduler_interrupt.c
+SRC += scheduler_dump.c scheduler_stats.c
ifeq ($(H),1)
SRC += scheduler_host.c
else
scheduler_interrupt();
}
#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
-
-
-void scheduler_stats_dump(void)
-{
-#ifdef CONFIG_MODULE_SCHEDULER_STATS
- uint8_t i;
-
- printf_P(PSTR("alloc_fails: %"PRIu32"\r\n"), sched_stats.alloc_fails);
- printf_P(PSTR("add_event: %"PRIu32"\r\n"), sched_stats.add_event);
- printf_P(PSTR("del_event: %"PRIu32"\r\n"), sched_stats.del_event);
- printf_P(PSTR("max_stacking: %"PRIu32"\r\n"), sched_stats.max_stacking);
- for (i=0; i<SCHEDULER_NB_MAX_EVENT; i++) {
- printf_P(PSTR("task_delayed[%d]: %"PRIu32"\r\n"), i,
- sched_stats.task_delayed[i]);
- }
-#endif /* CONFIG_MODULE_SCHEDULER_STATS */
-}
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: scheduler.c,v 1.9.4.6 2009-11-08 17:33:14 zer0 Exp $
+ *
+ */
+
+#include <string.h>
+#include <stdio.h>
+#include <inttypes.h>
+
+#include <aversive/parts.h>
+#include <aversive/pgmspace.h>
+#include <aversive.h>
+
+#include <scheduler.h>
+#include <scheduler_stats.h>
+
+void scheduler_stats_dump(void)
+{
+#ifdef CONFIG_MODULE_SCHEDULER_STATS
+ uint8_t i;
+
+ printf_P(PSTR("alloc_fails: %"PRIu32"\r\n"), sched_stats.alloc_fails);
+ printf_P(PSTR("add_event: %"PRIu32"\r\n"), sched_stats.add_event);
+ printf_P(PSTR("del_event: %"PRIu32"\r\n"), sched_stats.del_event);
+ printf_P(PSTR("max_stacking: %"PRIu32"\r\n"), sched_stats.max_stacking);
+ for (i=0; i<SCHEDULER_NB_MAX_EVENT; i++) {
+ printf_P(PSTR("task_delayed[%d]: %"PRIu32"\r\n"), i,
+ sched_stats.task_delayed[i]);
+ }
+#endif /* CONFIG_MODULE_SCHEDULER_STATS */
+}
* times)
*/
-#ifndef _TIME_H_
-#define _TIME_H_
+#ifndef _CLOCK_TIME_H_
+#define _CLOCK_TIME_H_
#include <aversive.h>
typedef int32_t seconds;
typedef int32_t microseconds;
-
/** the time structure */
typedef struct
{
event *rx_event[UART_HW_NUM];
event *tx_event[UART_HW_NUM];
+void uart_host_rx_event(char c)
+{
+ /* only one uart */
+ if (rx_event[0])
+ rx_event[0](c);
+}
+
+void uart_host_tx_event(char c)
+{
+ /* only one uart */
+ if (tx_event[0])
+ tx_event[0](c);
+}
+
int8_t uart_setconf(uint8_t num, struct uart_config *u)
{
+ /* XXX todo */
return 0;
}
void uart_getconf(uint8_t num, struct uart_config *u)
{
+ return;
}
int uart_recv(uint8_t num)
return getchar();
}
+/* XXX should not wait */
+int uart_recv_nowait(uint8_t num)
+{
+ return getchar();
+}
+
int uart_send_nowait(uint8_t num, char c)
{
return putchar(c);
int uart_send(uint8_t num, char c)
{
- return put_char(c);
+ return putchar(c);
}
-
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: uart_host.c,v 1.3.4.3 2008-12-27 16:29:08 zer0 Exp $
+ *
+ */
+
+/* Olivier MATZ, Droids-corp 2004 - 2010 */
+
+void uart_host_rx_event(char c);
+void uart_host_tx_event(char c);
printf_P(PSTR("poly #%d\r\n"), i);
for (j=0; j<poly->l; j++) {
pt = &poly->pts[j];
- printf_P(PSTR(" pt #%d (%"PRIi32",%"PRIi32")\r\n"), j, pt->x, pt->y);
+ printf_P(PSTR(" pt #%d (%2.2f,%2.2f)\r\n"), j, pt->x, pt->y);
}
}
}
# CONFIG_MODULE_CIRBUF_LARGE is not set
# CONFIG_MODULE_FIXED_POINT is not set
CONFIG_MODULE_VECT2=y
-# CONFIG_MODULE_GEOMETRY is not set
+CONFIG_MODULE_GEOMETRY=y
CONFIG_MODULE_HOSTSIM=y
CONFIG_MODULE_SCHEDULER=y
# CONFIG_MODULE_SCHEDULER_STATS is not set
CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE=y
CONFIG_MODULE_TRAJECTORY_MANAGER=y
CONFIG_MODULE_BLOCKING_DETECTION_MANAGER=y
-# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
-# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
+CONFIG_MODULE_OBSTACLE_AVOIDANCE=y
+CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
#
# Control system modules
AVERSIVE_DIR = ../../../..
# List C source files here. (C dependencies are automatically generated.)
-SRC = $(TARGET).c cs.c robotsim.c
+SRC := $(TARGET).c cs.c robotsim.c cmdline.c commands.c
+SRC += commands_cs.c commands_gen.c commands_mainboard.c
+SRC += commands_traj.c strat.c strat_base.c strat_utils.c
+SRC += actuator.c strat_avoid.c
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# care about how the name is spelled on its command-line.
ASRC =
+CFLAGS += -Wall -Werror
+
-include .aversive_conf
include $(AVERSIVE_DIR)/mk/aversive_project.mk
--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: actuator.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+
+#include "main.h"
+#include "robotsim.h"
+
+void pwm_set_and_save(void *pwm, int32_t val)
+{
+ /* we need to do the saturation here, before saving the
+ * value */
+ if (val > 4095)
+ val = 4095;
+ if (val < -4095)
+ val = -4095;
+
+ if (pwm == LEFT_PWM)
+ mainboard.pwm_l = val;
+ else if (pwm == RIGHT_PWM)
+ mainboard.pwm_r = val;
+#ifdef HOST_VERSION
+ robotsim_pwm(pwm, val);
+#else
+ pwm_ng_set(pwm, val);
+#endif
+}
+
+void pickup_wheels_on(void)
+{
+ mainboard.enable_pickup_wheels = 1;
+}
+
+void pickup_wheels_off(void)
+{
+ mainboard.enable_pickup_wheels = 0;
+}
+
--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: actuator.h,v 1.2 2009-04-24 19:30:41 zer0 Exp $
+ *
+ */
+
+void pwm_set_and_save(void *pwm, int32_t val);
+void pickup_wheels_on(void);
+void pickup_wheels_off(void);
+
--- /dev/null
+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <zer0@droids-corp.org>
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: cmdline.c,v 1.7 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <hostsim.h>
+
+#include <parse.h>
+#include <rdline.h>
+#include <uart.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include "main.h"
+#include "cmdline.h"
+#include "strat_base.h"
+
+
+/******** See in commands.c for the list of commands. */
+extern parse_pgm_ctx_t main_ctx[];
+
+static void write_char(char c)
+{
+ uart_send(CMDLINE_UART, c);
+}
+
+static void
+valid_buffer(const char *buf, uint8_t size)
+{
+ int8_t ret;
+
+ /* reset CTRL-C for trajectory interruption each time we
+ * receive a new command */
+ interrupt_traj_reset();
+
+ ret = parse(main_ctx, buf);
+ if (ret == PARSE_AMBIGUOUS)
+ printf_P(PSTR("Ambiguous command\r\n"));
+ else if (ret == PARSE_NOMATCH)
+ printf_P(PSTR("Command not found\r\n"));
+ else if (ret == PARSE_BAD_ARGS)
+ printf_P(PSTR("Bad arguments\r\n"));
+}
+
+static int8_t
+complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
+ int16_t *state)
+{
+ return complete(main_ctx, buf, state, dstbuf, dstsize);
+}
+
+/* sending "pop" on cmdline uart resets the robot */
+void emergency(char c)
+{
+ static uint8_t i = 0;
+
+ /* interrupt traj here */
+ if (c == '\003')
+ interrupt_traj();
+
+ if ((i == 0 && c == 'p') ||
+ (i == 1 && c == 'o') ||
+ (i == 2 && c == 'p'))
+ i++;
+ else if ( !(i == 1 && c == 'p') )
+ i = 0;
+ if (i == 3) {
+ hostsim_exit();
+ reset();
+ }
+}
+
+/* log function, add a command to configure
+ * it dynamically */
+void mylog(struct error * e, ...)
+{
+ va_list ap;
+ // u16 stream_flags = stdout->flags;
+ uint8_t i;
+ time_h tv;
+
+ if (e->severity > ERROR_SEVERITY_ERROR) {
+ if (gen.log_level < e->severity)
+ return;
+
+ for (i=0; i<NB_LOGS+1; i++)
+ if (gen.logs[i] == e->err_num)
+ break;
+ if (i == NB_LOGS+1)
+ return;
+ }
+
+ va_start(ap, e);
+ tv = time_get_time();
+ printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
+
+ printf_P(PSTR("(%d,%d,%d) "),
+ position_get_x_s16(&mainboard.pos),
+ position_get_y_s16(&mainboard.pos),
+ position_get_a_deg_s16(&mainboard.pos));
+
+ vfprintf_P(stdout, e->text, ap);
+ printf_P(PSTR("\r\n"));
+ va_end(ap);
+ //stdout->flags = stream_flags;
+}
+
+int cmdline_interact(void)
+{
+ const char *history, *buffer;
+ int8_t ret, same = 0;
+ int16_t c;
+
+ rdline_init(&gen.rdl, write_char, valid_buffer, complete_buffer);
+ snprintf(gen.prompt, sizeof(gen.prompt), "mainboard > ");
+ rdline_newline(&gen.rdl, gen.prompt);
+
+ while (1) {
+ c = uart_recv_nowait(CMDLINE_UART);
+ if (c == -1)
+ continue;
+ ret = rdline_char_in(&gen.rdl, c);
+ if (ret != 2 && ret != 0) {
+ buffer = rdline_get_buffer(&gen.rdl);
+ history = rdline_get_history_item(&gen.rdl, 0);
+ if (history) {
+ same = !memcmp(buffer, history, strlen(history)) &&
+ buffer[strlen(history)] == '\n';
+ }
+ else
+ same = 0;
+ if (strlen(buffer) > 1 && !same)
+ rdline_add_history(&gen.rdl, buffer);
+ rdline_newline(&gen.rdl, gen.prompt);
+ }
+ }
+
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <zer0@droids-corp.org>
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: cmdline.h,v 1.4 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#define CMDLINE_UART 0
+
+/* uart rx callback for reset() */
+void emergency(char c);
+
+/* log function */
+void mylog(struct error * e, ...);
+
+/* launch cmdline */
+int cmdline_interact(void);
+
+static inline uint8_t cmdline_keypressed(void) {
+ return (uart_recv_nowait(CMDLINE_UART) != -1);
+}
+
+static inline int16_t cmdline_getchar(void) {
+ return uart_recv_nowait(CMDLINE_UART);
+}
+
+static inline uint8_t cmdline_getchar_wait(void) {
+ return uart_recv(CMDLINE_UART);
+}
--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: commands.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdlib.h>
+#include <aversive/pgmspace.h>
+#include <parse.h>
+
+/* commands_gen.c */
+extern parse_pgm_inst_t cmd_reset;
+extern parse_pgm_inst_t cmd_bootloader;
+extern parse_pgm_inst_t cmd_encoders;
+extern parse_pgm_inst_t cmd_pwm;
+extern parse_pgm_inst_t cmd_adc;
+extern parse_pgm_inst_t cmd_sensor;
+extern parse_pgm_inst_t cmd_log;
+extern parse_pgm_inst_t cmd_log_show;
+extern parse_pgm_inst_t cmd_log_type;
+extern parse_pgm_inst_t cmd_stack_space;
+extern parse_pgm_inst_t cmd_scheduler;
+
+/* commands_ax12.c */
+extern parse_pgm_inst_t cmd_baudrate;
+extern parse_pgm_inst_t cmd_uint16_read;
+extern parse_pgm_inst_t cmd_uint16_write;
+extern parse_pgm_inst_t cmd_uint8_read;
+extern parse_pgm_inst_t cmd_uint8_write;
+
+/* commands_cs.c */
+extern parse_pgm_inst_t cmd_gain;
+extern parse_pgm_inst_t cmd_gain_show;
+extern parse_pgm_inst_t cmd_speed;
+extern parse_pgm_inst_t cmd_speed_show;
+extern parse_pgm_inst_t cmd_derivate_filter;
+extern parse_pgm_inst_t cmd_derivate_filter_show;
+extern parse_pgm_inst_t cmd_consign;
+extern parse_pgm_inst_t cmd_maximum;
+extern parse_pgm_inst_t cmd_maximum_show;
+extern parse_pgm_inst_t cmd_quadramp;
+extern parse_pgm_inst_t cmd_quadramp_show;
+extern parse_pgm_inst_t cmd_cs_status;
+extern parse_pgm_inst_t cmd_blocking_i;
+extern parse_pgm_inst_t cmd_blocking_i_show;
+
+/* commands_mainboard.c */
+extern parse_pgm_inst_t cmd_event;
+extern parse_pgm_inst_t cmd_spi_test;
+extern parse_pgm_inst_t cmd_opponent;
+extern parse_pgm_inst_t cmd_opponent_set;
+extern parse_pgm_inst_t cmd_start;
+extern parse_pgm_inst_t cmd_interact;
+extern parse_pgm_inst_t cmd_color;
+extern parse_pgm_inst_t cmd_rs;
+extern parse_pgm_inst_t cmd_i2cdebug;
+extern parse_pgm_inst_t cmd_mechboard_show;
+extern parse_pgm_inst_t cmd_mechboard_setmode1;
+extern parse_pgm_inst_t cmd_mechboard_setmode2;
+extern parse_pgm_inst_t cmd_mechboard_setmode3;
+extern parse_pgm_inst_t cmd_mechboard_setmode4;
+extern parse_pgm_inst_t cmd_mechboard_setmode5;
+extern parse_pgm_inst_t cmd_pickup_wheels;
+extern parse_pgm_inst_t cmd_beacon_start;
+extern parse_pgm_inst_t cmd_pump_current;
+extern parse_pgm_inst_t cmd_build_test;
+extern parse_pgm_inst_t cmd_column_test;
+extern parse_pgm_inst_t cmd_column_test2;
+extern parse_pgm_inst_t cmd_lintel_test;
+extern parse_pgm_inst_t cmd_pickup_test;
+extern parse_pgm_inst_t cmd_scan_test;
+extern parse_pgm_inst_t cmd_scan_test2;
+extern parse_pgm_inst_t cmd_time_monitor;
+extern parse_pgm_inst_t cmd_scanner;
+extern parse_pgm_inst_t cmd_build_z1;
+#ifdef TEST_BEACON
+extern parse_pgm_inst_t cmd_beacon_opp_dump;
+#endif
+extern parse_pgm_inst_t cmd_test;
+
+/* commands_traj.c */
+extern parse_pgm_inst_t cmd_traj_speed;
+extern parse_pgm_inst_t cmd_traj_speed_show;
+extern parse_pgm_inst_t cmd_trajectory;
+extern parse_pgm_inst_t cmd_trajectory_show;
+extern parse_pgm_inst_t cmd_circle_coef;
+extern parse_pgm_inst_t cmd_circle_coef_show;
+extern parse_pgm_inst_t cmd_rs_gains;
+extern parse_pgm_inst_t cmd_rs_gains_show;
+extern parse_pgm_inst_t cmd_track;
+extern parse_pgm_inst_t cmd_track_show;
+extern parse_pgm_inst_t cmd_pt_list;
+extern parse_pgm_inst_t cmd_pt_list_append;
+extern parse_pgm_inst_t cmd_pt_list_del;
+extern parse_pgm_inst_t cmd_pt_list_show;
+extern parse_pgm_inst_t cmd_goto1;
+extern parse_pgm_inst_t cmd_goto2;
+extern parse_pgm_inst_t cmd_goto3;
+extern parse_pgm_inst_t cmd_position;
+extern parse_pgm_inst_t cmd_position_set;
+extern parse_pgm_inst_t cmd_strat_infos;
+extern parse_pgm_inst_t cmd_strat_conf;
+extern parse_pgm_inst_t cmd_strat_conf2;
+extern parse_pgm_inst_t cmd_strat_conf3;
+extern parse_pgm_inst_t cmd_strat_conf4;
+extern parse_pgm_inst_t cmd_subtraj;
+
+/* in progmem */
+parse_pgm_ctx_t main_ctx[] = {
+
+ /* commands_gen.c */
+ (parse_pgm_inst_t *)&cmd_reset,
+ (parse_pgm_inst_t *)&cmd_bootloader,
+ (parse_pgm_inst_t *)&cmd_encoders,
+ (parse_pgm_inst_t *)&cmd_pwm,
+ (parse_pgm_inst_t *)&cmd_adc,
+ (parse_pgm_inst_t *)&cmd_sensor,
+ (parse_pgm_inst_t *)&cmd_log,
+ (parse_pgm_inst_t *)&cmd_log_show,
+ (parse_pgm_inst_t *)&cmd_log_type,
+ (parse_pgm_inst_t *)&cmd_stack_space,
+ (parse_pgm_inst_t *)&cmd_scheduler,
+
+ /* commands_ax12.c */
+/* (parse_pgm_inst_t *)&cmd_baudrate, */
+/* (parse_pgm_inst_t *)&cmd_uint16_read, */
+/* (parse_pgm_inst_t *)&cmd_uint16_write, */
+/* (parse_pgm_inst_t *)&cmd_uint8_read, */
+/* (parse_pgm_inst_t *)&cmd_uint8_write, */
+
+ /* commands_cs.c */
+ (parse_pgm_inst_t *)&cmd_gain,
+ (parse_pgm_inst_t *)&cmd_gain_show,
+ (parse_pgm_inst_t *)&cmd_speed,
+ (parse_pgm_inst_t *)&cmd_speed_show,
+ (parse_pgm_inst_t *)&cmd_consign,
+ (parse_pgm_inst_t *)&cmd_derivate_filter,
+ (parse_pgm_inst_t *)&cmd_derivate_filter_show,
+ (parse_pgm_inst_t *)&cmd_maximum,
+ (parse_pgm_inst_t *)&cmd_maximum_show,
+ (parse_pgm_inst_t *)&cmd_quadramp,
+ (parse_pgm_inst_t *)&cmd_quadramp_show,
+ (parse_pgm_inst_t *)&cmd_cs_status,
+ (parse_pgm_inst_t *)&cmd_blocking_i,
+ (parse_pgm_inst_t *)&cmd_blocking_i_show,
+
+ /* commands_mainboard.c */
+ (parse_pgm_inst_t *)&cmd_event,
+ (parse_pgm_inst_t *)&cmd_spi_test,
+ (parse_pgm_inst_t *)&cmd_opponent,
+ (parse_pgm_inst_t *)&cmd_opponent_set,
+ (parse_pgm_inst_t *)&cmd_start,
+ (parse_pgm_inst_t *)&cmd_interact,
+ (parse_pgm_inst_t *)&cmd_color,
+ (parse_pgm_inst_t *)&cmd_rs,
+ (parse_pgm_inst_t *)&cmd_i2cdebug,
+ (parse_pgm_inst_t *)&cmd_mechboard_show,
+ (parse_pgm_inst_t *)&cmd_mechboard_setmode1,
+ (parse_pgm_inst_t *)&cmd_mechboard_setmode2,
+ (parse_pgm_inst_t *)&cmd_mechboard_setmode3,
+ (parse_pgm_inst_t *)&cmd_mechboard_setmode4,
+ (parse_pgm_inst_t *)&cmd_mechboard_setmode5,
+ (parse_pgm_inst_t *)&cmd_pickup_wheels,
+ (parse_pgm_inst_t *)&cmd_beacon_start,
+ (parse_pgm_inst_t *)&cmd_pump_current,
+ (parse_pgm_inst_t *)&cmd_build_test,
+ (parse_pgm_inst_t *)&cmd_column_test,
+ (parse_pgm_inst_t *)&cmd_column_test2,
+ (parse_pgm_inst_t *)&cmd_lintel_test,
+ (parse_pgm_inst_t *)&cmd_pickup_test,
+ (parse_pgm_inst_t *)&cmd_scan_test,
+ (parse_pgm_inst_t *)&cmd_scan_test2,
+ (parse_pgm_inst_t *)&cmd_time_monitor,
+ (parse_pgm_inst_t *)&cmd_scanner,
+ (parse_pgm_inst_t *)&cmd_build_z1,
+#ifdef TEST_BEACON
+ (parse_pgm_inst_t *)&cmd_beacon_opp_dump,
+#endif
+ (parse_pgm_inst_t *)&cmd_test,
+
+ /* commands_traj.c */
+ (parse_pgm_inst_t *)&cmd_traj_speed,
+ (parse_pgm_inst_t *)&cmd_traj_speed_show,
+ (parse_pgm_inst_t *)&cmd_trajectory,
+ (parse_pgm_inst_t *)&cmd_trajectory_show,
+ (parse_pgm_inst_t *)&cmd_circle_coef,
+ (parse_pgm_inst_t *)&cmd_circle_coef_show,
+ (parse_pgm_inst_t *)&cmd_rs_gains,
+ (parse_pgm_inst_t *)&cmd_rs_gains_show,
+ (parse_pgm_inst_t *)&cmd_track,
+ (parse_pgm_inst_t *)&cmd_track_show,
+ (parse_pgm_inst_t *)&cmd_pt_list,
+ (parse_pgm_inst_t *)&cmd_pt_list_append,
+ (parse_pgm_inst_t *)&cmd_pt_list_del,
+ (parse_pgm_inst_t *)&cmd_pt_list_show,
+ (parse_pgm_inst_t *)&cmd_goto1,
+ (parse_pgm_inst_t *)&cmd_goto2,
+ (parse_pgm_inst_t *)&cmd_position,
+ (parse_pgm_inst_t *)&cmd_position_set,
+ (parse_pgm_inst_t *)&cmd_strat_infos,
+ (parse_pgm_inst_t *)&cmd_strat_conf,
+ (parse_pgm_inst_t *)&cmd_strat_conf2,
+ (parse_pgm_inst_t *)&cmd_strat_conf3,
+ (parse_pgm_inst_t *)&cmd_strat_conf4,
+ (parse_pgm_inst_t *)&cmd_subtraj,
+ NULL,
+};
--- /dev/null
+/*
+ * Copyright Droids Corporation (2008)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: commands_cs.c,v 1.4 2009-05-02 10:08:09 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <hostsim.h>
+#include <uart.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "main.h"
+#include "cs.h"
+#include "cmdline.h"
+
+struct csb_list {
+ const prog_char *name;
+ struct cs_block *csb;
+};
+
+prog_char csb_angle_str[] = "angle";
+prog_char csb_distance_str[] = "distance";
+struct csb_list csb_list[] = {
+ { .name = csb_angle_str, .csb = &mainboard.angle },
+ { .name = csb_distance_str, .csb = &mainboard.distance },
+};
+
+struct cmd_cs_result {
+ fixed_string_t cmdname;
+ fixed_string_t csname;
+};
+
+/* token to be used for all cs-related commands */
+prog_char str_csb_name[] = "angle#distance";
+parse_pgm_token_string_t cmd_csb_name_tok = TOKEN_STRING_INITIALIZER(struct cmd_cs_result, csname, str_csb_name);
+
+struct cs_block *cs_from_name(const char *name)
+{
+ int i;
+
+ for (i=0; i<(sizeof(csb_list)/sizeof(*csb_list)); i++) {
+ if (!strcmp_P(name, csb_list[i].name))
+ return csb_list[i].csb;
+ }
+ return NULL;
+}
+
+/**********************************************************/
+/* Gains for control system */
+
+/* this structure is filled when cmd_gain is parsed successfully */
+struct cmd_gain_result {
+ struct cmd_cs_result cs;
+ int16_t p;
+ int16_t i;
+ int16_t d;
+};
+
+/* function called when cmd_gain is parsed successfully */
+static void cmd_gain_parsed(void * parsed_result, void *show)
+{
+ struct cmd_gain_result *res = parsed_result;
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+ if (!show)
+ pid_set_gains(&csb->pid, res->p, res->i, res->d);
+
+ printf_P(PSTR("%s %s %d %d %d\r\n"),
+ res->cs.cmdname,
+ res->cs.csname,
+ pid_get_gain_P(&csb->pid),
+ pid_get_gain_I(&csb->pid),
+ pid_get_gain_D(&csb->pid));
+}
+
+prog_char str_gain_arg0[] = "gain";
+parse_pgm_token_string_t cmd_gain_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_gain_result, cs.cmdname, str_gain_arg0);
+parse_pgm_token_num_t cmd_gain_p = TOKEN_NUM_INITIALIZER(struct cmd_gain_result, p, INT16);
+parse_pgm_token_num_t cmd_gain_i = TOKEN_NUM_INITIALIZER(struct cmd_gain_result, i, INT16);
+parse_pgm_token_num_t cmd_gain_d = TOKEN_NUM_INITIALIZER(struct cmd_gain_result, d, INT16);
+
+prog_char help_gain[] = "Set gain values for PID";
+parse_pgm_inst_t cmd_gain = {
+ .f = cmd_gain_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_gain,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_gain_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_gain_p,
+ (prog_void *)&cmd_gain_i,
+ (prog_void *)&cmd_gain_d,
+ NULL,
+ },
+};
+
+/* show */
+/* this structure is filled when cmd_gain is parsed successfully */
+struct cmd_gain_show_result {
+ struct cmd_cs_result cs;
+ fixed_string_t show;
+};
+
+prog_char str_gain_show_arg[] = "show";
+parse_pgm_token_string_t cmd_gain_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_gain_show_result, show, str_gain_show_arg);
+
+prog_char help_gain_show[] = "Show gain values for PID";
+parse_pgm_inst_t cmd_gain_show = {
+ .f = cmd_gain_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_gain_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_gain_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_gain_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Speeds for control system */
+
+/* this structure is filled when cmd_speed is parsed successfully */
+struct cmd_speed_result {
+ struct cmd_cs_result cs;
+ uint16_t s;
+};
+
+/* function called when cmd_speed is parsed successfully */
+static void cmd_speed_parsed(void *parsed_result, void *show)
+{
+ struct cmd_speed_result * res = parsed_result;
+
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+#if notyet
+ if (!show)
+ ramp_set_vars(&csb->ramp, res->s, res->s); /* set speed */
+
+ printf_P(PSTR("%s %"PRIu32"\r\n"),
+ res->cs.csname,
+ ext.r_b.var_pos);
+#else
+ printf_P(PSTR("TODO\r\n"));
+#endif
+}
+
+prog_char str_speed_arg0[] = "speed";
+parse_pgm_token_string_t cmd_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_speed_result, cs.cmdname, str_speed_arg0);
+parse_pgm_token_num_t cmd_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_speed_result, s, UINT16);
+
+prog_char help_speed[] = "Set speed values for ramp filter";
+parse_pgm_inst_t cmd_speed = {
+ .f = cmd_speed_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_speed,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_speed_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_speed_s,
+ NULL,
+ },
+};
+
+/* show */
+struct cmd_speed_show_result {
+ struct cmd_cs_result cs;
+ fixed_string_t show;
+};
+
+prog_char str_speed_show_arg[] = "show";
+parse_pgm_token_string_t cmd_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_speed_show_result, show, str_speed_show_arg);
+
+prog_char help_speed_show[] = "Show speed values for ramp filter";
+parse_pgm_inst_t cmd_speed_show = {
+ .f = cmd_speed_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_speed_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_speed_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_speed_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Derivate_Filters for control system */
+
+/* this structure is filled when cmd_derivate_filter is parsed successfully */
+struct cmd_derivate_filter_result {
+ struct cmd_cs_result cs;
+ uint8_t size;
+};
+
+/* function called when cmd_derivate_filter is parsed successfully */
+static void cmd_derivate_filter_parsed(void *parsed_result, void *show)
+{
+ struct cmd_derivate_filter_result * res = parsed_result;
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+ if (!show)
+ pid_set_derivate_filter(&csb->pid, res->size);
+
+ printf_P(PSTR("%s %s %u\r\n"),
+ res->cs.cmdname,
+ res->cs.csname,
+ pid_get_derivate_filter(&csb->pid));
+}
+
+prog_char str_derivate_filter_arg0[] = "derivate_filter";
+parse_pgm_token_string_t cmd_derivate_filter_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_derivate_filter_result, cs.cmdname, str_derivate_filter_arg0);
+parse_pgm_token_num_t cmd_derivate_filter_size = TOKEN_NUM_INITIALIZER(struct cmd_derivate_filter_result, size, UINT32);
+
+prog_char help_derivate_filter[] = "Set derivate_filter values for PID (in, I, out)";
+parse_pgm_inst_t cmd_derivate_filter = {
+ .f = cmd_derivate_filter_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_derivate_filter,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_derivate_filter_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_derivate_filter_size,
+ NULL,
+ },
+};
+
+/* show */
+
+struct cmd_derivate_filter_show_result {
+ struct cmd_cs_result cs;
+ fixed_string_t show;
+};
+
+prog_char str_derivate_filter_show_arg[] = "show";
+parse_pgm_token_string_t cmd_derivate_filter_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_derivate_filter_show_result, show, str_derivate_filter_show_arg);
+
+prog_char help_derivate_filter_show[] = "Show derivate_filter values for PID";
+parse_pgm_inst_t cmd_derivate_filter_show = {
+ .f = cmd_derivate_filter_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_derivate_filter_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_derivate_filter_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_derivate_filter_show_arg,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Consign for control system */
+
+/* this structure is filled when cmd_consign is parsed successfully */
+struct cmd_consign_result {
+ struct cmd_cs_result cs;
+ int32_t p;
+};
+
+/* function called when cmd_consign is parsed successfully */
+static void cmd_consign_parsed(void * parsed_result, void *data)
+{
+ struct cmd_consign_result * res = parsed_result;
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+ cs_set_consign(&csb->cs, res->p);
+}
+
+prog_char str_consign_arg0[] = "consign";
+parse_pgm_token_string_t cmd_consign_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_consign_result, cs.cmdname, str_consign_arg0);
+parse_pgm_token_num_t cmd_consign_p = TOKEN_NUM_INITIALIZER(struct cmd_consign_result, p, INT32);
+
+prog_char help_consign[] = "Set consign value";
+parse_pgm_inst_t cmd_consign = {
+ .f = cmd_consign_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_consign,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_consign_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_consign_p,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Maximums for control system */
+
+/* this structure is filled when cmd_maximum is parsed successfully */
+struct cmd_maximum_result {
+ struct cmd_cs_result cs;
+ uint32_t in;
+ uint32_t i;
+ uint32_t out;
+};
+
+/* function called when cmd_maximum is parsed successfully */
+static void cmd_maximum_parsed(void *parsed_result, void *show)
+{
+ struct cmd_maximum_result * res = parsed_result;
+
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+ if (!show)
+ pid_set_maximums(&csb->pid, res->in, res->i, res->out);
+
+ printf_P(PSTR("maximum %s %"PRIu32" %"PRIu32" %"PRIu32"\r\n"),
+ res->cs.csname,
+ pid_get_max_in(&csb->pid),
+ pid_get_max_I(&csb->pid),
+ pid_get_max_out(&csb->pid));
+}
+
+prog_char str_maximum_arg0[] = "maximum";
+parse_pgm_token_string_t cmd_maximum_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_maximum_result, cs.cmdname, str_maximum_arg0);
+parse_pgm_token_num_t cmd_maximum_in = TOKEN_NUM_INITIALIZER(struct cmd_maximum_result, in, UINT32);
+parse_pgm_token_num_t cmd_maximum_i = TOKEN_NUM_INITIALIZER(struct cmd_maximum_result, i, UINT32);
+parse_pgm_token_num_t cmd_maximum_out = TOKEN_NUM_INITIALIZER(struct cmd_maximum_result, out, UINT32);
+
+prog_char help_maximum[] = "Set maximum values for PID (in, I, out)";
+parse_pgm_inst_t cmd_maximum = {
+ .f = cmd_maximum_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_maximum,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_maximum_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_maximum_in,
+ (prog_void *)&cmd_maximum_i,
+ (prog_void *)&cmd_maximum_out,
+ NULL,
+ },
+};
+
+/* show */
+
+/* this structure is filled when cmd_maximum is parsed successfully */
+struct cmd_maximum_show_result {
+ struct cmd_cs_result cs;
+ fixed_string_t show;
+};
+prog_char str_maximum_show_arg[] = "show";
+parse_pgm_token_string_t cmd_maximum_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_maximum_show_result, show, str_maximum_show_arg);
+
+prog_char help_maximum_show[] = "Show maximum values for PID";
+parse_pgm_inst_t cmd_maximum_show = {
+ .f = cmd_maximum_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_maximum_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_maximum_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_maximum_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Quadramp for control system */
+
+/* this structure is filled when cmd_quadramp is parsed successfully */
+struct cmd_quadramp_result {
+ struct cmd_cs_result cs;
+ uint32_t ap;
+ uint32_t an;
+ uint32_t sp;
+ uint32_t sn;
+};
+
+/* function called when cmd_quadramp is parsed successfully */
+static void cmd_quadramp_parsed(void *parsed_result, void *show)
+{
+ struct cmd_quadramp_result * res = parsed_result;
+
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+ if (!show) {
+ quadramp_set_1st_order_vars(&csb->qr, res->sp, res->sn);
+ quadramp_set_2nd_order_vars(&csb->qr, res->ap, res->an);
+ }
+
+ printf_P(PSTR("quadramp %s %"PRIi32" %"PRIi32" %"PRIi32" %"PRIi32"\r\n"),
+ res->cs.csname,
+ csb->qr.var_2nd_ord_pos,
+ csb->qr.var_2nd_ord_neg,
+ csb->qr.var_1st_ord_pos,
+ csb->qr.var_1st_ord_neg);
+}
+
+prog_char str_quadramp_arg0[] = "quadramp";
+parse_pgm_token_string_t cmd_quadramp_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_quadramp_result, cs.cmdname, str_quadramp_arg0);
+parse_pgm_token_num_t cmd_quadramp_ap = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, ap, UINT32);
+parse_pgm_token_num_t cmd_quadramp_an = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, an, UINT32);
+parse_pgm_token_num_t cmd_quadramp_sp = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sp, UINT32);
+parse_pgm_token_num_t cmd_quadramp_sn = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sn, UINT32);
+
+prog_char help_quadramp[] = "Set quadramp values (acc+, acc-, speed+, speed-)";
+parse_pgm_inst_t cmd_quadramp = {
+ .f = cmd_quadramp_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_quadramp,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_quadramp_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_quadramp_ap,
+ (prog_void *)&cmd_quadramp_an,
+ (prog_void *)&cmd_quadramp_sp,
+ (prog_void *)&cmd_quadramp_sn,
+
+ NULL,
+ },
+};
+
+/* show */
+
+struct cmd_quadramp_show_result {
+ struct cmd_cs_result cs;
+ fixed_string_t show;
+};
+
+prog_char str_quadramp_show_arg[] = "show";
+parse_pgm_token_string_t cmd_quadramp_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_quadramp_show_result, show, str_quadramp_show_arg);
+
+prog_char help_quadramp_show[] = "Get quadramp values for control system";
+parse_pgm_inst_t cmd_quadramp_show = {
+ .f = cmd_quadramp_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_quadramp_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_quadramp_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_quadramp_show_arg,
+ NULL,
+ },
+};
+
+
+
+/**********************************************************/
+/* cs_status show for control system */
+
+/* this structure is filled when cmd_cs_status is parsed successfully */
+struct cmd_cs_status_result {
+ struct cmd_cs_result cs;
+ fixed_string_t arg;
+};
+
+/* function called when cmd_cs_status is parsed successfully */
+static void cmd_cs_status_parsed(void *parsed_result, void *data)
+{
+ struct cmd_cs_status_result *res = parsed_result;
+ struct cs_block *csb;
+ uint8_t loop = 0;
+ uint8_t print_pid = 0, print_cs = 0;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+ if (strcmp_P(res->arg, PSTR("on")) == 0) {
+ csb->on = 1;
+ printf_P(PSTR("%s is on\r\n"), res->cs.csname);
+ return;
+ }
+ else if (strcmp_P(res->arg, PSTR("off")) == 0) {
+ csb->on = 0;
+ printf_P(PSTR("%s is off\r\n"), res->cs.csname);
+ return;
+ }
+ else if (strcmp_P(res->arg, PSTR("show")) == 0) {
+ print_cs = 1;
+ }
+ else if (strcmp_P(res->arg, PSTR("loop_show")) == 0) {
+ loop = 1;
+ print_cs = 1;
+ }
+ else if (strcmp_P(res->arg, PSTR("pid_show")) == 0) {
+ print_pid = 1;
+ }
+ else if (strcmp_P(res->arg, PSTR("pid_loop_show")) == 0) {
+ print_pid = 1;
+ loop = 1;
+ }
+
+ printf_P(PSTR("%s cs is %s\r\n"), res->cs.csname, csb->on ? "on":"off");
+ do {
+ if (print_cs)
+ dump_cs(res->cs.csname, &csb->cs);
+ if (print_pid)
+ dump_pid(res->cs.csname, &csb->pid);
+ wait_ms(100);
+ } while(loop && !cmdline_keypressed());
+}
+
+prog_char str_cs_status_arg0[] = "cs_status";
+parse_pgm_token_string_t cmd_cs_status_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cs_status_result, cs.cmdname, str_cs_status_arg0);
+prog_char str_cs_status_arg[] = "pid_show#pid_loop_show#show#loop_show#on#off";
+parse_pgm_token_string_t cmd_cs_status_arg = TOKEN_STRING_INITIALIZER(struct cmd_cs_status_result, arg, str_cs_status_arg);
+
+prog_char help_cs_status[] = "Show cs status";
+parse_pgm_inst_t cmd_cs_status = {
+ .f = cmd_cs_status_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_cs_status,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_cs_status_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_cs_status_arg,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Blocking_I for control system */
+
+/* this structure is filled when cmd_blocking_i is parsed successfully */
+struct cmd_blocking_i_result {
+ struct cmd_cs_result cs;
+ int32_t k1;
+ int32_t k2;
+ uint32_t i;
+ uint16_t cpt;
+};
+
+/* function called when cmd_blocking_i is parsed successfully */
+static void cmd_blocking_i_parsed(void *parsed_result, void *show)
+{
+ struct cmd_blocking_i_result * res = parsed_result;
+
+ struct cs_block *csb;
+
+ csb = cs_from_name(res->cs.csname);
+ if (csb == NULL) {
+ printf_P(PSTR("null csb\r\n"));
+ return;
+ }
+
+ if (!show)
+ bd_set_current_thresholds(&csb->bd, res->k1, res->k2,
+ res->i, res->cpt);
+
+ printf_P(PSTR("%s %s %"PRIi32" %"PRIi32" %"PRIi32" %d\r\n"),
+ res->cs.cmdname,
+ res->cs.csname,
+ csb->bd.k1,
+ csb->bd.k2,
+ csb->bd.i_thres,
+ csb->bd.cpt_thres);
+}
+
+prog_char str_blocking_i_arg0[] = "blocking";
+parse_pgm_token_string_t cmd_blocking_i_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_blocking_i_result, cs.cmdname, str_blocking_i_arg0);
+parse_pgm_token_num_t cmd_blocking_i_k1 = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, k1, INT32);
+parse_pgm_token_num_t cmd_blocking_i_k2 = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, k2, INT32);
+parse_pgm_token_num_t cmd_blocking_i_i = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, i, UINT32);
+parse_pgm_token_num_t cmd_blocking_i_cpt = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, cpt, UINT16);
+
+prog_char help_blocking_i[] = "Set blocking detection values (k1, k2, i, cpt)";
+parse_pgm_inst_t cmd_blocking_i = {
+ .f = cmd_blocking_i_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_blocking_i,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_blocking_i_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_blocking_i_k1,
+ (prog_void *)&cmd_blocking_i_k2,
+ (prog_void *)&cmd_blocking_i_i,
+ (prog_void *)&cmd_blocking_i_cpt,
+ NULL,
+ },
+};
+
+/* show */
+
+struct cmd_blocking_i_show_result {
+ struct cmd_cs_result cs;
+ fixed_string_t show;
+};
+
+prog_char str_blocking_i_show_arg[] = "show";
+parse_pgm_token_string_t cmd_blocking_i_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_blocking_i_show_result, show, str_blocking_i_show_arg);
+
+prog_char help_blocking_i_show[] = "Show blocking detection values";
+parse_pgm_inst_t cmd_blocking_i_show = {
+ .f = cmd_blocking_i_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_blocking_i_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_blocking_i_arg0,
+ (prog_void *)&cmd_csb_name_tok,
+ (prog_void *)&cmd_blocking_i_show_arg,
+ NULL,
+ },
+};
+
+
--- /dev/null
+/*
+ * Copyright Droids Corporation (2008)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: commands_gen.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <hostsim.h>
+#include <uart.h>
+#include <time.h>
+
+#include <scheduler.h>
+#include <scheduler_stats.h>
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "main.h"
+#include "cmdline.h"
+
+/**********************************************************/
+/* Reset */
+
+/* this structure is filled when cmd_reset is parsed successfully */
+struct cmd_reset_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_reset is parsed successfully */
+static void cmd_reset_parsed(void * parsed_result, void * data)
+{
+#ifdef HOST_VERSION
+ hostsim_exit();
+#endif
+ reset();
+}
+
+prog_char str_reset_arg0[] = "reset";
+parse_pgm_token_string_t cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
+
+prog_char help_reset[] = "Reset the board";
+parse_pgm_inst_t cmd_reset = {
+ .f = cmd_reset_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_reset,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_reset_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Bootloader */
+
+/* this structure is filled when cmd_bootloader is parsed successfully */
+struct cmd_bootloader_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_bootloader is parsed successfully */
+static void cmd_bootloader_parsed(void *parsed_result, void *data)
+{
+#ifndef HOST_VERSION
+ bootloader();
+#else
+ printf("not implemented\n");
+#endif
+}
+
+prog_char str_bootloader_arg0[] = "bootloader";
+parse_pgm_token_string_t cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_bootloader_result, arg0, str_bootloader_arg0);
+
+prog_char help_bootloader[] = "Launch the bootloader";
+parse_pgm_inst_t cmd_bootloader = {
+ .f = cmd_bootloader_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_bootloader,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_bootloader_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Encoders tests */
+
+/* this structure is filled when cmd_encoders is parsed successfully */
+struct cmd_encoders_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_encoders is parsed successfully */
+static void cmd_encoders_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_encoders_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("reset"))) {
+ encoders_spi_set_value((void *)0, 0);
+ encoders_spi_set_value((void *)1, 0);
+ encoders_spi_set_value((void *)2, 0);
+ encoders_spi_set_value((void *)3, 0);
+ return;
+ }
+
+ /* show */
+ while(!cmdline_keypressed()) {
+ printf_P(PSTR("% .8ld % .8ld % .8ld % .8ld\r\n"),
+ encoders_spi_get_value((void *)0),
+ encoders_spi_get_value((void *)1),
+ encoders_spi_get_value((void *)2),
+ encoders_spi_get_value((void *)3));
+ wait_ms(100);
+ }
+#endif
+}
+
+prog_char str_encoders_arg0[] = "encoders";
+parse_pgm_token_string_t cmd_encoders_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg0, str_encoders_arg0);
+prog_char str_encoders_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_encoders_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg1, str_encoders_arg1);
+
+prog_char help_encoders[] = "Show encoders values";
+parse_pgm_inst_t cmd_encoders = {
+ .f = cmd_encoders_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_encoders,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_encoders_arg0,
+ (prog_void *)&cmd_encoders_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Scheduler show */
+
+/* this structure is filled when cmd_scheduler is parsed successfully */
+struct cmd_scheduler_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_scheduler is parsed successfully */
+static void cmd_scheduler_parsed(void *parsed_result, void *data)
+{
+ scheduler_dump_events();
+ scheduler_stats_dump();
+}
+
+prog_char str_scheduler_arg0[] = "scheduler";
+parse_pgm_token_string_t cmd_scheduler_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg0, str_scheduler_arg0);
+prog_char str_scheduler_arg1[] = "show";
+parse_pgm_token_string_t cmd_scheduler_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg1, str_scheduler_arg1);
+
+prog_char help_scheduler[] = "Show scheduler events";
+parse_pgm_inst_t cmd_scheduler = {
+ .f = cmd_scheduler_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_scheduler,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_scheduler_arg0,
+ (prog_void *)&cmd_scheduler_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Pwms tests */
+
+/* this structure is filled when cmd_pwm is parsed successfully */
+struct cmd_pwm_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int16_t arg2;
+};
+
+/* function called when cmd_pwm is parsed successfully */
+static void cmd_pwm_parsed(void * parsed_result, void * data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ void * pwm_ptr = NULL;
+ struct cmd_pwm_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("1(4A)")))
+ pwm_ptr = &gen.pwm1_4A;
+ else if (!strcmp_P(res->arg1, PSTR("2(4B)")))
+ pwm_ptr = &gen.pwm2_4B;
+ else if (!strcmp_P(res->arg1, PSTR("3(1A)")))
+ pwm_ptr = &gen.pwm3_1A;
+ else if (!strcmp_P(res->arg1, PSTR("4(1B)")))
+ pwm_ptr = &gen.pwm4_1B;
+
+ else if (!strcmp_P(res->arg1, PSTR("s1(3C)")))
+ pwm_ptr = &gen.servo1;
+ else if (!strcmp_P(res->arg1, PSTR("s2(5A)")))
+ pwm_ptr = &gen.servo2;
+ else if (!strcmp_P(res->arg1, PSTR("s3(5B)")))
+ pwm_ptr = &gen.servo3;
+ else if (!strcmp_P(res->arg1, PSTR("s3(5C)")))
+ pwm_ptr = &gen.servo4;
+
+ if (pwm_ptr)
+ pwm_ng_set(pwm_ptr, res->arg2);
+
+ printf_P(PSTR("done\r\n"));
+#endif
+}
+
+prog_char str_pwm_arg0[] = "pwm";
+parse_pgm_token_string_t cmd_pwm_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg0, str_pwm_arg0);
+prog_char str_pwm_arg1[] = "1(4A)#2(4B)#3(1A)#4(1B)#s1(3C)#s2(5A)#s3(5B)#s4(5C)";
+parse_pgm_token_string_t cmd_pwm_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg1, str_pwm_arg1);
+parse_pgm_token_num_t cmd_pwm_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pwm_result, arg2, INT16);
+
+prog_char help_pwm[] = "Set pwm values [-4096 ; 4095]";
+parse_pgm_inst_t cmd_pwm = {
+ .f = cmd_pwm_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pwm,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pwm_arg0,
+ (prog_void *)&cmd_pwm_arg1,
+ (prog_void *)&cmd_pwm_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Adcs tests */
+
+/* this structure is filled when cmd_adc is parsed successfully */
+struct cmd_adc_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_adc is parsed successfully */
+static void cmd_adc_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_adc_result *res = parsed_result;
+ uint8_t i, loop = 0;
+
+ if (!strcmp_P(res->arg1, PSTR("loop_show")))
+ loop = 1;
+
+ do {
+ printf_P(PSTR("ADC values: "));
+ for (i=0; i<ADC_MAX; i++) {
+ printf_P(PSTR("%.4d "), sensor_get_adc(i));
+ }
+ printf_P(PSTR("\r\n"));
+ wait_ms(100);
+ } while (loop && !cmdline_keypressed());
+#endif
+}
+
+prog_char str_adc_arg0[] = "adc";
+parse_pgm_token_string_t cmd_adc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg0, str_adc_arg0);
+prog_char str_adc_arg1[] = "show#loop_show";
+parse_pgm_token_string_t cmd_adc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg1, str_adc_arg1);
+
+prog_char help_adc[] = "Show adc values";
+parse_pgm_inst_t cmd_adc = {
+ .f = cmd_adc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_adc,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_adc_arg0,
+ (prog_void *)&cmd_adc_arg1,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Sensors tests */
+
+/* this structure is filled when cmd_sensor is parsed successfully */
+struct cmd_sensor_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_sensor is parsed successfully */
+static void cmd_sensor_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_sensor_result *res = parsed_result;
+ uint8_t i, loop = 0;
+
+ if (!strcmp_P(res->arg1, PSTR("loop_show")))
+ loop = 1;
+
+ do {
+ printf_P(PSTR("SENSOR values: "));
+ for (i=0; i<SENSOR_MAX; i++) {
+ printf_P(PSTR("%d "), !!sensor_get(i));
+ }
+ printf_P(PSTR("\r\n"));
+ wait_ms(100);
+ } while (loop && !cmdline_keypressed());
+#endif
+}
+
+prog_char str_sensor_arg0[] = "sensor";
+parse_pgm_token_string_t cmd_sensor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg0, str_sensor_arg0);
+prog_char str_sensor_arg1[] = "show#loop_show";
+parse_pgm_token_string_t cmd_sensor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg1, str_sensor_arg1);
+
+prog_char help_sensor[] = "Show sensor values";
+parse_pgm_inst_t cmd_sensor = {
+ .f = cmd_sensor_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_sensor,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_sensor_arg0,
+ (prog_void *)&cmd_sensor_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Log */
+
+/* this structure is filled when cmd_log is parsed successfully */
+struct cmd_log_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t arg2;
+ fixed_string_t arg3;
+};
+
+/* keep it sync with string choice */
+static const prog_char uart_log[] = "uart";
+static const prog_char rs_log[] = "rs";
+static const prog_char traj_log[] = "traj";
+static const prog_char i2c_log[] = "i2c";
+static const prog_char oa_log[] = "oa";
+static const prog_char strat_log[] = "strat";
+static const prog_char i2cproto_log[] = "i2cproto";
+static const prog_char sensor_log[] = "sensor";
+static const prog_char block_log[] = "bd";
+static const prog_char cs_log[] = "cs";
+
+struct log_name_and_num {
+ const prog_char * name;
+ uint8_t num;
+};
+
+static const struct log_name_and_num log_name_and_num[] = {
+ { uart_log, E_UART },
+ { rs_log, E_ROBOT_SYSTEM },
+ { traj_log, E_TRAJECTORY },
+ { i2c_log, E_I2C },
+ { oa_log, E_OA },
+ { strat_log, E_USER_STRAT },
+ { i2cproto_log, E_USER_I2C_PROTO },
+ { sensor_log, E_USER_SENSOR },
+ { block_log, E_BLOCKING_DETECTION_MANAGER },
+ { cs_log, E_USER_CS },
+};
+
+static uint8_t
+log_name2num(const char * s)
+{
+ uint8_t i;
+
+ for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
+ if (!strcmp_P(s, log_name_and_num[i].name)) {
+ return log_name_and_num[i].num;
+ }
+ }
+ return 0;
+}
+
+const prog_char *
+log_num2name(uint8_t num)
+{
+ uint8_t i;
+
+ for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
+ if (num == log_name_and_num[i].num) {
+ return log_name_and_num[i].name;
+ }
+ }
+ return NULL;
+}
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_do_show(void)
+{
+ uint8_t i, empty=1;
+ const prog_char * name;
+
+ printf_P(PSTR("log level is %d\r\n"), gen.log_level);
+ for (i=0; i<NB_LOGS; i++) {
+ name = log_num2name(gen.logs[i]);
+ if (name) {
+#ifdef HOST_VERSION
+ printf_P(PSTR("log type %s is on\r\n"), name);
+#else
+ printf_P(PSTR("log type %S is on\r\n"), name);
+#endif
+ empty = 0;
+ }
+ }
+ if (empty)
+ printf_P(PSTR("no log configured\r\n"));
+}
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_parsed(void * parsed_result, void * data)
+{
+ struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("level"))) {
+ gen.log_level = res->arg2;
+ }
+
+ /* else it is a show */
+ cmd_log_do_show();
+}
+
+prog_char str_log_arg0[] = "log";
+parse_pgm_token_string_t cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg0, str_log_arg0);
+prog_char str_log_arg1[] = "level";
+parse_pgm_token_string_t cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1);
+parse_pgm_token_num_t cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_log_result, arg2, INT32);
+
+prog_char help_log[] = "Set log options: level (0 -> 5)";
+parse_pgm_inst_t cmd_log = {
+ .f = cmd_log_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_log_arg0,
+ (prog_void *)&cmd_log_arg1,
+ (prog_void *)&cmd_log_arg2,
+ NULL,
+ },
+};
+
+prog_char str_log_arg1_show[] = "show";
+parse_pgm_token_string_t cmd_log_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1_show);
+
+prog_char help_log_show[] = "Show configured logs";
+parse_pgm_inst_t cmd_log_show = {
+ .f = cmd_log_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_log_arg0,
+ (prog_void *)&cmd_log_arg1_show,
+ NULL,
+ },
+};
+
+/* this structure is filled when cmd_log is parsed successfully */
+struct cmd_log_type_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+ fixed_string_t arg3;
+};
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_type_parsed(void * parsed_result, void * data)
+{
+ struct cmd_log_type_result *res = (struct cmd_log_type_result *) parsed_result;
+ uint8_t lognum;
+ uint8_t i;
+
+ lognum = log_name2num(res->arg2);
+ if (lognum == 0) {
+ printf_P(PSTR("Cannot find log num\r\n"));
+ return;
+ }
+
+ if (!strcmp_P(res->arg3, PSTR("on"))) {
+ for (i=0; i<NB_LOGS; i++) {
+ if (gen.logs[i] == lognum) {
+ printf_P(PSTR("Already on\r\n"));
+ return;
+ }
+ }
+ for (i=0; i<NB_LOGS; i++) {
+ if (gen.logs[i] == 0) {
+ gen.logs[i] = lognum;
+ break;
+ }
+ }
+ if (i==NB_LOGS) {
+ printf_P(PSTR("no more room\r\n"));
+ }
+ }
+ else if (!strcmp_P(res->arg3, PSTR("off"))) {
+ for (i=0; i<NB_LOGS; i++) {
+ if (gen.logs[i] == lognum) {
+ gen.logs[i] = 0;
+ break;
+ }
+ }
+ if (i==NB_LOGS) {
+ printf_P(PSTR("already off\r\n"));
+ }
+ }
+ cmd_log_do_show();
+}
+
+prog_char str_log_arg1_type[] = "type";
+parse_pgm_token_string_t cmd_log_arg1_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg1, str_log_arg1_type);
+/* keep it sync with log_name_and_num above */
+prog_char str_log_arg2_type[] = "uart#rs#servo#traj#i2c#oa#strat#i2cproto#ext#sensor#bd#cs";
+parse_pgm_token_string_t cmd_log_arg2_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg2, str_log_arg2_type);
+prog_char str_log_arg3[] = "on#off";
+parse_pgm_token_string_t cmd_log_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg3, str_log_arg3);
+
+prog_char help_log_type[] = "Set log type";
+parse_pgm_inst_t cmd_log_type = {
+ .f = cmd_log_type_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log_type,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_log_arg0,
+ (prog_void *)&cmd_log_arg1_type,
+ (prog_void *)&cmd_log_arg2_type,
+ (prog_void *)&cmd_log_arg3,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Stack_Space */
+
+/* this structure is filled when cmd_stack_space is parsed successfully */
+struct cmd_stack_space_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_stack_space is parsed successfully */
+static void cmd_stack_space_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ printf("res stack: %d\r\n", min_stack_space_available());
+#endif
+}
+
+prog_char str_stack_space_arg0[] = "stack_space";
+parse_pgm_token_string_t cmd_stack_space_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_stack_space_result, arg0, str_stack_space_arg0);
+
+prog_char help_stack_space[] = "Display remaining stack space";
+parse_pgm_inst_t cmd_stack_space = {
+ .f = cmd_stack_space_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_stack_space,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_stack_space_arg0,
+ NULL,
+ },
+};
--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: commands_mainboard.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <hostsim.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+#include <aversive/eeprom.h>
+
+#include <uart.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "main.h"
+#include "actuator.h"
+#include "robotsim.h"
+#include "cmdline.h"
+#include "strat.h"
+#include "strat_base.h"
+#include "strat_utils.h"
+
+struct cmd_event_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+
+/* function called when cmd_event is parsed successfully */
+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;
+ 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"),
+ (DO_ENCODERS & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("cs is %s\r\n"),
+ (DO_CS & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("rs is %s\r\n"),
+ (DO_RS & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("pos is %s\r\n"),
+ (DO_POS & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("bd is %s\r\n"),
+ (DO_BD & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("timer is %s\r\n"),
+ (DO_TIMER & mainboard.flags) ? "on":"off");
+ printf_P(PSTR("power is %s\r\n"),
+ (DO_POWER & mainboard.flags) ? "on":"off");
+ }
+ return;
+ }
+
+ if (!strcmp_P(res->arg1, PSTR("encoders")))
+ bit = DO_ENCODERS;
+ else if (!strcmp_P(res->arg1, PSTR("cs"))) {
+ strat_hardstop();
+ bit = DO_CS;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("rs")))
+ bit = DO_RS;
+ else if (!strcmp_P(res->arg1, PSTR("pos")))
+ bit = DO_POS;
+ else if (!strcmp_P(res->arg1, PSTR("bd")))
+ bit = DO_BD;
+ else if (!strcmp_P(res->arg1, PSTR("timer"))) {
+ time_reset();
+ bit = DO_TIMER;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("power")))
+ bit = DO_POWER;
+
+ 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,
+ (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";
+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);
+
+prog_char help_event[] = "Enable/disable events";
+parse_pgm_inst_t cmd_event = {
+ .f = cmd_event_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Spi_Test */
+
+/* this structure is filled when cmd_spi_test is parsed successfully */
+struct cmd_spi_test_result {
+ fixed_string_t arg0;
+};
+
+/* 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;
+ }
+
+ do {
+ spi_slave_select(0);
+ ret = spi_send_and_receive_byte(i);
+ ret2 = spi_send_and_receive_byte(i);
+ spi_slave_deselect(0);
+
+ if ((i & 0x7ff) == 0)
+ printf_P(PSTR("Sent %.4x twice, received %x %x\r\n"),
+ i, ret, ret2);
+
+ i++;
+ } while(!cmdline_keypressed());
+#endif
+}
+
+prog_char str_spi_test_arg0[] = "spi_test";
+parse_pgm_token_string_t cmd_spi_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spi_test_result, arg0, str_spi_test_arg0);
+
+prog_char help_spi_test[] = "Test the SPI";
+parse_pgm_inst_t cmd_spi_test = {
+ .f = cmd_spi_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_spi_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_spi_test_arg0,
+ NULL,
+ },
+};
+
+
+
+/**********************************************************/
+/* Opponent tests */
+
+/* this structure is filled when cmd_opponent is parsed successfully */
+struct cmd_opponent_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+ int32_t arg3;
+};
+
+/* function called when cmd_opponent is parsed successfully */
+static void cmd_opponent_parsed(void *parsed_result, void *data)
+{
+ int16_t x,y,d,a;
+
+ if (get_opponent_xyda(&x, &y, &d, &a))
+ printf_P(PSTR("No opponent\r\n"));
+ else
+ printf_P(PSTR("x=%d y=%d, d=%d a=%d\r\n"), x, y, d, a);
+}
+
+prog_char str_opponent_arg0[] = "opponent";
+parse_pgm_token_string_t cmd_opponent_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg0, str_opponent_arg0);
+prog_char str_opponent_arg1[] = "show";
+parse_pgm_token_string_t cmd_opponent_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1);
+
+prog_char help_opponent[] = "Show (x,y) opponent";
+parse_pgm_inst_t cmd_opponent = {
+ .f = cmd_opponent_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+
+prog_char str_opponent_arg1_set[] = "set";
+parse_pgm_token_string_t cmd_opponent_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1_set);
+parse_pgm_token_num_t cmd_opponent_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg2, INT32);
+parse_pgm_token_num_t cmd_opponent_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg3, INT32);
+
+prog_char help_opponent_set[] = "Set (x,y) opponent";
+parse_pgm_inst_t cmd_opponent_set = {
+ .f = cmd_opponent_parsed, /* function to call */
+ .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_arg1_set,
+ (prog_void *)&cmd_opponent_arg2,
+ (prog_void *)&cmd_opponent_arg3,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Start */
+
+/* this structure is filled when cmd_start is parsed successfully */
+struct cmd_start_result {
+ fixed_string_t arg0;
+ fixed_string_t color;
+ fixed_string_t debug;
+};
+
+/* function called when cmd_start is parsed successfully */
+static void cmd_start_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_start_result *res = parsed_result;
+ uint8_t old_level = gen.log_level;
+
+ gen.logs[NB_LOGS] = E_USER_STRAT;
+ if (!strcmp_P(res->debug, PSTR("debug"))) {
+ strat_infos.dump_enabled = 1;
+ gen.log_level = 5;
+ }
+ else {
+ strat_infos.dump_enabled = 0;
+ gen.log_level = 0;
+ }
+
+ if (!strcmp_P(res->color, PSTR("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->color, PSTR("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);
+ }
+
+ printf_P(PSTR("Check that lintel is loaded\r\n"));
+ while(!cmdline_keypressed());
+
+ printf_P(PSTR("Press a key when beacon ready\r\n"));
+ i2c_sensorboard_set_beacon(0);
+ while(!cmdline_keypressed());
+ i2c_sensorboard_set_beacon(1);
+
+ strat_start();
+
+ gen.logs[NB_LOGS] = 0;
+ gen.log_level = old_level;
+#endif
+}
+
+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";
+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);
+
+prog_char help_start[] = "Start the robot";
+parse_pgm_inst_t cmd_start = {
+ .f = cmd_start_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+
+
+/**********************************************************/
+/* Interact */
+
+/* this structure is filled when cmd_interact is parsed successfully */
+struct cmd_interact_result {
+ fixed_string_t arg0;
+};
+
+static void print_cs(void)
+{
+ 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),
+ cs_get_filtered_consign(&mainboard.angle.cs),
+ cs_get_error(&mainboard.distance.cs),
+ cs_get_error(&mainboard.angle.cs),
+ cs_get_out(&mainboard.distance.cs),
+ cs_get_out(&mainboard.angle.cs));
+}
+
+static void print_pos(void)
+{
+ 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));
+}
+
+static void print_time(void)
+{
+ printf_P(PSTR("time %d\r\n"),time_get_s());
+}
+
+
+static void print_sensors(void)
+{
+#ifdef notyet
+ if (sensor_start_switch())
+ printf_P(PSTR("Start switch | "));
+ else
+ printf_P(PSTR(" | "));
+
+ if (IR_DISP_SENSOR())
+ printf_P(PSTR("IR disp | "));
+ else
+ printf_P(PSTR(" | "));
+
+ printf_P(PSTR("\r\n"));
+#endif
+}
+
+static void print_pid(void)
+{
+ 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),
+ pid_get_value_out(&mainboard.distance.pid),
+ pid_get_value_in(&mainboard.angle.pid) * pid_get_gain_P(&mainboard.angle.pid),
+ pid_get_value_I(&mainboard.angle.pid) * pid_get_gain_I(&mainboard.angle.pid),
+ pid_get_value_D(&mainboard.angle.pid) * pid_get_gain_D(&mainboard.angle.pid),
+ pid_get_value_out(&mainboard.angle.pid));
+}
+
+#define PRINT_POS (1<<0)
+#define PRINT_PID (1<<1)
+#define PRINT_CS (1<<2)
+#define PRINT_SENSORS (1<<3)
+#define PRINT_TIME (1<<4)
+#define PRINT_BLOCKING (1<<5)
+
+static void cmd_interact_parsed(void * parsed_result, void * data)
+{
+ int c;
+ int8_t cmd;
+ uint8_t print = 0;
+ struct vt100 vt100;
+
+ vt100_init(&vt100);
+
+ printf_P(PSTR("Display debugs:\r\n"
+ " 1:pos\r\n"
+ " 2:pid\r\n"
+ " 3:cs\r\n"
+ " 4:sensors\r\n"
+ " 5:time\r\n"
+ /* " 6:blocking\r\n" */
+ "Commands:\r\n"
+ " arrows:move\r\n"
+ " space:stop\r\n"
+ " q:quit\r\n"));
+
+ /* stop motors */
+ mainboard.flags &= (~DO_CS);
+ pwm_set_and_save(LEFT_PWM, 0);
+ pwm_set_and_save(RIGHT_PWM, 0);
+
+ while(1) {
+ if (print & PRINT_POS) {
+ print_pos();
+ }
+
+ if (print & PRINT_PID) {
+ print_pid();
+ }
+
+ if (print & PRINT_CS) {
+ print_cs();
+ }
+
+ if (print & PRINT_SENSORS) {
+ print_sensors();
+ }
+
+ if (print & PRINT_TIME) {
+ print_time();
+ }
+/* if (print & PRINT_BLOCKING) { */
+/* printf_P(PSTR("%s %s blocking=%d\r\n"), */
+/* mainboard.blocking ? "BLOCK1":" ", */
+/* rs_is_blocked(&mainboard.rs) ? "BLOCK2":" ", */
+/* rs_get_blocking(&mainboard.rs)); */
+/* } */
+
+ c = cmdline_getchar();
+ if (c == -1) {
+ wait_ms(10);
+ continue;
+ }
+ cmd = vt100_parser(&vt100, c);
+ if (cmd == -2) {
+ wait_ms(10);
+ continue;
+ }
+
+ if (cmd == -1) {
+ switch(c) {
+ case '1': print ^= PRINT_POS; break;
+ case '2': print ^= PRINT_PID; break;
+ case '3': print ^= PRINT_CS; break;
+ case '4': print ^= PRINT_SENSORS; break;
+ case '5': print ^= PRINT_TIME; break;
+ case '6': print ^= PRINT_BLOCKING; break;
+
+ case 'q':
+ if (mainboard.flags & DO_CS)
+ strat_hardstop();
+ pwm_set_and_save(LEFT_PWM, 0);
+ pwm_set_and_save(RIGHT_PWM, 0);
+ return;
+ case ' ':
+ pwm_set_and_save(LEFT_PWM, 0);
+ pwm_set_and_save(RIGHT_PWM, 0);
+ break;
+ default:
+ break;
+ }
+ }
+ else {
+ switch(cmd) {
+ case KEY_UP_ARR:
+ pwm_set_and_save(LEFT_PWM, 1200);
+ pwm_set_and_save(RIGHT_PWM, 1200);
+ break;
+ case KEY_LEFT_ARR:
+ pwm_set_and_save(LEFT_PWM, -1200);
+ pwm_set_and_save(RIGHT_PWM, 1200);
+ break;
+ case KEY_DOWN_ARR:
+ pwm_set_and_save(LEFT_PWM, -1200);
+ pwm_set_and_save(RIGHT_PWM, -1200);
+ break;
+ case KEY_RIGHT_ARR:
+ pwm_set_and_save(LEFT_PWM, 1200);
+ pwm_set_and_save(RIGHT_PWM, -1200);
+ break;
+ }
+ }
+ wait_ms(10);
+ }
+}
+
+prog_char str_interact_arg0[] = "interact";
+parse_pgm_token_string_t cmd_interact_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_interact_result, arg0, str_interact_arg0);
+
+prog_char help_interact[] = "Interactive mode";
+parse_pgm_inst_t cmd_interact = {
+ .f = cmd_interact_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_interact,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_interact_arg0,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Color */
+
+/* this structure is filled when cmd_color is parsed successfully */
+struct cmd_color_result {
+ fixed_string_t arg0;
+ fixed_string_t color;
+};
+
+/* 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_MECHBOARD_ADDR, I2C_COLOR_RED);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
+ }
+ else if (!strcmp_P(res->color, PSTR("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);
+ }
+ 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";
+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";
+parse_pgm_inst_t cmd_color = {
+ .f = cmd_color_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Rs tests */
+
+/* this structure is filled when cmd_rs is parsed successfully */
+struct cmd_rs_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_rs is parsed successfully */
+static void cmd_rs_parsed(void *parsed_result, void *data)
+{
+ // struct cmd_rs_result *res = parsed_result;
+ do {
+ 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=% .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=% .4"PRIi32" r=% .4"PRIi32"\r\n"), mainboard.pwm_l,
+ mainboard.pwm_r);
+ wait_ms(100);
+ } while(!cmdline_keypressed());
+}
+
+prog_char str_rs_arg0[] = "rs";
+parse_pgm_token_string_t cmd_rs_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg0, str_rs_arg0);
+prog_char str_rs_arg1[] = "show";
+parse_pgm_token_string_t cmd_rs_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg1, str_rs_arg1);
+
+prog_char help_rs[] = "Show rs (robot system) values";
+parse_pgm_inst_t cmd_rs = {
+ .f = cmd_rs_parsed, /* function to call */
+ .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,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* I2cdebug */
+
+/* this structure is filled when cmd_i2cdebug is parsed successfully */
+struct cmd_i2cdebug_result {
+ fixed_string_t arg0;
+};
+
+/* 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";
+parse_pgm_token_string_t cmd_i2cdebug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_i2cdebug_result, arg0, str_i2cdebug_arg0);
+
+prog_char help_i2cdebug[] = "I2c debug infos";
+parse_pgm_inst_t cmd_i2cdebug = {
+ .f = cmd_i2cdebug_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_i2cdebug,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_i2cdebug_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Mechboard_Show */
+
+/* this structure is filled when cmd_mechboard_show is parsed successfully */
+struct cmd_mechboard_show_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_mechboard_show is parsed successfully */
+static void cmd_mechboard_show_parsed(void * parsed_result, void * data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ printf_P(PSTR("mode = %x\r\n"), mechboard.mode);
+ printf_P(PSTR("status = %x\r\n"), mechboard.status);
+ printf_P(PSTR("lintel_count = %d\r\n"), mechboard.lintel_count);
+
+ printf_P(PSTR("column_count = %d\r\n"), get_column_count());
+ printf_P(PSTR("left1=%d left2=%d right1=%d right2=%d\r\n"),
+ pump_left1_is_full(), pump_left2_is_full(),
+ pump_right1_is_full(), pump_right2_is_full());
+
+ printf_P(PSTR("pump_left1 = %d\r\n"), mechboard.pump_left1);
+ printf_P(PSTR("pump_left2 = %d\r\n"), mechboard.pump_left2);
+ printf_P(PSTR("pump_right1 = %d\r\n"), mechboard.pump_right1);
+ printf_P(PSTR("pump_right2 = %d\r\n"), mechboard.pump_right2);
+
+ printf_P(PSTR("servo_lintel_left = %d\r\n"), mechboard.servo_lintel_left);
+ printf_P(PSTR("servo_lintel_right = %d\r\n"), mechboard.servo_lintel_right);
+
+#endif
+}
+
+prog_char str_mechboard_show_arg0[] = "mechboard";
+parse_pgm_token_string_t cmd_mechboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_show_result, arg0, str_mechboard_show_arg0);
+prog_char str_mechboard_show_arg1[] = "show";
+parse_pgm_token_string_t cmd_mechboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_show_result, arg1, str_mechboard_show_arg1);
+
+prog_char help_mechboard_show[] = "show mechboard status";
+parse_pgm_inst_t cmd_mechboard_show = {
+ .f = cmd_mechboard_show_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_mechboard_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_mechboard_show_arg0,
+ (prog_void *)&cmd_mechboard_show_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Mechboard_Setmode1 */
+
+/* this structure is filled when cmd_mechboard_setmode1 is parsed successfully */
+struct cmd_mechboard_setmode1_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_mechboard_setmode1 is parsed successfully */
+static void cmd_mechboard_setmode1_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_mechboard_setmode1_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("init")))
+ i2c_mechboard_mode_init();
+ else if (!strcmp_P(res->arg1, PSTR("manual")))
+ i2c_mechboard_mode_manual();
+ else if (!strcmp_P(res->arg1, PSTR("pickup")))
+ i2c_mechboard_mode_pickup();
+ else if (!strcmp_P(res->arg1, PSTR("lazy_harvest")))
+ i2c_mechboard_mode_lazy_harvest();
+ else if (!strcmp_P(res->arg1, PSTR("harvest")))
+ i2c_mechboard_mode_harvest();
+ else if (!strcmp_P(res->arg1, PSTR("prepare_get_lintel")))
+ i2c_mechboard_mode_prepare_get_lintel();
+ else if (!strcmp_P(res->arg1, PSTR("get_lintel")))
+ i2c_mechboard_mode_get_lintel();
+ else if (!strcmp_P(res->arg1, PSTR("put_lintel")))
+ i2c_mechboard_mode_put_lintel();
+ else if (!strcmp_P(res->arg1, PSTR("init")))
+ i2c_mechboard_mode_init();
+ else if (!strcmp_P(res->arg1, PSTR("eject")))
+ i2c_mechboard_mode_init();
+ else if (!strcmp_P(res->arg1, PSTR("clear")))
+ i2c_mechboard_mode_clear();
+ else if (!strcmp_P(res->arg1, PSTR("loaded")))
+ i2c_mechboard_mode_loaded();
+ else if (!strcmp_P(res->arg1, PSTR("store")))
+ i2c_mechboard_mode_store();
+ else if (!strcmp_P(res->arg1, PSTR("manivelle")))
+ i2c_mechboard_mode_manivelle();
+ else if (!strcmp_P(res->arg1, PSTR("lazy_pickup")))
+ i2c_mechboard_mode_lazy_pickup();
+#endif
+}
+
+prog_char str_mechboard_setmode1_arg0[] = "mechboard";
+parse_pgm_token_string_t cmd_mechboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode1_result, arg0, str_mechboard_setmode1_arg0);
+prog_char str_mechboard_setmode1_arg1[] = "manivelle#init#manual#pickup#prepare_get_lintel#get_lintel#put_lintel1#eject#clear#harvest#lazy_harvest#store#lazy_pickup";
+parse_pgm_token_string_t cmd_mechboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode1_result, arg1, str_mechboard_setmode1_arg1);
+
+prog_char help_mechboard_setmode1[] = "set mechboard mode (mode)";
+parse_pgm_inst_t cmd_mechboard_setmode1 = {
+ .f = cmd_mechboard_setmode1_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_mechboard_setmode1,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_mechboard_setmode1_arg0,
+ (prog_void *)&cmd_mechboard_setmode1_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Mechboard_Setmode2 */
+
+/* this structure is filled when cmd_mechboard_setmode2 is parsed successfully */
+struct cmd_mechboard_setmode2_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+/* function called when cmd_mechboard_setmode2 is parsed successfully */
+static void cmd_mechboard_setmode2_parsed(void * parsed_result, void * data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_mechboard_setmode2_result *res = parsed_result;
+ uint8_t side = I2C_LEFT_SIDE;
+
+ if (!strcmp_P(res->arg2, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else if (!strcmp_P(res->arg2, PSTR("right")))
+ side = I2C_RIGHT_SIDE;
+ else if (!strcmp_P(res->arg2, PSTR("center")))
+ side = I2C_CENTER_SIDE;
+ else if (!strcmp_P(res->arg2, PSTR("auto")))
+ side = I2C_AUTO_SIDE;
+
+ if (!strcmp_P(res->arg1, PSTR("prepare_pickup")))
+ i2c_mechboard_mode_prepare_pickup(side);
+ else if (!strcmp_P(res->arg1, PSTR("push_temple_disc")))
+ i2c_mechboard_mode_push_temple_disc(side);
+#endif
+}
+
+prog_char str_mechboard_setmode2_arg0[] = "mechboard";
+parse_pgm_token_string_t cmd_mechboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode2_result, arg0, str_mechboard_setmode2_arg0);
+prog_char str_mechboard_setmode2_arg1[] = "prepare_pickup#push_temple_disc";
+parse_pgm_token_string_t cmd_mechboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode2_result, arg1, str_mechboard_setmode2_arg1);
+prog_char str_mechboard_setmode2_arg2[] = "left#right#auto#center";
+parse_pgm_token_string_t cmd_mechboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode2_result, arg2, str_mechboard_setmode2_arg2);
+
+prog_char help_mechboard_setmode2[] = "set mechboard mode (more, side)";
+parse_pgm_inst_t cmd_mechboard_setmode2 = {
+ .f = cmd_mechboard_setmode2_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_mechboard_setmode2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_mechboard_setmode2_arg0,
+ (prog_void *)&cmd_mechboard_setmode2_arg1,
+ (prog_void *)&cmd_mechboard_setmode2_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Mechboard_Setmode3 */
+
+/* this structure is filled when cmd_mechboard_setmode3 is parsed successfully */
+struct cmd_mechboard_setmode3_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t level;
+};
+
+/* function called when cmd_mechboard_setmode3 is parsed successfully */
+static void cmd_mechboard_setmode3_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_mechboard_setmode3_result *res = parsed_result;
+ if (!strcmp_P(res->arg1, PSTR("autobuild")))
+ i2c_mechboard_mode_simple_autobuild(res->level);
+ else if (!strcmp_P(res->arg1, PSTR("prepare_build")))
+ i2c_mechboard_mode_prepare_build_both(res->level);
+ else if (!strcmp_P(res->arg1, PSTR("prepare_inside")))
+ i2c_mechboard_mode_prepare_inside_both(res->level);
+ else if (!strcmp_P(res->arg1, PSTR("push_temple")))
+ i2c_mechboard_mode_push_temple(res->level);
+#endif
+}
+
+prog_char str_mechboard_setmode3_arg0[] = "mechboard";
+parse_pgm_token_string_t cmd_mechboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode3_result, arg0, str_mechboard_setmode3_arg0);
+prog_char str_mechboard_setmode3_arg1[] = "autobuild#prepare_build#prepare_inside#push_temple";
+parse_pgm_token_string_t cmd_mechboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode3_result, arg1, str_mechboard_setmode3_arg1);
+parse_pgm_token_num_t cmd_mechboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode3_result, level, UINT8);
+
+prog_char help_mechboard_setmode3[] = "set mechboard mode (mode, level)";
+parse_pgm_inst_t cmd_mechboard_setmode3 = {
+ .f = cmd_mechboard_setmode3_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_mechboard_setmode3,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_mechboard_setmode3_arg0,
+ (prog_void *)&cmd_mechboard_setmode3_arg1,
+ (prog_void *)&cmd_mechboard_setmode3_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Mechboard_Setmode4 */
+
+/* this structure is filled when cmd_mechboard_setmode4 is parsed successfully */
+struct cmd_mechboard_setmode4_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t level_l;
+ uint8_t count_l;
+ uint8_t dist_l;
+ uint8_t level_r;
+ uint8_t count_r;
+ uint8_t dist_r;
+ uint8_t do_lintel;
+};
+
+/* function called when cmd_mechboard_setmode4 is parsed successfully */
+static void cmd_mechboard_setmode4_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_mechboard_setmode4_result *res = parsed_result;
+ i2c_mechboard_mode_autobuild(res->level_l, res->count_l, res->dist_l,
+ res->level_r, res->count_r, res->dist_r,
+ res->do_lintel);
+#endif
+}
+
+prog_char str_mechboard_setmode4_arg0[] = "mechboard";
+parse_pgm_token_string_t cmd_mechboard_setmode4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode4_result, arg0, str_mechboard_setmode4_arg0);
+prog_char str_mechboard_setmode4_arg1[] = "autobuild";
+parse_pgm_token_string_t cmd_mechboard_setmode4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode4_result, arg1, str_mechboard_setmode4_arg1);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, level_l, UINT8);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, count_l, UINT8);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, dist_l, UINT8);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, level_r, UINT8);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg6 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, count_r, UINT8);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg7 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, dist_r, UINT8);
+parse_pgm_token_num_t cmd_mechboard_setmode4_arg8 = TOKEN_NUM_INITIALIZER(struct cmd_mechboard_setmode4_result, do_lintel, UINT8);
+
+prog_char help_mechboard_setmode4[] = "set mechboard mode (autobuild level_l count_l dist_l level_r count_r dist_r lintel)";
+parse_pgm_inst_t cmd_mechboard_setmode4 = {
+ .f = cmd_mechboard_setmode4_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_mechboard_setmode4,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_mechboard_setmode4_arg0,
+ (prog_void *)&cmd_mechboard_setmode4_arg1,
+ (prog_void *)&cmd_mechboard_setmode4_arg2,
+ (prog_void *)&cmd_mechboard_setmode4_arg3,
+ (prog_void *)&cmd_mechboard_setmode4_arg4,
+ (prog_void *)&cmd_mechboard_setmode4_arg5,
+ (prog_void *)&cmd_mechboard_setmode4_arg6,
+ (prog_void *)&cmd_mechboard_setmode4_arg7,
+ (prog_void *)&cmd_mechboard_setmode4_arg8,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Mechboard_Setmode5 */
+
+/* this structure is filled when cmd_mechboard_setmode5 is parsed successfully */
+struct cmd_mechboard_setmode5_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+ fixed_string_t arg3;
+};
+
+/* function called when cmd_mechboard_setmode5 is parsed successfully */
+static void cmd_mechboard_setmode5_parsed(void *parsed_result, void * data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_mechboard_setmode5_result *res = parsed_result;
+ uint8_t side = I2C_LEFT_SIDE, next_mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
+
+ if (!strcmp_P(res->arg2, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else if (!strcmp_P(res->arg2, PSTR("right")))
+ side = I2C_RIGHT_SIDE;
+ else if (!strcmp_P(res->arg2, PSTR("center")))
+ side = I2C_CENTER_SIDE;
+ else if (!strcmp_P(res->arg2, PSTR("auto")))
+ side = I2C_AUTO_SIDE;
+
+ if (!strcmp_P(res->arg3, PSTR("harvest")))
+ next_mode = I2C_MECHBOARD_MODE_HARVEST;
+ else if (!strcmp_P(res->arg3, PSTR("lazy_harvest")))
+ next_mode = I2C_MECHBOARD_MODE_LAZY_HARVEST;
+ else if (!strcmp_P(res->arg3, PSTR("pickup")))
+ next_mode = I2C_MECHBOARD_MODE_PICKUP;
+ else if (!strcmp_P(res->arg3, PSTR("clear")))
+ next_mode = I2C_MECHBOARD_MODE_CLEAR;
+ else if (!strcmp_P(res->arg3, PSTR("store")))
+ next_mode = I2C_MECHBOARD_MODE_STORE;
+ else if (!strcmp_P(res->arg3, PSTR("lazy_pickup")))
+ next_mode = I2C_MECHBOARD_MODE_LAZY_PICKUP;
+
+ if (!strcmp_P(res->arg1, PSTR("prepare_pickup")))
+ i2c_mechboard_mode_prepare_pickup_next(side, next_mode);
+#endif
+}
+
+prog_char str_mechboard_setmode5_arg0[] = "mechboard";
+parse_pgm_token_string_t cmd_mechboard_setmode5_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode5_result, arg0, str_mechboard_setmode5_arg0);
+prog_char str_mechboard_setmode5_arg1[] = "prepare_pickup";
+parse_pgm_token_string_t cmd_mechboard_setmode5_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode5_result, arg1, str_mechboard_setmode5_arg1);
+prog_char str_mechboard_setmode5_arg2[] = "left#right#auto#center";
+parse_pgm_token_string_t cmd_mechboard_setmode5_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode5_result, arg2, str_mechboard_setmode5_arg2);
+prog_char str_mechboard_setmode5_arg3[] = "harvest#pickup#store#lazy_harvest#lazy_pickup#clear";
+parse_pgm_token_string_t cmd_mechboard_setmode5_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_mechboard_setmode5_result, arg3, str_mechboard_setmode5_arg3);
+
+prog_char help_mechboard_setmode5[] = "set mechboard mode (more, side)";
+parse_pgm_inst_t cmd_mechboard_setmode5 = {
+ .f = cmd_mechboard_setmode5_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_mechboard_setmode5,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_mechboard_setmode5_arg0,
+ (prog_void *)&cmd_mechboard_setmode5_arg1,
+ (prog_void *)&cmd_mechboard_setmode5_arg2,
+ (prog_void *)&cmd_mechboard_setmode5_arg3,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* pickup wheels */
+
+/* this structure is filled when cmd_pickup_wheels is parsed successfully */
+struct cmd_pickup_wheels_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_pickup_wheels is parsed successfully */
+static void cmd_pickup_wheels_parsed(void *parsed_result, void *data)
+{
+ struct cmd_pickup_wheels_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("on")))
+ pickup_wheels_on();
+ else
+ pickup_wheels_off();
+}
+
+prog_char str_pickup_wheels_arg0[] = "pickup_wheels";
+parse_pgm_token_string_t cmd_pickup_wheels_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pickup_wheels_result, arg0, str_pickup_wheels_arg0);
+prog_char str_pickup_wheels_arg1[] = "on#off";
+parse_pgm_token_string_t cmd_pickup_wheels_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pickup_wheels_result, arg1, str_pickup_wheels_arg1);
+
+prog_char help_pickup_wheels[] = "Enable/disable pickup wheels";
+parse_pgm_inst_t cmd_pickup_wheels = {
+ .f = cmd_pickup_wheels_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pickup_wheels,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pickup_wheels_arg0,
+ (prog_void *)&cmd_pickup_wheels_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Beacon_Start */
+
+/* this structure is filled when cmd_beacon_start is parsed successfully */
+struct cmd_beacon_start_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_beacon_start is parsed successfully */
+static void cmd_beacon_start_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_beacon_start_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("start")))
+ i2c_sensorboard_set_beacon(1);
+ else
+ i2c_sensorboard_set_beacon(0);
+#endif
+}
+
+prog_char str_beacon_start_arg0[] = "beacon";
+parse_pgm_token_string_t cmd_beacon_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_start_result, arg0, str_beacon_start_arg0);
+prog_char str_beacon_start_arg1[] = "start#stop";
+parse_pgm_token_string_t cmd_beacon_start_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_start_result, arg1, str_beacon_start_arg1);
+
+prog_char help_beacon_start[] = "Beacon enabled/disable";
+parse_pgm_inst_t cmd_beacon_start = {
+ .f = cmd_beacon_start_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_beacon_start,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_beacon_start_arg0,
+ (prog_void *)&cmd_beacon_start_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Pump_Current */
+
+/* this structure is filled when cmd_pump_current is parsed successfully */
+struct cmd_pump_current_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_pump_current is parsed successfully */
+static void cmd_pump_current_parsed(__attribute__((unused)) void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ printf_P(PSTR("l1=%d l2=%d r1=%d r2=%d\r\n"),
+ sensor_get_adc(ADC_CSENSE3), sensor_get_adc(ADC_CSENSE4),
+ mechboard.pump_right1_current, mechboard.pump_right2_current);
+#endif
+}
+
+prog_char str_pump_current_arg0[] = "pump_current";
+parse_pgm_token_string_t cmd_pump_current_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pump_current_result, arg0, str_pump_current_arg0);
+prog_char str_pump_current_arg1[] = "show";
+parse_pgm_token_string_t cmd_pump_current_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pump_current_result, arg1, str_pump_current_arg1);
+
+prog_char help_pump_current[] = "dump pump current";
+parse_pgm_inst_t cmd_pump_current = {
+ .f = cmd_pump_current_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pump_current,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pump_current_arg0,
+ (prog_void *)&cmd_pump_current_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Build_Test */
+
+/* this structure is filled when cmd_build_test is parsed successfully */
+struct cmd_build_test_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_build_test is parsed successfully */
+static void cmd_build_test_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ //struct cmd_build_test_result *res = parsed_result;
+
+ printf_P(PSTR("lintel must be there\r\n"));
+ i2c_mechboard_mode_prepare_pickup_next(I2C_LEFT_SIDE,
+ I2C_MECHBOARD_MODE_HARVEST);
+ wait_ms(500);
+
+ printf_P(PSTR("Insert 4 colums\r\n"));
+ while (get_column_count() != 4);
+
+ i2c_mechboard_mode_prepare_build_both(0);
+ trajectory_d_rel(&mainboard.traj, 200);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ wait_ms(500);
+
+ i2c_mechboard_mode_simple_autobuild(0);
+ wait_ms(100);
+ while (get_mechboard_mode() == I2C_MECHBOARD_MODE_AUTOBUILD);
+
+ trajectory_d_rel(&mainboard.traj, -200);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ i2c_mechboard_mode_prepare_pickup_next(I2C_LEFT_SIDE,
+ I2C_MECHBOARD_MODE_HARVEST);
+
+ while (get_column_count() != 3);
+
+ i2c_mechboard_mode_prepare_build_both(3);
+ trajectory_d_rel(&mainboard.traj, 200);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ wait_ms(500);
+
+ i2c_mechboard_mode_autobuild(3, 1, I2C_AUTOBUILD_DEFAULT_DIST,
+ 3, 2,I2C_AUTOBUILD_DEFAULT_DIST, 0);
+ i2cproto_wait_update();
+ while (get_mechboard_mode() == I2C_MECHBOARD_MODE_AUTOBUILD);
+
+ trajectory_d_rel(&mainboard.traj, -200);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ i2c_mechboard_mode_prepare_pickup(I2C_RIGHT_SIDE);
+ wait_ms(500);
+
+ i2c_mechboard_mode_harvest();
+ while (get_column_count() != 3);
+
+ i2c_mechboard_mode_prepare_build_both(5);
+ trajectory_d_rel(&mainboard.traj, 200);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ wait_ms(1000);
+
+ i2c_mechboard_mode_autobuild(4, 2, I2C_AUTOBUILD_DEFAULT_DIST,
+ 5, 1, I2C_AUTOBUILD_DEFAULT_DIST, 0);
+ i2cproto_wait_update();
+ while (get_mechboard_mode() == I2C_MECHBOARD_MODE_AUTOBUILD);
+
+ trajectory_d_rel(&mainboard.traj, -200);
+#endif
+}
+
+prog_char str_build_test_arg0[] = "build_test";
+parse_pgm_token_string_t cmd_build_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_build_test_result, arg0, str_build_test_arg0);
+
+prog_char help_build_test[] = "Build_Test function";
+parse_pgm_inst_t cmd_build_test = {
+ .f = cmd_build_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_build_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_build_test_arg0,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Column_Test */
+
+/* this structure is filled when cmd_column_test is parsed successfully */
+struct cmd_column_test_result {
+ fixed_string_t arg0;
+ uint8_t level;
+ int16_t dist;
+ int8_t a1;
+ int8_t a2;
+ int8_t a3;
+ int16_t arm_dist;
+ int8_t nb_col;
+};
+
+/* function called when cmd_column_test is parsed successfully */
+static void cmd_column_test_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_column_test_result *res = parsed_result;
+ uint8_t level = res->level, debug = 0;
+ uint8_t c, push = 0;
+
+ /* default conf */
+ if (data) {
+ res->dist = 70;
+ res->a1 = -20;
+ res->a2 = 40;
+ res->a3 = -20;
+ res->arm_dist = 220;
+ res->nb_col = 2;
+ }
+
+ if (!strcmp_P(res->arg0, PSTR("column_test_debug")))
+ debug = 1;
+ if (!strcmp_P(res->arg0, PSTR("column_test_push")))
+ push = 1;
+
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_VERY_SLOW);
+
+ /* Go to disc */
+
+ trajectory_d_rel(&mainboard.traj, 200);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ /* go back, insert colums */
+
+ trajectory_d_rel(&mainboard.traj, -200);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ i2c_mechboard_mode_prepare_pickup_next(I2C_LEFT_SIDE,
+ I2C_MECHBOARD_MODE_HARVEST);
+ printf_P(PSTR("Insert 4 colums\r\n"));
+ while (get_column_count() != 4);
+
+ /* build with left arm */
+
+ i2c_mechboard_mode_prepare_inside_both(level);
+ trajectory_d_rel(&mainboard.traj, 200-(res->dist));
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+
+ trajectory_a_rel(&mainboard.traj, res->a1);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+
+ i2c_mechboard_mode_prepare_build_select(level, -1);
+ time_wait_ms(200);
+ if (debug)
+ c = cmdline_getchar_wait();
+ i2c_mechboard_mode_autobuild(level, res->nb_col, res->arm_dist,
+ 0, 0, res->arm_dist, 0);
+ while (get_mechboard_mode() != I2C_MECHBOARD_MODE_AUTOBUILD);
+ while (get_mechboard_mode() == I2C_MECHBOARD_MODE_AUTOBUILD);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+ i2c_mechboard_mode_prepare_inside_select(level+res->nb_col, -1);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+ /* build with right arm */
+
+ trajectory_a_rel(&mainboard.traj, res->a2);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+ /* only ok for nb_col == 2 */
+ if ((level + res->nb_col) >= 7)
+ i2c_mechboard_mode_prepare_build_select(-1, level + res->nb_col + 1);
+ else
+ i2c_mechboard_mode_prepare_build_select(-1, level + res->nb_col);
+ time_wait_ms(200);
+ if (debug)
+ c = cmdline_getchar_wait();
+ i2c_mechboard_mode_autobuild(0, 0, res->arm_dist,
+ level + res->nb_col, res->nb_col,
+ res->arm_dist, 0);
+ while (get_mechboard_mode() != I2C_MECHBOARD_MODE_AUTOBUILD);
+ while (get_mechboard_mode() == I2C_MECHBOARD_MODE_AUTOBUILD);
+
+
+ if (push) {
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -100);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ i2c_mechboard_mode_push_temple_disc(I2C_RIGHT_SIDE);
+ time_wait_ms(500);
+ trajectory_d_rel(&mainboard.traj, 100);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ }
+ else if (level == 1 || level == 0) {
+ trajectory_d_rel(&mainboard.traj, -100);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ i2c_mechboard_mode_push_temple(level);
+ time_wait_ms(400);
+ strat_set_speed(200, SPEED_ANGLE_SLOW);
+ trajectory_d_rel(&mainboard.traj, 120);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ }
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+ i2c_mechboard_mode_prepare_inside_select(-1, level+res->nb_col*2);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+
+ trajectory_a_rel(&mainboard.traj, res->a3);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ if (debug)
+ c = cmdline_getchar_wait();
+ /* go back, insert colums */
+
+ trajectory_d_rel(&mainboard.traj, -100);
+
+ return;
+#endif
+}
+
+prog_char str_column_test_arg0[] = "column_test#column_test_debug#column_test_push";
+parse_pgm_token_string_t cmd_column_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_column_test_result, arg0, str_column_test_arg0);
+parse_pgm_token_num_t cmd_column_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, level, UINT8);
+
+prog_char help_column_test[] = "Column_Test function (level)";
+parse_pgm_inst_t cmd_column_test = {
+ .f = cmd_column_test_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_column_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_column_test_arg0,
+ (prog_void *)&cmd_column_test_arg1,
+ NULL,
+ },
+};
+
+parse_pgm_token_num_t cmd_column_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, dist, INT16);
+parse_pgm_token_num_t cmd_column_test_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, a1, INT8);
+parse_pgm_token_num_t cmd_column_test_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, a2, INT8);
+parse_pgm_token_num_t cmd_column_test_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, a3, INT8);
+parse_pgm_token_num_t cmd_column_test_arg6 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, arm_dist, INT16);
+parse_pgm_token_num_t cmd_column_test_arg7 = TOKEN_NUM_INITIALIZER(struct cmd_column_test_result, nb_col, INT8);
+
+prog_char help_column_test2[] = "Column_Test function (level, dist, a1, a2, a3, arm_dist, nb_col)";
+parse_pgm_inst_t cmd_column_test2 = {
+ .f = cmd_column_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_column_test2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_column_test_arg0,
+ (prog_void *)&cmd_column_test_arg1,
+ (prog_void *)&cmd_column_test_arg2,
+ (prog_void *)&cmd_column_test_arg3,
+ (prog_void *)&cmd_column_test_arg4,
+ (prog_void *)&cmd_column_test_arg5,
+ (prog_void *)&cmd_column_test_arg6,
+ (prog_void *)&cmd_column_test_arg7,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Pickup_Test */
+
+/* this structure is filled when cmd_pickup_test is parsed successfully */
+struct cmd_pickup_test_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int16_t dist;
+};
+
+/* return red or green sensor */
+#define COLOR_IR_SENSOR() \
+ ({ \
+ uint8_t __ret = 0; \
+ if (side == I2C_RIGHT_SIDE) \
+ __ret = sensor_get(S_DISP_RIGHT); \
+ else \
+ __ret = sensor_get(S_DISP_LEFT); \
+ __ret; \
+ }) \
+/* column dispensers */
+#define COL_SCAN_MARGIN 200
+/* distance between the wheel axis and the IR sensor */
+
+/* function called when cmd_pickup_test is parsed successfully */
+static void cmd_pickup_test_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ uint8_t err, side, first_try = 1;
+ int8_t cols_count_before, cols_count_after, cols;
+ struct cmd_pickup_test_result *res = parsed_result;
+ int16_t pos1, pos2, pos;
+ microseconds us;
+ int16_t dist = res->dist;
+ uint8_t timeout = 0;
+
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ side = I2C_RIGHT_SIDE;
+
+ i2c_mechboard_mode_prepare_pickup(I2C_AUTO_SIDE);
+ cols_count_before = get_column_count();
+ position_set(&mainboard.pos, 0, 0, 0);
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -1000);
+ err = WAIT_COND_OR_TRAJ_END(!COLOR_IR_SENSOR(), TRAJ_FLAGS_NO_NEAR);
+ if (err) /* we should not reach end */
+ goto fail;
+ pos1 = position_get_x_s16(&mainboard.pos);
+ printf_P(PSTR("pos1 = %d\r\n"), pos1);
+
+ err = WAIT_COND_OR_TRAJ_END(COLOR_IR_SENSOR(), TRAJ_FLAGS_NO_NEAR);
+ if (err)
+ goto fail;
+ pos2 = position_get_x_s16(&mainboard.pos);
+ printf_P(PSTR("pos2 = %d\r\n"), pos2);
+
+ pos = ABS(pos1 - pos2);
+ printf_P(PSTR("pos = %d\r\n"), pos);
+
+ trajectory_d_rel(&mainboard.traj, -dist + pos/2);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ if (side == I2C_LEFT_SIDE)
+ trajectory_a_rel(&mainboard.traj, 90);
+ else
+ trajectory_a_rel(&mainboard.traj, -90);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ pickup_wheels_on();
+ retry:
+ if (first_try)
+ i2c_mechboard_mode_lazy_harvest();
+ else
+ i2c_mechboard_mode_prepare_pickup(I2C_AUTO_SIDE);
+ first_try = 0;
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, 300);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST | END_NEAR);
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(600, TRAJ_FLAGS_SMALL_DIST);
+
+ trajectory_d_rel(&mainboard.traj, -DIST_BACK_DISPENSER);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ position_set(&mainboard.pos, 0, 0, 0);
+ if (get_mechboard_mode() == I2C_MECHBOARD_MODE_PREPARE_EJECT) {
+ strat_eject_col(90, 0);
+ goto retry;
+ }
+
+ /* start to pickup with finger / arms */
+
+ printf_P(PSTR("%s pickup now\r\n"), __FUNCTION__);
+ i2c_mechboard_mode_pickup();
+ WAIT_COND_OR_TIMEOUT(get_mechboard_mode() ==
+ I2C_MECHBOARD_MODE_PICKUP, 100);
+ us = time_get_us2();
+ cols = get_column_count();
+ while (get_mechboard_mode() == I2C_MECHBOARD_MODE_PICKUP) {
+ if (get_column_count() != cols) {
+ cols = get_column_count();
+ us = time_get_us2();
+ }
+ if ((get_column_count() - cols_count_before) >= 4) {
+ printf_P(PSTR("%s no more cols in disp\r\n"), __FUNCTION__);
+ break;
+ }
+ /* 1 second timeout */
+ if (time_get_us2() - us > 1500000L) {
+ printf_P(PSTR("%s timeout\r\n"), __FUNCTION__);
+ timeout = 1;
+ break;
+ }
+ }
+
+ /* eject if we found a bad color column */
+
+ if (get_mechboard_mode() == I2C_MECHBOARD_MODE_PREPARE_EJECT) {
+ strat_eject_col(90, 0);
+ goto retry;
+ }
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST | END_NEAR);
+
+ cols_count_after = get_column_count();
+ cols = cols_count_after - cols_count_before;
+ DEBUG(E_USER_STRAT, "%s we got %d cols", __FUNCTION__, cols);
+
+ pickup_wheels_off();
+ i2c_mechboard_mode_clear();
+
+ wait_ms(1000);
+ return;
+ fail:
+ printf_P(PSTR("failed\r\n"));
+ strat_hardstop();
+#endif
+}
+
+prog_char str_pickup_test_arg0[] = "pickup_test";
+parse_pgm_token_string_t cmd_pickup_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pickup_test_result, arg0, str_pickup_test_arg0);
+prog_char str_pickup_test_arg1[] = "left#right";
+parse_pgm_token_string_t cmd_pickup_test_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pickup_test_result, arg1, str_pickup_test_arg1);
+parse_pgm_token_num_t cmd_pickup_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pickup_test_result, dist, INT16);
+
+prog_char help_pickup_test[] = "Pickup_Test function";
+parse_pgm_inst_t cmd_pickup_test = {
+ .f = cmd_pickup_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pickup_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pickup_test_arg0,
+ (prog_void *)&cmd_pickup_test_arg1,
+ (prog_void *)&cmd_pickup_test_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Lintel_Test */
+
+/* this structure is filled when cmd_lintel_test is parsed successfully */
+struct cmd_lintel_test_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_lintel_test is parsed successfully */
+static void cmd_lintel_test_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ uint8_t err, first_try = 1, right_ok, left_ok;
+ int16_t left_cur, right_cur;
+
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(500);
+ retry:
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, 500);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err) && err != END_BLOCKING)
+ goto fail;
+
+ i2c_mechboard_mode_get_lintel();
+ time_wait_ms(500);
+
+ left_cur = sensor_get_adc(ADC_CSENSE3);
+ left_ok = (left_cur > I2C_MECHBOARD_CURRENT_COLUMN);
+ right_cur = mechboard.pump_right1_current;
+ right_ok = (right_cur > I2C_MECHBOARD_CURRENT_COLUMN);
+
+ printf_P(PSTR("left_ok=%d (%d), right_ok=%d (%d)\r\n"),
+ left_ok, left_cur, right_ok, right_cur);
+ if (first_try) {
+ if (!right_ok && !left_ok) {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ }
+ else if (right_ok && !left_ok) {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ strat_set_speed(500, 500);
+ trajectory_d_a_rel(&mainboard.traj, -150, 30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ trajectory_d_a_rel(&mainboard.traj, -140, -30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ first_try = 0;
+ goto retry;
+ }
+ else if (!right_ok && left_ok) {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ strat_set_speed(500, 500);
+ trajectory_d_a_rel(&mainboard.traj, -150, -30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ trajectory_d_a_rel(&mainboard.traj, -140, 30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ first_try = 0;
+ goto retry;
+ }
+ /* else, lintel is ok */
+ else {
+ i2c_mechboard_mode_put_lintel();
+ }
+ }
+ else {
+ if (right_ok && left_ok) {
+ /* lintel is ok */
+ i2c_mechboard_mode_put_lintel();
+ }
+ else {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ }
+ }
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ return;
+
+fail:
+ printf_P(PSTR("fail\r\n"));
+ return;
+#endif
+}
+
+prog_char str_lintel_test_arg0[] = "lintel_test";
+parse_pgm_token_string_t cmd_lintel_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_lintel_test_result, arg0, str_lintel_test_arg0);
+
+prog_char help_lintel_test[] = "Lintel_Test function";
+parse_pgm_inst_t cmd_lintel_test = {
+ .f = cmd_lintel_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_lintel_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_lintel_test_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Scan_Test */
+
+/* this structure is filled when cmd_scan_test is parsed successfully */
+struct cmd_scan_test_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int16_t start_dist;
+ int16_t scan_dist;
+ int16_t scan_speed;
+ int16_t center_x;
+ int16_t center_y;
+ uint8_t level;
+};
+
+#define SCAN_MODE_CHECK_TEMPLE 0
+#define SCAN_MODE_SCAN_COL 1
+#define SCAN_MODE_SCAN_TEMPLE 2
+#define SCAN_MODE_TRAJ_ONLY 3
+
+/* function called when cmd_scan_test is parsed successfully */
+static void cmd_scan_test_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ uint8_t err, mode=0, c;
+ int16_t pos1x, pos1y, dist;
+ struct cmd_scan_test_result *res = parsed_result;
+ int16_t back_mm = 0;
+
+ int16_t ckpt_rel_x = 0, ckpt_rel_y = 0;
+
+ double center_abs_x, center_abs_y;
+ double ckpt_rel_d, ckpt_rel_a;
+ double ckpt_abs_x, ckpt_abs_y;
+
+ if (!strcmp_P(res->arg1, PSTR("traj_only")))
+ mode = SCAN_MODE_TRAJ_ONLY;
+ else if (!strcmp_P(res->arg1, PSTR("check_temple")))
+ mode = SCAN_MODE_CHECK_TEMPLE;
+ else if (!strcmp_P(res->arg1, PSTR("scan_col")))
+ mode = SCAN_MODE_SCAN_COL;
+ else if (!strcmp_P(res->arg1, PSTR("scan_temple")))
+ mode = SCAN_MODE_SCAN_TEMPLE;
+
+ /* go to disc */
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_VERY_SLOW);
+ trajectory_d_rel(&mainboard.traj, 400);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (err != END_BLOCKING)
+ return;
+
+ /* save absolute position of disc */
+ rel_da_to_abs_xy(265, 0, ¢er_abs_x, ¢er_abs_y);
+
+ /* go back and prepare to scan */
+ strat_set_speed(1000, 1000);
+ trajectory_d_a_rel(&mainboard.traj, -140, 130);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return;
+
+ /* prepare scanner arm */
+ if (mode != SCAN_MODE_TRAJ_ONLY)
+ i2c_sensorboard_scanner_prepare();
+ time_wait_ms(250);
+
+ strat_set_speed(res->scan_speed, 1000);
+
+ pos1x = position_get_x_s16(&mainboard.pos);
+ pos1y = position_get_y_s16(&mainboard.pos);
+ trajectory_d_rel(&mainboard.traj, -res->scan_dist);
+
+ while (1) {
+ err = test_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (err != 0)
+ break;
+
+ dist = distance_from_robot(pos1x, pos1y);
+
+ if (dist > res->start_dist)
+ break;
+
+ if (get_scanner_status() & I2C_SCAN_MAX_COLUMN) {
+ err = END_ERROR;
+ break;
+ }
+ }
+
+ if (err) {
+ if (TRAJ_SUCCESS(err))
+ err = END_ERROR; /* should not reach end */
+ strat_hardstop();
+ trajectory_goto_xy_abs(&mainboard.traj, pos1x, pos1y);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (mode != SCAN_MODE_TRAJ_ONLY)
+ i2c_sensorboard_scanner_stop();
+ return;
+ }
+
+ /* start the scanner */
+
+ if (mode != SCAN_MODE_TRAJ_ONLY)
+ i2c_sensorboard_scanner_start();
+
+ err = WAIT_COND_OR_TRAJ_END(get_scanner_status() & I2C_SCAN_MAX_COLUMN,
+ TRAJ_FLAGS_NO_NEAR);
+ if (err == 0)
+ err = END_ERROR;
+ if (!TRAJ_SUCCESS(err)) {
+ strat_hardstop();
+ trajectory_goto_xy_abs(&mainboard.traj, pos1x, pos1y);
+ wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (mode != SCAN_MODE_TRAJ_ONLY)
+ i2c_sensorboard_scanner_stop();
+ return;
+ }
+
+ if (mode == SCAN_MODE_TRAJ_ONLY)
+ return;
+
+ wait_scan_done(10000);
+
+ i2c_sensorboard_scanner_stop();
+
+ if (mode == SCAN_MODE_CHECK_TEMPLE) {
+ i2c_sensorboard_scanner_algo_check(res->level,
+ res->center_x, res->center_y);
+ i2cproto_wait_update();
+ wait_scan_done(10000);
+ scanner_dump_state();
+
+ if (sensorboard.dropzone_h == -1) {
+ printf_P(PSTR("-- try to build a temple\r\n"));
+ res->center_x = 15;
+ res->center_y = 13;
+ mode = SCAN_MODE_SCAN_TEMPLE;
+ }
+ }
+
+ if (mode == SCAN_MODE_SCAN_TEMPLE) {
+ i2c_sensorboard_scanner_algo_temple(I2C_SCANNER_ZONE_DISC,
+ res->center_x,
+ res->center_y);
+ i2cproto_wait_update();
+ wait_scan_done(10000);
+ scanner_dump_state();
+
+ if (sensorboard.dropzone_h == -1 ||
+ strat_scan_get_checkpoint(mode, &ckpt_rel_x,
+ &ckpt_rel_y, &back_mm)) {
+ printf_P(PSTR("-- try to build a column\r\n"));
+ mode = SCAN_MODE_SCAN_COL;
+ }
+ }
+
+ if (mode == SCAN_MODE_SCAN_COL) {
+ i2c_sensorboard_scanner_algo_column(I2C_SCANNER_ZONE_DISC,
+ res->center_x, res->center_y);
+ i2cproto_wait_update();
+ wait_scan_done(10000);
+ scanner_dump_state();
+
+ if (sensorboard.dropzone_h == -1 ||
+ strat_scan_get_checkpoint(mode, &ckpt_rel_x,
+ &ckpt_rel_y, &back_mm)) {
+ return;
+ }
+ }
+
+ if (sensorboard.dropzone_h == -1)
+ return;
+
+ if (mode == SCAN_MODE_CHECK_TEMPLE) {
+ ckpt_rel_x = 220;
+ ckpt_rel_y = 100;
+ }
+
+
+ printf_P(PSTR("rel xy for ckpt is %d,%d\r\n"), ckpt_rel_x, ckpt_rel_y);
+
+ rel_xy_to_abs_xy(ckpt_rel_x, ckpt_rel_y, &ckpt_abs_x, &ckpt_abs_y);
+ abs_xy_to_rel_da(ckpt_abs_x, ckpt_abs_y, &ckpt_rel_d, &ckpt_rel_a);
+
+ printf_P(PSTR("abs ckpt is %2.2f,%2.2f\r\n"), ckpt_abs_x, ckpt_abs_y);
+
+ printf_P(PSTR("ok ? (y/n)\r\n"));
+
+ c = cmdline_getchar_wait();
+
+ if (c != 'y')
+ return;
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ /* intermediate checkpoint for some positions */
+ if ( (DEG(ckpt_rel_a) < 0 && DEG(ckpt_rel_a) > -90) ) {
+ trajectory_goto_xy_rel(&mainboard.traj, 200, 100);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ return;
+ }
+
+ trajectory_goto_xy_abs(&mainboard.traj, ckpt_abs_x, ckpt_abs_y);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ return;
+
+ trajectory_turnto_xy(&mainboard.traj, center_abs_x, center_abs_y);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ return;
+
+ c = cmdline_getchar_wait();
+
+ pos1x = position_get_x_s16(&mainboard.pos);
+ pos1y = position_get_y_s16(&mainboard.pos);
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_d_rel(&mainboard.traj, 200);
+ err = WAIT_COND_OR_TRAJ_END(distance_from_robot(pos1x, pos1y) > 200,
+ TRAJ_FLAGS_SMALL_DIST);
+ if (err == 0) {
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_VERY_SLOW);
+ trajectory_d_rel(&mainboard.traj, 400);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ }
+ if (err != END_BLOCKING)
+ return;
+
+ if (back_mm) {
+ trajectory_d_rel(&mainboard.traj, -back_mm);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ }
+#endif
+}
+
+prog_char str_scan_test_arg0[] = "scan_test";
+parse_pgm_token_string_t cmd_scan_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scan_test_result, arg0, str_scan_test_arg0);
+prog_char str_scan_test_arg1[] = "traj_only#scan_col#scan_temple";
+parse_pgm_token_string_t cmd_scan_test_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scan_test_result, arg1, str_scan_test_arg1);
+parse_pgm_token_num_t cmd_scan_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_scan_test_result, start_dist, INT16);
+parse_pgm_token_num_t cmd_scan_test_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_scan_test_result, scan_dist, INT16);
+parse_pgm_token_num_t cmd_scan_test_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_scan_test_result, scan_speed, INT16);
+parse_pgm_token_num_t cmd_scan_test_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_scan_test_result, center_x, INT16);
+parse_pgm_token_num_t cmd_scan_test_arg6 = TOKEN_NUM_INITIALIZER(struct cmd_scan_test_result, center_y, INT16);
+
+prog_char help_scan_test[] = "Scan_Test function (start_dist, scan_dist, speed_dist, centerx, centery)";
+parse_pgm_inst_t cmd_scan_test = {
+ .f = cmd_scan_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_scan_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_scan_test_arg0,
+ (prog_void *)&cmd_scan_test_arg1,
+ (prog_void *)&cmd_scan_test_arg2,
+ (prog_void *)&cmd_scan_test_arg3,
+ (prog_void *)&cmd_scan_test_arg4,
+ (prog_void *)&cmd_scan_test_arg5,
+ (prog_void *)&cmd_scan_test_arg6,
+ NULL,
+ },
+};
+
+prog_char str_scan_test_arg1b[] = "check_temple";
+parse_pgm_token_string_t cmd_scan_test_arg1b = TOKEN_STRING_INITIALIZER(struct cmd_scan_test_result, arg1, str_scan_test_arg1b);
+parse_pgm_token_num_t cmd_scan_test_arg7 = TOKEN_NUM_INITIALIZER(struct cmd_scan_test_result, level, UINT8);
+
+prog_char help_scan_test2[] = "Scan_Test function (start_dist, scan_dist, speed_dist, templex, templey, level)";
+parse_pgm_inst_t cmd_scan_test2 = {
+ .f = cmd_scan_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_scan_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_scan_test_arg0,
+ (prog_void *)&cmd_scan_test_arg1b,
+ (prog_void *)&cmd_scan_test_arg2,
+ (prog_void *)&cmd_scan_test_arg3,
+ (prog_void *)&cmd_scan_test_arg4,
+ (prog_void *)&cmd_scan_test_arg5,
+ (prog_void *)&cmd_scan_test_arg6,
+ (prog_void *)&cmd_scan_test_arg7,
+ 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)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ 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,
+ },
+};
+
+
+/**********************************************************/
+/* Scanner */
+
+/* this structure is filled when cmd_scanner is parsed successfully */
+struct cmd_scanner_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_scanner is parsed successfully */
+static void cmd_scanner_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_scanner_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("prepare"))) {
+ i2c_sensorboard_scanner_prepare();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("stop"))) {
+ i2c_sensorboard_scanner_stop();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("start"))) {
+ i2c_sensorboard_scanner_start();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("algo_col"))) {
+ i2c_sensorboard_scanner_algo_column(I2C_SCANNER_ZONE_DISC,
+ 15, 15);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("algo_check"))) {
+ i2c_sensorboard_scanner_algo_check(2, 15, 15); // XXX
+ }
+ else if (!strcmp_P(res->arg1, PSTR("calib"))) {
+ i2c_sensorboard_scanner_calib();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("show"))) {
+ scanner_dump_state();
+ }
+#endif
+}
+
+prog_char str_scanner_arg0[] = "scanner";
+parse_pgm_token_string_t cmd_scanner_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scanner_result, arg0, str_scanner_arg0);
+prog_char str_scanner_arg1[] = "prepare#start#algo_col#algo_check#stop#show#calib";
+parse_pgm_token_string_t cmd_scanner_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scanner_result, arg1, str_scanner_arg1);
+
+prog_char help_scanner[] = "send commands to scanner";
+parse_pgm_inst_t cmd_scanner = {
+ .f = cmd_scanner_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_scanner,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_scanner_arg0,
+ (prog_void *)&cmd_scanner_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Build_Z1 */
+
+/* this structure is filled when cmd_build_z1 is parsed successfully */
+struct cmd_build_z1_result {
+ fixed_string_t arg0;
+ uint8_t level;
+ int16_t d1;
+ int16_t d2;
+ int16_t d3;
+};
+
+/* function called when cmd_build_z1 is parsed successfully */
+static void cmd_build_z1_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ struct cmd_build_z1_result *res = parsed_result;
+
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_d_rel(&mainboard.traj, 400);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ trajectory_d_rel(&mainboard.traj, -200);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ i2c_mechboard_mode_prepare_pickup_next(I2C_LEFT_SIDE,
+ I2C_MECHBOARD_MODE_HARVEST);
+
+ while (get_column_count() != 4);
+
+ i2c_mechboard_mode_prepare_build_both(res->level);
+ time_wait_ms(500);
+
+ trajectory_d_rel(&mainboard.traj, 400);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_d_rel(&mainboard.traj, -res->d1);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ i2c_mechboard_mode_autobuild(res->level, 2, I2C_AUTOBUILD_DEFAULT_DIST,
+ res->level, 2, I2C_AUTOBUILD_DEFAULT_DIST,
+ 1);
+ WAIT_COND_OR_TIMEOUT(get_mechboard_mode() ==
+ I2C_MECHBOARD_MODE_AUTOBUILD, 100);
+ WAIT_COND_OR_TIMEOUT(get_mechboard_mode() !=
+ I2C_MECHBOARD_MODE_AUTOBUILD, 10000);
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_d_rel(&mainboard.traj, -res->d2);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ i2c_mechboard_mode_push_temple(1);
+ time_wait_ms(400);
+ strat_set_speed(200, SPEED_ANGLE_SLOW);
+ trajectory_d_rel(&mainboard.traj, res->d3);
+ wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+#endif
+}
+
+prog_char str_build_z1_arg0[] = "build_z1";
+parse_pgm_token_string_t cmd_build_z1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_build_z1_result, arg0, str_build_z1_arg0);
+parse_pgm_token_num_t cmd_build_z1_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_build_z1_result, level, UINT8);
+parse_pgm_token_num_t cmd_build_z1_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_build_z1_result, d1, INT16);
+parse_pgm_token_num_t cmd_build_z1_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_build_z1_result, d2, INT16);
+parse_pgm_token_num_t cmd_build_z1_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_build_z1_result, d3, INT16);
+
+prog_char help_build_z1[] = "Build_Z1 function (level, d1, d2, d3)";
+parse_pgm_inst_t cmd_build_z1 = {
+ .f = cmd_build_z1_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_build_z1,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_build_z1_arg0,
+ (prog_void *)&cmd_build_z1_arg1,
+ (prog_void *)&cmd_build_z1_arg2,
+ (prog_void *)&cmd_build_z1_arg3,
+ (prog_void *)&cmd_build_z1_arg4,
+ NULL,
+ },
+};
+
+#ifdef TEST_BEACON
+/**********************************************************/
+/* Beacon_Opp_Dump */
+
+/* this structure is filled when cmd_beacon_opp_dump is parsed successfully */
+struct cmd_beacon_opp_dump_result {
+ fixed_string_t arg0;
+};
+
+void beacon_dump_samples(void);
+
+/* function called when cmd_beacon_opp_dump is parsed successfully */
+static void cmd_beacon_opp_dump_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ beacon_dump_samples();
+#endif
+}
+
+prog_char str_beacon_opp_dump_arg0[] = "beacon_opp_dump";
+parse_pgm_token_string_t cmd_beacon_opp_dump_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_opp_dump_result, arg0, str_beacon_opp_dump_arg0);
+
+prog_char help_beacon_opp_dump[] = "Dump beacon samples";
+parse_pgm_inst_t cmd_beacon_opp_dump = {
+ .f = cmd_beacon_opp_dump_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_beacon_opp_dump,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_beacon_opp_dump_arg0,
+ NULL,
+ },
+};
+#endif
+
+/**********************************************************/
+/* Test */
+
+/* this structure is filled when cmd_test is parsed successfully */
+struct cmd_test_result {
+ fixed_string_t arg0;
+ int32_t radius;
+};
+void circle_get_da_speed_from_radius(struct trajectory *traj,
+ double radius_mm,
+ double *speed_d,
+ double *speed_a);
+/* function called when cmd_test is parsed successfully */
+static void cmd_test_parsed(void *parsed_result, void *data)
+{
+ struct cmd_test_result *res = parsed_result;
+ double d,a;
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
+ printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
+}
+
+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);
+
+prog_char help_test[] = "Test function";
+parse_pgm_inst_t cmd_test = {
+ .f = cmd_test_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_test,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_test_arg0,
+ (prog_void *)&cmd_test_arg1,
+ NULL,
+ },
+};
--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: commands_traj.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <hostsim.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "i2c_commands.h"
+#include "main.h"
+#include "cs.h"
+#include "cmdline.h"
+#include "strat.h"
+#include "strat_utils.h"
+#include "strat_base.h"
+#include "strat_avoid.h"
+
+/**********************************************************/
+/* Traj_Speeds for trajectory_manager */
+
+/* this structure is filled when cmd_traj_speed is parsed successfully */
+struct cmd_traj_speed_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint16_t s;
+};
+
+/* function called when cmd_traj_speed is parsed successfully */
+static void cmd_traj_speed_parsed(void *parsed_result, void *data)
+{
+ struct cmd_traj_speed_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("angle"))) {
+ trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("distance"))) {
+ trajectory_set_speed(&mainboard.traj, res->s, mainboard.traj.a_speed);
+ }
+ /* else it is a "show" */
+
+ printf_P(PSTR("angle %u, distance %u\r\n"),
+ mainboard.traj.a_speed,
+ mainboard.traj.d_speed);
+}
+
+prog_char str_traj_speed_arg0[] = "traj_speed";
+parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
+prog_char str_traj_speed_arg1[] = "angle#distance";
+parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
+parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
+
+prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
+parse_pgm_inst_t cmd_traj_speed = {
+ .f = cmd_traj_speed_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_speed,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_speed_arg0,
+ (prog_void *)&cmd_traj_speed_arg1,
+ (prog_void *)&cmd_traj_speed_s,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_traj_speed_show_arg[] = "show";
+parse_pgm_token_string_t cmd_traj_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_show_arg);
+
+prog_char help_traj_speed_show[] = "Show traj_speed values for trajectory manager";
+parse_pgm_inst_t cmd_traj_speed_show = {
+ .f = cmd_traj_speed_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_speed_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_speed_arg0,
+ (prog_void *)&cmd_traj_speed_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* circle coef configuration */
+
+/* this structure is filled when cmd_circle_coef is parsed successfully */
+struct cmd_circle_coef_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float circle_coef;
+};
+
+
+/* function called when cmd_circle_coef is parsed successfully */
+static void cmd_circle_coef_parsed(void *parsed_result, void *data)
+{
+ struct cmd_circle_coef_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
+ }
+
+ printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
+}
+
+prog_char str_circle_coef_arg0[] = "circle_coef";
+parse_pgm_token_string_t cmd_circle_coef_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg0, str_circle_coef_arg0);
+prog_char str_circle_coef_arg1[] = "set";
+parse_pgm_token_string_t cmd_circle_coef_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_arg1);
+parse_pgm_token_num_t cmd_circle_coef_val = TOKEN_NUM_INITIALIZER(struct cmd_circle_coef_result, circle_coef, FLOAT);
+
+prog_char help_circle_coef[] = "Set circle coef";
+parse_pgm_inst_t cmd_circle_coef = {
+ .f = cmd_circle_coef_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_circle_coef,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_circle_coef_arg0,
+ (prog_void *)&cmd_circle_coef_arg1,
+ (prog_void *)&cmd_circle_coef_val,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_circle_coef_show_arg[] = "show";
+parse_pgm_token_string_t cmd_circle_coef_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_show_arg);
+
+prog_char help_circle_coef_show[] = "Show circle coef";
+parse_pgm_inst_t cmd_circle_coef_show = {
+ .f = cmd_circle_coef_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_circle_coef_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_circle_coef_arg0,
+ (prog_void *)&cmd_circle_coef_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* trajectory window configuration */
+
+/* this structure is filled when cmd_trajectory is parsed successfully */
+struct cmd_trajectory_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float d_win;
+ float a_win;
+ float a_start;
+};
+
+
+/* function called when cmd_trajectory is parsed successfully */
+static void cmd_trajectory_parsed(void * parsed_result, void * data)
+{
+ struct cmd_trajectory_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ trajectory_set_windows(&mainboard.traj, res->d_win,
+ res->a_win, res->a_start);
+ }
+
+ printf_P(PSTR("trajectory %2.2f %2.2f %2.2f\r\n"), mainboard.traj.d_win,
+ DEG(mainboard.traj.a_win_rad), DEG(mainboard.traj.a_start_rad));
+}
+
+prog_char str_trajectory_arg0[] = "trajectory";
+parse_pgm_token_string_t cmd_trajectory_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg0, str_trajectory_arg0);
+prog_char str_trajectory_arg1[] = "set";
+parse_pgm_token_string_t cmd_trajectory_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_arg1);
+parse_pgm_token_num_t cmd_trajectory_d = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, d_win, FLOAT);
+parse_pgm_token_num_t cmd_trajectory_a = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_win, FLOAT);
+parse_pgm_token_num_t cmd_trajectory_as = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_start, FLOAT);
+
+prog_char help_trajectory[] = "Set trajectory windows (distance, angle, angle_start)";
+parse_pgm_inst_t cmd_trajectory = {
+ .f = cmd_trajectory_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_trajectory,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_trajectory_arg0,
+ (prog_void *)&cmd_trajectory_arg1,
+ (prog_void *)&cmd_trajectory_d,
+ (prog_void *)&cmd_trajectory_a,
+ (prog_void *)&cmd_trajectory_as,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_trajectory_show_arg[] = "show";
+parse_pgm_token_string_t cmd_trajectory_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_show_arg);
+
+prog_char help_trajectory_show[] = "Show trajectory window configuration";
+parse_pgm_inst_t cmd_trajectory_show = {
+ .f = cmd_trajectory_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_trajectory_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_trajectory_arg0,
+ (prog_void *)&cmd_trajectory_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* rs_gains configuration */
+
+/* this structure is filled when cmd_rs_gains is parsed successfully */
+struct cmd_rs_gains_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float left;
+ float right;
+};
+
+/* 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"))) {
+ rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
+ 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"));
+#endif
+}
+
+prog_char str_rs_gains_arg0[] = "rs_gains";
+parse_pgm_token_string_t cmd_rs_gains_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg0, str_rs_gains_arg0);
+prog_char str_rs_gains_arg1[] = "set";
+parse_pgm_token_string_t cmd_rs_gains_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_arg1);
+parse_pgm_token_num_t cmd_rs_gains_l = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, left, FLOAT);
+parse_pgm_token_num_t cmd_rs_gains_r = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, right, FLOAT);
+
+prog_char help_rs_gains[] = "Set rs_gains (left, right)";
+parse_pgm_inst_t cmd_rs_gains = {
+ .f = cmd_rs_gains_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_rs_gains,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_rs_gains_arg0,
+ (prog_void *)&cmd_rs_gains_arg1,
+ (prog_void *)&cmd_rs_gains_l,
+ (prog_void *)&cmd_rs_gains_r,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_rs_gains_show_arg[] = "show";
+parse_pgm_token_string_t cmd_rs_gains_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_show_arg);
+
+prog_char help_rs_gains_show[] = "Show rs_gains";
+parse_pgm_inst_t cmd_rs_gains_show = {
+ .f = cmd_rs_gains_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_rs_gains_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_rs_gains_arg0,
+ (prog_void *)&cmd_rs_gains_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* track configuration */
+
+/* this structure is filled when cmd_track is parsed successfully */
+struct cmd_track_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float val;
+};
+
+/* function called when cmd_track is parsed successfully */
+static void cmd_track_parsed(void * parsed_result, void * data)
+{
+ struct cmd_track_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ position_set_physical_params(&mainboard.pos, res->val, DIST_IMP_MM);
+ }
+ printf_P(PSTR("track set %f\r\n"), mainboard.pos.phys.track_mm);
+}
+
+prog_char str_track_arg0[] = "track";
+parse_pgm_token_string_t cmd_track_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg0, str_track_arg0);
+prog_char str_track_arg1[] = "set";
+parse_pgm_token_string_t cmd_track_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_arg1);
+parse_pgm_token_num_t cmd_track_val = TOKEN_NUM_INITIALIZER(struct cmd_track_result, val, FLOAT);
+
+prog_char help_track[] = "Set track in mm";
+parse_pgm_inst_t cmd_track = {
+ .f = cmd_track_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_track,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_track_arg0,
+ (prog_void *)&cmd_track_arg1,
+ (prog_void *)&cmd_track_val,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_track_show_arg[] = "show";
+parse_pgm_token_string_t cmd_track_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_show_arg);
+
+prog_char help_track_show[] = "Show track";
+parse_pgm_inst_t cmd_track_show = {
+ .f = cmd_track_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_track_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_track_arg0,
+ (prog_void *)&cmd_track_show_arg,
+ NULL,
+ },
+};
+
+
+
+/**********************************************************/
+/* Pt_Lists for testing traj */
+
+#define PT_LIST_SIZE 10
+static struct xy_point pt_list[PT_LIST_SIZE];
+static uint16_t pt_list_len = 0;
+
+/* this structure is filled when cmd_pt_list is parsed successfully */
+struct cmd_pt_list_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint16_t arg2;
+ int16_t arg3;
+ int16_t arg4;
+};
+
+/* function called when cmd_pt_list is parsed successfully */
+static void cmd_pt_list_parsed(void * parsed_result, void * data)
+{
+ struct cmd_pt_list_result * res = parsed_result;
+ uint8_t i, why=0;
+
+ if (!strcmp_P(res->arg1, PSTR("append"))) {
+ res->arg2 = pt_list_len;
+ }
+
+ if (!strcmp_P(res->arg1, PSTR("insert")) ||
+ !strcmp_P(res->arg1, PSTR("append"))) {
+ if (res->arg2 > pt_list_len) {
+ printf_P(PSTR("Index too large\r\n"));
+ return;
+ }
+ if (pt_list_len >= PT_LIST_SIZE) {
+ printf_P(PSTR("List is too large\r\n"));
+ return;
+ }
+ memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
+ PT_LIST_SIZE-1-res->arg2);
+ pt_list[res->arg2].x = res->arg3;
+ pt_list[res->arg2].y = res->arg4;
+ pt_list_len++;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("del"))) {
+ if (pt_list_len <= 0) {
+ printf_P(PSTR("Error: list empty\r\n"));
+ return;
+ }
+ if (res->arg2 > pt_list_len) {
+ printf_P(PSTR("Index too large\r\n"));
+ return;
+ }
+ memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
+ (PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
+ pt_list_len--;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("reset"))) {
+ pt_list_len = 0;
+ }
+
+ /* else it is a "show" or a "start" */
+ if (pt_list_len == 0) {
+ printf_P(PSTR("List empty\r\n"));
+ return;
+ }
+ for (i=0 ; i<pt_list_len ; i++) {
+ printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
+ if (!strcmp_P(res->arg1, 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("avoid_start"))) {
+ while (1) {
+ why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
+ printf("next point\r\n");
+ if (why != END_OBSTACLE)
+ break;
+ }
+ }
+ if (why & (~(END_TRAJ | END_NEAR)))
+ trajectory_stop(&mainboard.traj);
+ }
+}
+
+prog_char str_pt_list_arg0[] = "pt_list";
+parse_pgm_token_string_t cmd_pt_list_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg0, str_pt_list_arg0);
+prog_char str_pt_list_arg1[] = "insert";
+parse_pgm_token_string_t cmd_pt_list_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1);
+parse_pgm_token_num_t cmd_pt_list_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg2, UINT16);
+parse_pgm_token_num_t cmd_pt_list_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg3, INT16);
+parse_pgm_token_num_t cmd_pt_list_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg4, INT16);
+
+prog_char help_pt_list[] = "Insert point in pt_list (idx,x,y)";
+parse_pgm_inst_t cmd_pt_list = {
+ .f = cmd_pt_list_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pt_list,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg1,
+ (prog_void *)&cmd_pt_list_arg2,
+ (prog_void *)&cmd_pt_list_arg3,
+ (prog_void *)&cmd_pt_list_arg4,
+ NULL,
+ },
+};
+
+/* append */
+
+prog_char str_pt_list_arg1_append[] = "append";
+parse_pgm_token_string_t cmd_pt_list_arg1_append = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1_append);
+
+prog_char help_pt_list_append[] = "Append point in pt_list (x,y)";
+parse_pgm_inst_t cmd_pt_list_append = {
+ .f = cmd_pt_list_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pt_list_append,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg1_append,
+ (prog_void *)&cmd_pt_list_arg3,
+ (prog_void *)&cmd_pt_list_arg4,
+ NULL,
+ },
+};
+
+/* del */
+
+prog_char str_pt_list_del_arg[] = "del";
+parse_pgm_token_string_t cmd_pt_list_del_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_del_arg);
+
+prog_char help_pt_list_del[] = "Del or insert point in pt_list (num)";
+parse_pgm_inst_t cmd_pt_list_del = {
+ .f = cmd_pt_list_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pt_list_del,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_del_arg,
+ (prog_void *)&cmd_pt_list_arg2,
+ NULL,
+ },
+};
+/* show */
+
+prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_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";
+parse_pgm_inst_t cmd_pt_list_show = {
+ .f = cmd_pt_list_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_pt_list_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_show_arg,
+ NULL,
+ },
+};
+
+
+
+/**********************************************************/
+/* Goto function */
+
+/* this structure is filled when cmd_goto is parsed successfully */
+struct cmd_goto_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+ int32_t arg3;
+ int32_t arg4;
+};
+
+/* function called when cmd_goto is parsed successfully */
+static void cmd_goto_parsed(void * parsed_result, void * data)
+{
+ struct cmd_goto_result * res = parsed_result;
+ uint8_t err;
+ microseconds t1, t2;
+
+ interrupt_traj_reset();
+ if (!strcmp_P(res->arg1, PSTR("a_rel"))) {
+ trajectory_a_rel(&mainboard.traj, res->arg2);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("d_rel"))) {
+ trajectory_d_rel(&mainboard.traj, res->arg2);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("a_abs"))) {
+ trajectory_a_abs(&mainboard.traj, res->arg2);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("a_to_xy"))) {
+ trajectory_turnto_xy(&mainboard.traj, res->arg2, res->arg3);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("a_behind_xy"))) {
+ trajectory_turnto_xy_behind(&mainboard.traj, res->arg2, res->arg3);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("xy_rel"))) {
+ trajectory_goto_xy_rel(&mainboard.traj, res->arg2, res->arg3);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("xy_abs"))) {
+ trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
+ err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
+ if (err != END_TRAJ && err != END_NEAR)
+ strat_hardstop();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
+ err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
+ if (err != END_TRAJ && err != END_NEAR)
+ strat_hardstop();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
+ trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("xy_abs_back"))) {
+ trajectory_goto_backward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
+ trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
+ }
+ t1 = time_get_us2();
+ while ((err = test_traj_end(0xFF)) == 0) {
+ t2 = time_get_us2();
+ if (t2 - t1 > 200000) {
+ dump_cs_debug("angle", &mainboard.angle.cs);
+ dump_cs_debug("distance", &mainboard.distance.cs);
+ t1 = t2;
+ }
+ }
+ if (err != END_TRAJ && err != END_NEAR)
+ strat_hardstop();
+ printf_P(PSTR("returned %s\r\n"), get_err(err));
+}
+
+prog_char str_goto_arg0[] = "goto";
+parse_pgm_token_string_t cmd_goto_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg0, str_goto_arg0);
+prog_char str_goto_arg1_a[] = "d_rel#a_rel#a_abs";
+parse_pgm_token_string_t cmd_goto_arg1_a = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_a);
+parse_pgm_token_num_t cmd_goto_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg2, INT32);
+
+/* 1 params */
+prog_char help_goto1[] = "Change orientation of the mainboard";
+parse_pgm_inst_t cmd_goto1 = {
+ .f = cmd_goto_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_goto1,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_a,
+ (prog_void *)&cmd_goto_arg2,
+ NULL,
+ },
+};
+
+prog_char str_goto_arg1_b[] = "xy_rel#xy_abs#xy_abs_fow#xy_abs_back#da_rel#a_to_xy#avoid#avoid_bw#a_behind_xy";
+parse_pgm_token_string_t cmd_goto_arg1_b = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_b);
+parse_pgm_token_num_t cmd_goto_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg3, INT32);
+
+/* 2 params */
+prog_char help_goto2[] = "Go to a (x,y) or (d,a) position";
+parse_pgm_inst_t cmd_goto2 = {
+ .f = cmd_goto_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_goto2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_b,
+ (prog_void *)&cmd_goto_arg2,
+ (prog_void *)&cmd_goto_arg3,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Position tests */
+
+/* this structure is filled when cmd_position is parsed successfully */
+struct cmd_position_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+ int32_t arg3;
+ int32_t arg4;
+};
+
+#define AUTOPOS_SPEED_FAST 200
+static void auto_position(void)
+{
+ uint8_t err;
+ uint16_t old_spdd, old_spda;
+
+ interrupt_traj_reset();
+ strat_get_speed(&old_spdd, &old_spda);
+ strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+
+ 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);
+
+ trajectory_d_rel(&mainboard.traj, 120);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (err == END_INTR)
+ goto intr;
+
+ 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);
+ 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));
+
+ trajectory_d_rel(&mainboard.traj, 120);
+ 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));
+ 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;
+
+intr:
+ strat_hardstop();
+ strat_set_speed(old_spdd, old_spda);
+}
+
+/* function called when cmd_position is parsed successfully */
+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);
+ }
+ 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;
+#ifndef HOST_VERSION
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
+#endif
+ auto_position();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
+ mainboard.our_color = I2C_COLOR_RED;
+#ifndef HOST_VERSION
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
+#endif
+ auto_position();
+ }
+
+ /* else it's just a "show" */
+ printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
+ position_get_x_double(&mainboard.pos),
+ position_get_y_double(&mainboard.pos),
+ DEG(position_get_a_rad_double(&mainboard.pos)));
+}
+
+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";
+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";
+parse_pgm_inst_t cmd_position = {
+ .f = cmd_position_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_position,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_position_arg0,
+ (prog_void *)&cmd_position_arg1,
+ NULL,
+ },
+};
+
+
+prog_char str_position_arg1_set[] = "set";
+parse_pgm_token_string_t cmd_position_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1_set);
+parse_pgm_token_num_t cmd_position_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg2, INT32);
+parse_pgm_token_num_t cmd_position_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg3, INT32);
+parse_pgm_token_num_t cmd_position_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg4, INT32);
+
+prog_char help_position_set[] = "Set (x,y,a) position";
+parse_pgm_inst_t cmd_position_set = {
+ .f = cmd_position_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_position_set,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_position_arg0,
+ (prog_void *)&cmd_position_arg1_set,
+ (prog_void *)&cmd_position_arg2,
+ (prog_void *)&cmd_position_arg3,
+ (prog_void *)&cmd_position_arg4,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* strat configuration */
+
+/* this structure is filled when cmd_strat_infos is parsed successfully */
+struct cmd_strat_infos_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_strat_infos is parsed successfully */
+static void cmd_strat_infos_parsed(void *parsed_result, void *data)
+{
+ struct cmd_strat_infos_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("reset"))) {
+ strat_reset_infos();
+ }
+ strat_infos.dump_enabled = 1;
+ strat_dump_infos(__FUNCTION__);
+}
+
+prog_char str_strat_infos_arg0[] = "strat_infos";
+parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
+prog_char str_strat_infos_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
+
+prog_char help_strat_infos[] = "reset/show strat_infos";
+parse_pgm_inst_t cmd_strat_infos = {
+ .f = cmd_strat_infos_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_strat_infos,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_strat_infos_arg0,
+ (prog_void *)&cmd_strat_infos_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* strat configuration */
+
+/* this structure is filled when cmd_strat_conf is parsed successfully */
+struct cmd_strat_conf_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* 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;
+ }
+ 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";
+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";
+parse_pgm_inst_t cmd_strat_conf = {
+ .f = cmd_strat_conf_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_strat_conf,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_strat_conf_arg0,
+ (prog_void *)&cmd_strat_conf_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* strat configuration */
+
+/* this structure is filled when cmd_strat_conf2 is parsed successfully */
+struct cmd_strat_conf2_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+/* function called when cmd_strat_conf2 is parsed successfully */
+static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
+{
+ struct cmd_strat_conf2_result *res = parsed_result;
+ uint8_t on, bit = 0;
+
+ if (!strcmp_P(res->arg2, PSTR("on")))
+ on = 1;
+ else
+ on = 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")))
+ bit = STRAT_CONF_BYPASS_STATIC2;
+ else if (!strcmp_P(res->arg1, PSTR("take_one_lintel")))
+ bit = STRAT_CONF_TAKE_ONE_LINTEL;
+ else if (!strcmp_P(res->arg1, PSTR("skip_when_check_fail")))
+ bit = STRAT_CONF_TAKE_ONE_LINTEL;
+ else if (!strcmp_P(res->arg1, PSTR("store_static2")))
+ bit = STRAT_CONF_STORE_STATIC2;
+ else if (!strcmp_P(res->arg1, PSTR("big3_temple")))
+ bit = STRAT_CONF_BIG_3_TEMPLE;
+ else if (!strcmp_P(res->arg1, PSTR("early_opp_scan")))
+ bit = STRAT_CONF_EARLY_SCAN;
+ else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
+ bit = STRAT_CONF_PUSH_OPP_COLS;
+
+ if (on)
+ strat_infos.conf.flags |= bit;
+ else
+ strat_infos.conf.flags &= (~bit);
+
+ strat_infos.dump_enabled = 1;
+ strat_dump_conf();
+}
+
+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";
+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);
+
+
+prog_char help_strat_conf2[] = "configure strat options";
+parse_pgm_inst_t cmd_strat_conf2 = {
+ .f = cmd_strat_conf2_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_strat_conf2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_strat_conf2_arg0,
+ (prog_void *)&cmd_strat_conf2_arg1,
+ (prog_void *)&cmd_strat_conf2_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* strat configuration */
+
+/* this structure is filled when cmd_strat_conf3 is parsed successfully */
+struct cmd_strat_conf3_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t arg2;
+};
+
+/* function called when cmd_strat_conf3 is parsed successfully */
+static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
+{
+ struct cmd_strat_conf3_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
+ if (res->arg2 > 90)
+ res->arg2 = 90;
+ strat_infos.conf.scan_opp_min_time = res->arg2;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
+ if (res->arg2 > 90)
+ res->arg2 = 90;
+ strat_infos.conf.delay_between_opp_scan = res->arg2;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
+ if (res->arg2 > 90)
+ res->arg2 = 90;
+ strat_infos.conf.scan_our_min_time = res->arg2;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
+ if (res->arg2 > 90)
+ res->arg2 = 90;
+ strat_infos.conf.delay_between_our_scan = res->arg2;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
+ strat_infos.conf.wait_opponent = res->arg2;
+ }
+ else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
+ strat_infos.conf.lintel_min_time = res->arg2;
+ }
+ 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";
+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);
+
+prog_char help_strat_conf3[] = "configure strat options";
+parse_pgm_inst_t cmd_strat_conf3 = {
+ .f = cmd_strat_conf3_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_strat_conf3,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_strat_conf3_arg0,
+ (prog_void *)&cmd_strat_conf3_arg1,
+ (prog_void *)&cmd_strat_conf3_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* 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 */
+
+/* this structure is filled when cmd_subtraj is parsed successfully */
+struct cmd_subtraj_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+ int32_t arg3;
+ int32_t arg4;
+ int32_t arg5;
+};
+
+/* function called when cmd_subtraj is parsed successfully */
+static void cmd_subtraj_parsed(void *parsed_result, void *data)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ 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);
+ }
+
+ printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
+ trajectory_hardstop(&mainboard.traj);
+#endif
+}
+
+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";
+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);
+parse_pgm_token_num_t cmd_subtraj_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg4, INT32);
+parse_pgm_token_num_t cmd_subtraj_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg5, INT32);
+
+prog_char help_subtraj[] = "Test sub-trajectories (a,b,c,d: specific params)";
+parse_pgm_inst_t cmd_subtraj = {
+ .f = cmd_subtraj_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_subtraj,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_subtraj_arg0,
+ (prog_void *)&cmd_subtraj_arg1,
+ (prog_void *)&cmd_subtraj_arg2,
+ (prog_void *)&cmd_subtraj_arg3,
+ (prog_void *)&cmd_subtraj_arg4,
+ (prog_void *)&cmd_subtraj_arg5,
+ NULL,
+ },
+};
#include <rdline.h>
#include "robotsim.h"
+#include "strat.h"
+#include "actuator.h"
#include "main.h"
/* called every 5 ms */
* compensation) */
position_manage(&mainboard.pos);
}
-#if 0
if (mainboard.flags & DO_BD) {
bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
}
+#if 0
if (mainboard.flags & DO_TIMER) {
uint8_t second;
/* the robot should stop correctly in the strat, but
{
/* ROBOT_SYSTEM */
rs_init(&mainboard.rs);
- rs_set_left_pwm(&mainboard.rs, robotsim_pwm, LEFT_PWM);
- rs_set_right_pwm(&mainboard.rs, robotsim_pwm, RIGHT_PWM);
+ rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
+ rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
/* increase gain to decrease dist, increase left and it will turn more left */
rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
LEFT_ENCODER, IMP_COEF);
--- /dev/null
+/*
+ * Copyright Droids Corporation (2007)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: i2c_commands.h,v 1.9 2009-05-27 20:04:06 zer0 Exp $
+ *
+ */
+
+#ifndef _I2C_COMMANDS_H_
+#define _I2C_COMMANDS_H_
+
+#define I2C_MAINBOARD_ADDR 1
+#define I2C_MECHBOARD_ADDR 2
+#define I2C_SENSORBOARD_ADDR 3
+
+#define I2C_LEFT_SIDE 0
+#define I2C_RIGHT_SIDE 1
+#define I2C_AUTO_SIDE 2 /* for prepare_pickup */
+#define I2C_CENTER_SIDE 3 /* for prepare_pickup */
+
+#define I2C_COLOR_RED 0
+#define I2C_COLOR_GREEN 1
+
+#define I2C_AUTOBUILD_DEFAULT_DIST 210
+
+struct i2c_cmd_hdr {
+ uint8_t cmd;
+};
+
+/****/
+/* commands that do not need and answer */
+/****/
+
+#define I2C_CMD_GENERIC_LED_CONTROL 0x00
+
+struct i2c_cmd_led_control {
+ struct i2c_cmd_hdr hdr;
+ uint8_t led_num:7;
+ uint8_t state:1;
+};
+
+/****/
+
+#define I2C_CMD_GENERIC_SET_COLOR 0x01
+
+struct i2c_cmd_generic_color {
+ struct i2c_cmd_hdr hdr;
+ uint8_t color;
+};
+
+/****/
+
+#define I2C_CMD_MECHBOARD_SET_MODE 0x02
+
+struct i2c_cmd_mechboard_set_mode {
+ struct i2c_cmd_hdr hdr;
+#define I2C_MECHBOARD_MODE_MANUAL 0x00
+#define I2C_MECHBOARD_MODE_HARVEST 0x01
+#define I2C_MECHBOARD_MODE_PREPARE_PICKUP 0x02
+#define I2C_MECHBOARD_MODE_PICKUP 0x03
+#define I2C_MECHBOARD_MODE_PREPARE_BUILD 0x04
+#define I2C_MECHBOARD_MODE_AUTOBUILD 0x05
+#define I2C_MECHBOARD_MODE_WAIT 0x06
+#define I2C_MECHBOARD_MODE_INIT 0x07
+#define I2C_MECHBOARD_MODE_PREPARE_GET_LINTEL 0x08
+#define I2C_MECHBOARD_MODE_GET_LINTEL 0x09
+#define I2C_MECHBOARD_MODE_PUT_LINTEL 0x0A
+#define I2C_MECHBOARD_MODE_PREPARE_EJECT 0x0B
+#define I2C_MECHBOARD_MODE_EJECT 0x0C
+#define I2C_MECHBOARD_MODE_CLEAR 0x0D
+#define I2C_MECHBOARD_MODE_LAZY_HARVEST 0x0E
+#define I2C_MECHBOARD_MODE_LOADED 0x0F
+#define I2C_MECHBOARD_MODE_PREPARE_INSIDE 0x10
+#define I2C_MECHBOARD_MODE_STORE 0x11
+#define I2C_MECHBOARD_MODE_LAZY_PICKUP 0x12
+#define I2C_MECHBOARD_MODE_MANIVELLE 0x13
+#define I2C_MECHBOARD_MODE_PUSH_TEMPLE 0x14
+#define I2C_MECHBOARD_MODE_PUSH_TEMPLE_DISC 0x15
+#define I2C_MECHBOARD_MODE_EXIT 0xFF
+ uint8_t mode;
+ union {
+ struct {
+
+ } manual;
+
+ struct {
+ uint8_t side;
+ uint8_t next_mode;
+ } prep_pickup;
+
+ struct {
+ uint8_t level_l;
+ uint8_t level_r;
+ } prep_build;
+
+ struct {
+ uint8_t side;
+ } push_temple_disc;
+
+ struct {
+ uint8_t level;
+ } push_temple;
+
+ struct {
+ uint8_t level_left;
+ uint8_t level_right;
+ uint8_t count_left;
+ uint8_t count_right;
+ uint8_t distance_left;
+ uint8_t distance_right;
+ uint8_t do_lintel;
+ } autobuild;
+
+ struct {
+ uint8_t level_l;
+ uint8_t level_r;
+ } prep_inside;
+ };
+};
+
+/****/
+
+/* only valid in manual mode */
+#define I2C_CMD_MECHBOARD_ARM_GOTO 0x03
+
+struct i2c_cmd_mechboard_arm_goto {
+ struct i2c_cmd_hdr hdr;
+#define I2C_MECHBOARD_ARM_LEFT 0
+#define I2C_MECHBOARD_ARM_RIGHT 1
+#define I2C_MECHBOARD_ARM_BOTH 2
+ uint8_t which;
+
+ uint8_t height; /* in cm */
+ uint8_t distance; /* in cm */
+};
+
+/****/
+
+#define I2C_CMD_SENSORBOARD_SET_BEACON 0x04
+
+struct i2c_cmd_sensorboard_start_beacon {
+ struct i2c_cmd_hdr hdr;
+ uint8_t enable;
+};
+
+
+/****/
+
+#define I2C_CMD_SENSORBOARD_SET_SCANNER 0x05
+
+struct i2c_cmd_sensorboard_scanner {
+ struct i2c_cmd_hdr hdr;
+
+#define I2C_SENSORBOARD_SCANNER_STOP 0x00
+#define I2C_SENSORBOARD_SCANNER_PREPARE 0x01
+#define I2C_SENSORBOARD_SCANNER_START 0x02
+ uint8_t mode;
+};
+
+/*****/
+
+#define I2C_CMD_SENSORBOARD_CALIB_SCANNER 0x06
+struct i2c_cmd_sensorboard_calib_scanner {
+ struct i2c_cmd_hdr hdr;
+};
+
+/*****/
+
+#define I2C_CMD_SENSORBOARD_SCANNER_ALGO 0x07
+struct i2c_cmd_sensorboard_scanner_algo {
+ struct i2c_cmd_hdr hdr;
+
+#define I2C_SCANNER_ALGO_COLUMN_DROPZONE 1
+#define I2C_SCANNER_ALGO_CHECK_TEMPLE 2
+#define I2C_SCANNER_ALGO_TEMPLE_DROPZONE 3
+ uint8_t algo;
+
+ union {
+ struct {
+#define I2C_SCANNER_ZONE_0 0
+#define I2C_SCANNER_ZONE_1 1
+#define I2C_SCANNER_ZONE_DISC 2
+ uint8_t working_zone;
+ int16_t center_x;
+ int16_t center_y;
+ } drop_zone;
+
+ struct {
+ uint8_t level;
+ int16_t temple_x;
+ int16_t temple_y;
+ } check_temple;
+ };
+};
+
+/****/
+/* requests and their answers */
+/****/
+
+
+#define I2C_REQ_MECHBOARD_STATUS 0x80
+
+struct i2c_req_mechboard_status {
+ struct i2c_cmd_hdr hdr;
+
+ int16_t pump_left1_current;
+ int16_t pump_left2_current;
+};
+
+#define I2C_ANS_MECHBOARD_STATUS 0x81
+
+struct i2c_ans_mechboard_status {
+ struct i2c_cmd_hdr hdr;
+ /* mode type are defined above: I2C_MECHBOARD_MODE_xxx */
+ uint8_t mode;
+
+#define I2C_MECHBOARD_STATUS_F_READY 0x00
+#define I2C_MECHBOARD_STATUS_F_BUSY 0x01
+#define I2C_MECHBOARD_STATUS_F_EXCPT 0x02
+ uint8_t status;
+
+ uint8_t lintel_count;
+
+ /* flag is there if column was taken by this pump. Note that
+ * we should also check ADC (current) to see if the column is
+ * still there. */
+#define I2C_MECHBOARD_COLUMN_L1 0x01
+#define I2C_MECHBOARD_COLUMN_L2 0x02
+#define I2C_MECHBOARD_COLUMN_R1 0x04
+#define I2C_MECHBOARD_COLUMN_R2 0x08
+ uint8_t column_flags;
+
+ int16_t pump_left1;
+ int16_t pump_right1;
+ int16_t pump_left2;
+ int16_t pump_right2;
+
+#define I2C_MECHBOARD_CURRENT_COLUMN 85
+ int16_t pump_right1_current;
+ int16_t pump_right2_current;
+
+ uint16_t servo_lintel_left;
+ uint16_t servo_lintel_right;
+};
+
+#define I2C_REQ_SENSORBOARD_STATUS 0x82
+
+struct i2c_req_sensorboard_status {
+ struct i2c_cmd_hdr hdr;
+
+ /* position sent by mainboard */
+ int16_t x;
+ int16_t y;
+ int16_t a;
+
+ /* PWM for pickup */
+ uint8_t enable_pickup_wheels;
+};
+
+#define I2C_ANS_SENSORBOARD_STATUS 0x83
+
+struct i2c_ans_sensorboard_status {
+ struct i2c_cmd_hdr hdr;
+
+ uint8_t status;
+#define I2C_OPPONENT_NOT_THERE -1000
+ int16_t opponent_x;
+ int16_t opponent_y;
+ int16_t opponent_a;
+ int16_t opponent_d;
+
+#define I2C_SCAN_DONE 1
+#define I2C_SCAN_MAX_COLUMN 2
+ uint8_t scan_status;
+
+#define I2C_COLUMN_NO_DROPZONE -1
+ int8_t dropzone_h;
+ int16_t dropzone_x;
+ int16_t dropzone_y;
+};
+
+#endif /* _I2C_PROTOCOL_H_ */
#include <hostsim.h>\r
\r
#include "cs.h"\r
+#include "cmdline.h"\r
+#include "robotsim.h"\r
+#include "strat.h"\r
+#include "strat_base.h"\r
#include "main.h"\r
\r
struct genboard gen;\r
\r
int main(void)\r
{\r
+ uart_init();\r
+ uart_register_rx_event(CMDLINE_UART, emergency);\r
+#ifndef HOST_VERSION\r
+ fdevopen(uart0_dev_send, uart0_dev_recv);\r
+ sei();\r
+#endif\r
+\r
+ memset(&gen, 0, sizeof(gen));\r
+ memset(&mainboard, 0, sizeof(mainboard));\r
+\r
+ /* LOGS */\r
+ error_register_emerg(mylog);\r
+ error_register_error(mylog);\r
+ error_register_warning(mylog);\r
+ error_register_notice(mylog);\r
+ error_register_debug(mylog);\r
+\r
+#ifdef CONFIG_MODULE_TIMER\r
+ timer_init();\r
+#endif\r
+\r
printf("init\n");\r
\r
scheduler_init();\r
- time_init(TIME_PRIO);\r
\r
hostsim_init();\r
robotsim_init();\r
\r
microb_cs_init();\r
\r
- gen.logs[0] = E_USER_CS;\r
- gen.log_level = 5;\r
+ time_init(TIME_PRIO);\r
+\r
+ printf_P(PSTR("\r\n"));\r
+ printf_P(PSTR("Respect et robustesse.\r\n"));\r
\r
mainboard.flags = DO_ENCODERS | DO_RS |\r
DO_POS | DO_POWER | DO_BD | DO_CS;\r
+ strat_reset_pos(1000, 1000, 0);\r
+\r
+ cmdline_interact();\r
\r
- time_wait_ms(1000);\r
- printf("init\n");\r
- trajectory_d_rel(&mainboard.traj, 1000);\r
- time_wait_ms(2000);\r
- printf("init\n");\r
- trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);\r
- time_wait_ms(2000);\r
return 0;\r
}\r
\r
extern struct genboard gen;
extern struct mainboard mainboard;
-#define SPEED_DIST_FAST 2500
-#define SPEED_ANGLE_FAST 2000
-#define SPEED_DIST_SLOW 1000
-#define SPEED_ANGLE_SLOW 1000
-#define SPEED_DIST_VERY_SLOW 400
-#define SPEED_ANGLE_VERY_SLOW 400
-
#define WAIT_COND_OR_TIMEOUT(cond, timeout) \
({ \
microseconds __us = time_get_us2(); \
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: obstacle_avoidance_config.h,v 1.1.2.1 2009-05-02 10:00:35 zer0 Exp $
+ *
+ */
+
+#define MAX_POLY 3
+#define MAX_PTS 10
+#define MAX_RAYS 100
+#define MAX_CHKPOINTS 5
+#define OA_COEF 30000
#include <sys/stat.h>
#include <sys/types.h>
#include <fcntl.h>
+#include <unistd.h>
#include <aversive.h>
#include <aversive/error.h>
#include <parse.h>
#include <rdline.h>
+#include "strat.h"
+#include "strat_utils.h"
#include "main.h"
static int32_t l_pwm, r_pwm;
void robotsim_update(void)
{
static int32_t l_speed, r_speed;
+ double x, y, a, a2, d;
+
+ /* corners of the robot */
+ double xfl, yfl; /* front left */
+ double xrl, yrl; /* rear left */
+ double xrr, yrr; /* rear right */
+ double xfr, yfr; /* front right */
+
+ x = position_get_x_double(&mainboard.pos);
+ y = position_get_y_double(&mainboard.pos);
+ a = position_get_a_rad_double(&mainboard.pos);
- /* XXX should lock */
l_speed = ((l_speed * FILTER) / 100) + ((l_pwm * 1000 * FILTER2)/1000);
- l_enc += (l_speed / 1000);
r_speed = ((r_speed * FILTER) / 100) + ((r_pwm * 1000 * FILTER2)/1000);
+
+ /* basic collision detection */
+ a2 = atan2(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+ d = norm(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+
+ xfl = x + cos(a+a2) * d;
+ yfl = y + sin(a+a2) * d;
+ if (!is_in_area(xfl, yfl, 0) && l_speed > 0)
+ l_speed = 0;
+
+ xrl = x + cos(a+M_PI-a2) * d;
+ yrl = y + sin(a+M_PI-a2) * d;
+ if (!is_in_area(xrl, yrl, 0) && l_speed < 0)
+ l_speed = 0;
+
+ xrr = x + cos(a+M_PI+a2) * d;
+ yrr = y + sin(a+M_PI+a2) * d;
+ if (!is_in_area(xrr, yrr, 0) && r_speed < 0)
+ r_speed = 0;
+
+ xfr = x + cos(a-a2) * d;
+ yfr = y + sin(a-a2) * d;
+ if (!is_in_area(xfr, yfr, 0) && r_speed > 0)
+ r_speed = 0;
+
+ /* XXX should lock */
+ l_enc += (l_speed / 1000);
r_enc += (r_speed / 1000);
}
--- /dev/null
+/*
+ * Copyright Droids, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/queue.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "main.h"
+#include "strat.h"
+#include "strat_base.h"
+#include "strat_utils.h"
+#include "i2c_commands.h"
+
+
+#define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
+#define COL_SCAN_PRE_MARGIN 250
+
+
+#ifdef TEST_BEACON
+
+#define BEACON_MAX_SAMPLES 100
+struct beacon_sample {
+ int16_t posx;
+ int16_t posy;
+ int16_t posa;
+ int16_t oppx;
+ int16_t oppy;
+ uint8_t time;
+};
+
+static struct beacon_sample beacon_sample[BEACON_MAX_SAMPLES];
+static uint8_t beacon_prev_time = 0;
+static uint8_t beacon_cur_idx = 0;
+
+static void beacon_update_samples(void)
+{
+ int16_t opp_a, opp_d, opp_x, opp_y;
+ int8_t err;
+ uint8_t time;
+
+ time = time_get_s();
+
+ /* one sample per second max */
+ if (time <= beacon_prev_time)
+ return;
+ /* limit max number of samples */
+ if (beacon_cur_idx >= BEACON_MAX_SAMPLES)
+ return;
+
+ memset(&beacon_sample[beacon_cur_idx], 0, sizeof(beacon_sample[beacon_cur_idx]));
+ beacon_prev_time = time;
+ beacon_sample[beacon_cur_idx].time = time;
+
+ /* get opponent pos; if not found, just set struct to 0 */
+ err = get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a);
+ if (err == -1)
+ return;
+
+ beacon_sample[beacon_cur_idx].posx = position_get_x_s16(&mainboard.pos);
+ beacon_sample[beacon_cur_idx].posy = position_get_y_s16(&mainboard.pos);
+ beacon_sample[beacon_cur_idx].posa = position_get_a_deg_s16(&mainboard.pos);
+ beacon_sample[beacon_cur_idx].oppx = opp_x;
+ beacon_sample[beacon_cur_idx].oppy = opp_y;
+ beacon_cur_idx++;
+}
+
+void beacon_dump_samples(void)
+{
+ uint16_t i;
+
+ for (i=0; i<BEACON_MAX_SAMPLES; i++) {
+ printf_P(PSTR("%d: pos=(%d,%d,%d) opp=(%d,%d) time=%d\r\n"),
+ i,
+ beacon_sample[i].posx,
+ beacon_sample[i].posy,
+ beacon_sample[i].posa,
+ beacon_sample[i].oppx,
+ beacon_sample[i].oppy,
+ beacon_sample[i].time);
+ }
+}
+#endif
+
+struct strat_infos strat_infos = {
+ /* conf */
+ .conf = {
+ .flags = 0,
+ /* scanner disabled by default */
+ .scan_opp_min_time = 90,
+ .delay_between_opp_scan = 90,
+ .scan_our_min_time = 90,
+ .delay_between_our_scan = 90,
+ .wait_opponent = 0,
+ .lintel_min_time = 0,
+ .scan_opp_angle = -1,
+ },
+
+ /* static columns */
+ .s_cols = {
+ .flags = 0,
+ .configuration = 0,
+ },
+
+ /* column dispensers ; be carreful, positions are
+ * color-dependent, so COLOR_Y() and COLOR_A() should be
+ * used. All angles here are _absolute_ */
+ .c1 = {
+ .checkpoint_x = 2711 - COL_SCAN_PRE_MARGIN,
+ .checkpoint_y = AREA_Y - COL_DISP_MARGIN,
+ .scan_left = 0,
+ .scan_a = 180,
+ .eject_a = 180,
+ .recalib_x = 2711,
+ .recalib_y = AREA_Y - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
+ .pickup_a = 90,
+ .name = "col_disp1",
+ },
+ .c2 = {
+ .checkpoint_x = AREA_X - COL_DISP_MARGIN,
+ .checkpoint_y = 800 - COL_SCAN_PRE_MARGIN,
+ .scan_left = 1,
+ .scan_a = -90,
+ .eject_a = -90,
+ .recalib_x = AREA_X - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
+ .recalib_y = 800,
+ .pickup_a = 0,
+ .name = "col_disp2",
+ },
+ .c3 = {
+ .checkpoint_x = AREA_X-COL_DISP_MARGIN,
+ .checkpoint_y = 1300 + COL_SCAN_PRE_MARGIN,
+ .scan_a = 90,
+ .scan_left = 0,
+ .eject_a = -90,
+ .recalib_x = AREA_X - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
+ .recalib_y = 1300,
+ .pickup_a = 0,
+ .name = "col_disp3",
+ },
+
+ /* lintel dispensers */
+ .l1 = {
+ .x = 912, /* XXX for red only */
+ .name = "lin_disp1",
+ },
+ .l2 = {
+ .x = 1312, /* XXX for red only */
+ .name = "lin_disp2",
+ },
+
+ /* build zones */
+ .zone_list = {
+#define ZONE_DISC_NUM 0
+ {
+ .flags = ZONE_F_VALID | ZONE_F_DISC,
+ .level = 2,
+ .checkpoint_x = 0,
+ .checkpoint_x = 0,
+ .name = "disc",
+ },
+#define ZONE_1A_NUM 1
+ {
+ .flags = ZONE_F_VALID,
+ .level = 1,
+ .checkpoint_x = 1385,
+ .checkpoint_y = 1700,
+ .name = "z1a",
+ },
+#define ZONE_1B_NUM 2
+ {
+ .flags = ZONE_F_VALID,
+ .level = 1,
+ .checkpoint_x = 1615,
+ .checkpoint_y = 1700,
+ .name = "z1b",
+ },
+#define ZONE_0B_NUM 3
+ {
+ .flags = ZONE_F_VALID,
+ .level = 0,
+ .checkpoint_x = 2100,
+ .checkpoint_y = 1700,
+ .name = "z0b",
+ },
+#define ZONE_0A_NUM 4
+ {
+ .flags = ZONE_F_VALID,
+ .level = 0,
+ .checkpoint_x = 900,
+ .checkpoint_y = 1700,
+ .name = "z0a",
+ },
+ }
+};
+
+/*************************************************************/
+
+/* INIT */
+
+/*************************************************************/
+
+void strat_set_bounding_box(void)
+{
+ if (get_color() == I2C_COLOR_RED) {
+ strat_infos.area_bbox.x1 = 300;
+ strat_infos.area_bbox.y1 = 200;
+ strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
+ strat_infos.area_bbox.y2 = 1800;
+ }
+ else {
+ strat_infos.area_bbox.x1 = 200;
+ strat_infos.area_bbox.y1 = 300;
+ strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
+ strat_infos.area_bbox.y2 = 1900;
+ }
+
+ polygon_set_boundingbox(strat_infos.area_bbox.x1,
+ strat_infos.area_bbox.y1,
+ strat_infos.area_bbox.x2,
+ strat_infos.area_bbox.y2);
+}
+
+/* called before each strat, and before the start switch */
+void strat_preinit(void)
+{
+ time_reset();
+ interrupt_traj_reset();
+ mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+ DO_POS | DO_BD | DO_POWER;
+
+#ifndef HOST_VERSION
+ i2c_mechboard_mode_init();
+ if (get_color() == I2C_COLOR_RED)
+ i2c_mechboard_mode_prepare_pickup(I2C_LEFT_SIDE);
+ else
+ i2c_mechboard_mode_prepare_pickup(I2C_RIGHT_SIDE);
+#endif
+ strat_dump_conf();
+ strat_dump_infos(__FUNCTION__);
+}
+
+void strat_dump_conf(void)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+
+ printf_P(PSTR("-- conf --\r\n"));
+
+ printf_P(PSTR(" one build on disc: "));
+ if (strat_infos.conf.flags & STRAT_CONF_ONLY_ONE_ON_DISC)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" bypass static2: "));
+ if (strat_infos.conf.flags & STRAT_CONF_BYPASS_STATIC2)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" take one lintel: "));
+ if (strat_infos.conf.flags & STRAT_CONF_TAKE_ONE_LINTEL)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" skip this temple when temple check fails: "));
+ if (strat_infos.conf.flags & STRAT_CONF_SKIP_WHEN_CHECK_FAILS)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" store static2: "));
+ if (strat_infos.conf.flags & STRAT_CONF_STORE_STATIC2)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" (big3) try to build a temple with 3 lintels: "));
+ if (strat_infos.conf.flags & STRAT_CONF_BIG_3_TEMPLE)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" early opponent scan: "));
+ if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" push opponent columns: "));
+ if (strat_infos.conf.flags & STRAT_CONF_PUSH_OPP_COLS)
+ printf_P(PSTR("on\r\n"));
+ else
+ printf_P(PSTR("off\r\n"));
+
+ printf_P(PSTR(" scan opponent min time: %d\r\n"),
+ strat_infos.conf.scan_opp_min_time);
+ printf_P(PSTR(" delay between oppnent scan: %d\r\n"),
+ strat_infos.conf.delay_between_opp_scan);
+ printf_P(PSTR(" scan our min time: %d\r\n"),
+ strat_infos.conf.scan_our_min_time);
+ printf_P(PSTR(" delay between our scan: %d\r\n"),
+ strat_infos.conf.delay_between_our_scan);
+ printf_P(PSTR(" wait opponent gone before scan: %d\r\n"),
+ strat_infos.conf.wait_opponent);
+ printf_P(PSTR(" lintel min time: %d\r\n"),
+ strat_infos.conf.lintel_min_time);
+ printf_P(PSTR(" scan_opp_angle: %d\r\n"),
+ strat_infos.conf.scan_opp_angle);
+}
+
+void strat_dump_temple(struct temple *temple)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+
+ printf_P(PSTR(" temple %p (%s): "), temple, temple->zone->name);
+
+ if (temple->flags & TEMPLE_F_MONOCOL)
+ printf_P(PSTR("MONOCOL "));
+ else
+ printf_P(PSTR("BICOL "));
+
+ if (temple->flags & TEMPLE_F_ON_DISC)
+ printf_P(PSTR("ON_DISC "));
+ else
+ printf_P(PSTR("ON_ZONE_0_1 "));
+
+ if (temple->flags & TEMPLE_F_OPPONENT)
+ printf_P(PSTR("OPPONENT "));
+ else
+ printf_P(PSTR("OURS "));
+
+ if (temple->flags & TEMPLE_F_LINTEL)
+ printf_P(PSTR("LIN_ON_TOP "));
+ else
+ printf_P(PSTR("COL_ON_TOP "));
+
+ printf_P(PSTR("\r\n"));
+
+ printf_P(PSTR(" pos=(%d,%d,%d) ckpt=(%d,%d) ltime=%d\r\n"),
+ temple->x, temple->y, temple->a,
+ temple->checkpoint_x, temple->checkpoint_y,
+ temple->last_try_time);
+ printf_P(PSTR(" L: lev=%d da=%d,%d\r\n"),
+ temple->level_l, temple->dist_l, temple->angle_l);
+ printf_P(PSTR(" R: lev=%d da=%d,%d\r\n"),
+ temple->level_l, temple->dist_l, temple->angle_l);
+}
+
+void strat_dump_zone(struct build_zone *zone)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+
+ printf_P(PSTR(" zone %s: "), zone->name);
+
+ if (zone->flags & ZONE_F_DISC)
+ printf_P(PSTR("DISC "));
+ else if (zone->flags & ZONE_F_ZONE1)
+ printf_P(PSTR("ZONE1 "));
+ else if (zone->flags & ZONE_F_ZONE0)
+ printf_P(PSTR("ZONE0 "));
+
+ if (zone->flags & ZONE_F_BUSY)
+ printf_P(PSTR("BUSY "));
+ else
+ printf_P(PSTR("FREE "));
+
+ printf_P(PSTR("\r\n"));
+
+ printf_P(PSTR(" lev=%d ckpt=(%d,%d) ltime=%d\r\n"),
+ zone->level,
+ zone->checkpoint_x, zone->checkpoint_y,
+ zone->last_try_time);
+}
+
+void strat_dump_static_cols(void)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+
+ printf_P(PSTR(" static cols: l0=%d l1=%d l2=%d\r\n"),
+ strat_infos.s_cols.flags & STATIC_COL_LINE0_DONE,
+ strat_infos.s_cols.flags & STATIC_COL_LINE1_DONE,
+ strat_infos.s_cols.flags & STATIC_COL_LINE2_DONE);
+}
+
+void strat_dump_col_disp(void)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+
+ printf_P(PSTR(" c1 cnt=%d ltt=%d\r\n"),
+ strat_infos.c1.count, strat_infos.c1.last_try_time);
+ printf_P(PSTR(" c2 cnt=%d ltt=%d\r\n"),
+ strat_infos.c2.count, strat_infos.c2.last_try_time);
+ printf_P(PSTR(" c3 cnt=%d ltt=%d\r\n"),
+ strat_infos.c3.count, strat_infos.c3.last_try_time);
+}
+
+void strat_dump_lin_disp(void)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+ printf_P(PSTR(" l1 cnt=%d ltt=%d\r\n"),
+ strat_infos.l1.count, strat_infos.l1.last_try_time);
+ printf_P(PSTR(" l2 cnt=%d ltt=%d\r\n"),
+ strat_infos.l2.count, strat_infos.l2.last_try_time);
+
+}
+
+void strat_dump_all_temples(void)
+{
+ struct temple *temple;
+ uint8_t i;
+
+ if (!strat_infos.dump_enabled)
+ return;
+
+ for (i=0; i<MAX_TEMPLE; i++) {
+ temple = &strat_infos.temple_list[i];
+ if (!(temple->flags & TEMPLE_F_VALID))
+ continue;
+ strat_dump_temple(temple);
+ }
+}
+
+void strat_dump_all_zones(void)
+{
+ struct build_zone *zone;
+ uint8_t i;
+
+ if (!strat_infos.dump_enabled)
+ return;
+
+ for (i=0; i<MAX_ZONE; i++) {
+ zone = &strat_infos.zone_list[i];
+ if (!(zone->flags & ZONE_F_VALID))
+ continue;
+ strat_dump_zone(zone);
+ }
+}
+
+/* display current information about the state of the game */
+void strat_dump_infos(const char *caller)
+{
+ if (!strat_infos.dump_enabled)
+ return;
+
+ printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
+ strat_dump_static_cols();
+ strat_dump_col_disp();
+ strat_dump_lin_disp();
+ strat_dump_all_temples();
+ strat_dump_all_zones();
+}
+
+/* init current area state before a match. Dump update user conf
+ * here */
+void strat_reset_infos(void)
+{
+ uint8_t i;
+
+ /* /!\ don't do a big memset() as there is static data */
+ strat_infos.s_cols.flags = 0;
+ strat_infos.c1.count = 5;
+ strat_infos.c1.last_try_time = 0;
+ strat_infos.c2.count = 5;
+ strat_infos.c2.last_try_time = 0;
+ strat_infos.c3.count = 5;
+ strat_infos.c3.last_try_time = 0;
+ strat_infos.l1.count = 1;
+ strat_infos.l1.last_try_time = 0;
+ strat_infos.l2.count = 1;
+ strat_infos.l2.last_try_time = 0;
+
+ strat_infos.taken_lintel = 0;
+ strat_infos.col_in_boobs = 0;
+ strat_infos.lazy_pickup_done = 0;
+ strat_infos.i2c_loaded_skipped = 0;
+
+ memset(strat_infos.temple_list, 0, sizeof(strat_infos.temple_list));
+
+ for (i=0; i<MAX_ZONE; i++)
+ strat_infos.zone_list[i].flags = ZONE_F_VALID;
+ strat_infos.zone_list[ZONE_DISC_NUM].flags |= ZONE_F_DISC;
+ strat_infos.zone_list[ZONE_1A_NUM].flags |= ZONE_F_ZONE1;
+ strat_infos.zone_list[ZONE_1B_NUM].flags |= ZONE_F_ZONE1;
+ strat_infos.zone_list[ZONE_0A_NUM].flags |= ZONE_F_ZONE0;
+ strat_infos.zone_list[ZONE_0B_NUM].flags |= ZONE_F_ZONE0;
+
+ strat_set_bounding_box();
+
+ /* set lintel position, depending on color */
+ if (mainboard.our_color == I2C_COLOR_RED) {
+ strat_infos.l1.x = 912;
+ strat_infos.l2.x = 1312;
+ }
+ else {
+ strat_infos.l1.x = 888;
+ strat_infos.l2.x = 1288;
+ }
+}
+
+/* call it just before launching the strat */
+void strat_init(void)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ pickup_wheels_on();
+ strat_reset_infos();
+
+ /* we consider that the color is correctly set */
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ time_reset();
+ interrupt_traj_reset();
+
+ /* used in strat_base for END_TIMER */
+ mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+ DO_POS | DO_BD | DO_TIMER | DO_POWER;
+
+#ifdef TEST_BEACON
+ beacon_prev_time = 0;
+ beacon_cur_idx = 0;
+#endif
+#endif
+}
+
+
+/* call it after each strat */
+void strat_exit(void)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ uint8_t flags;
+
+ pickup_wheels_off();
+ mainboard.flags &= ~(DO_TIMER);
+ strat_hardstop();
+ time_reset();
+ wait_ms(1000);
+ IRQ_LOCK(flags);
+ mainboard.flags &= ~(DO_CS);
+ pwm_ng_set(LEFT_PWM, 0);
+ pwm_ng_set(RIGHT_PWM, 0);
+ IRQ_UNLOCK(flags);
+#endif
+}
+
+/* called periodically */
+void strat_event(void *dummy)
+{
+ /* limit speed when opponent is close */
+ strat_limit_speed();
+
+#ifdef TEST_BEACON
+ beacon_update_samples();
+#endif
+}
+
+#ifndef HOST_VERSION
+/* do static cols + first temples */
+static uint8_t strat_beginning(void)
+{
+ uint8_t err;
+
+ /* don't limit the speed when opponent is near: it can change
+ * the radius of the curves */
+ strat_limit_speed_disable();
+
+ err = strat_static_columns(0);
+
+ strat_limit_speed_enable();
+
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ /* go to disc to build the first temple */
+
+ /* XXX if opponent is near disc, go to zone1 */
+ err = strat_goto_disc(2);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+ DEBUG(E_USER_STRAT, "disc reached");
+
+ /* can return END_ERROR or END_TIMER, should not happen
+ * here */
+ err = strat_build_new_temple(&strat_infos.zone_list[0]);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ /* bypass static2 if specified */
+ if (strat_infos.conf.flags & STRAT_CONF_BYPASS_STATIC2) {
+ err = strat_escape(&strat_infos.zone_list[0], TRAJ_FLAGS_STD);
+ return err;
+ }
+
+ /* get the last 2 columns, and build them on previous temple */
+ err = strat_static_columns_pass2();
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ /* early opponent scan, for offensive strategy */
+ if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN) {
+ err = strat_pickup_lintels();
+ /* ignore code */
+
+ /* try to build on opponent (scan must be enabled) */
+ err = strat_build_on_opponent_temple();
+ /* ignore code */
+ }
+
+ return err;
+}
+#endif
+
+/* return true if we need to grab some more elements (lintel/cols) */
+uint8_t need_more_elements(void)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ if (time_get_s() <= 75) {
+ /* we have at least one col on each arm, build now */
+ if ((get_column_count_left() >= 1) &&
+ (get_column_count_right() >= 1))
+ return 0;
+ }
+ else {
+ if (get_column_count())
+ return 0;
+ }
+#endif
+ return 1;
+}
+
+/* dump state (every 5 s max) */
+#define DUMP_RATE_LIMIT(dump, last_print) \
+ do { \
+ if (time_get_s() - last_print > 5) { \
+ dump(); \
+ last_print = time_get_s(); \
+ } \
+ } while (0)
+
+
+uint8_t strat_main(void)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+ return END_ERROR;
+#else
+ uint8_t err;
+ struct temple *temple = NULL;
+ struct build_zone *zone = NULL;
+
+ uint8_t last_print_cols = 0;
+ uint8_t last_print_lin = 0;
+ uint8_t last_print_temple = 0;
+ uint8_t last_print_zone = 0;
+
+ /* do static cols + first temple */
+ err = strat_beginning();
+
+ /* skip error code */
+
+ while (1) {
+
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+
+ /* we have at least one col on each arm, build now */
+ if (need_more_elements() == 0) {
+
+ /* try to build on opponent, will return
+ * END_TRAJ without doing anything if
+ * disabled */
+ err = strat_build_on_opponent_temple();
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ if (need_more_elements())
+ continue;
+
+ /* try to scan and build on our temple, will
+ * return END_TRAJ without doing anything if
+ * disabled */
+ err = strat_check_temple_and_build();
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ if (need_more_elements())
+ continue;
+
+ /* Else, do a simple build, as before */
+
+ temple = strat_get_best_temple();
+
+ /* one valid temple found */
+ if (temple) {
+ DUMP_RATE_LIMIT(strat_dump_all_temples, last_print_temple);
+
+ err = strat_goto_temple(temple);
+ if (!TRAJ_SUCCESS(err))
+ continue;
+
+ /* can return END_ERROR or END_TIMER,
+ * should not happen here */
+ err = strat_grow_temple(temple);
+ if (!TRAJ_SUCCESS(err))
+ continue;
+
+ err = strat_escape(temple->zone, TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err))
+ continue;
+
+ continue;
+ }
+
+ zone = strat_get_best_zone();
+ if (zone) {
+ DUMP_RATE_LIMIT(strat_dump_all_zones, last_print_zone);
+
+ DEBUG(E_USER_STRAT, "goto zone %s", zone->name);
+ err = strat_goto_build_zone(zone, zone->level);
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ DEBUG(E_USER_STRAT, "zone reached");
+
+ /* no error code except END_ERROR, should not happen */
+ err = strat_build_new_temple(zone);
+
+ err = strat_escape(zone, TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err))
+ continue;
+
+ continue;
+ }
+
+ /* XXX hey what can we do here... :'( */
+ DEBUG(E_USER_STRAT, "panic :)");
+ time_wait_ms(1000);
+ continue;
+ }
+
+ /* else we need some elements (lintels, then columns) */
+ else {
+ if (strat_infos.l1.count != 0 && strat_infos.l2.count != 0)
+ DUMP_RATE_LIMIT(strat_dump_lin_disp, last_print_lin);
+
+ err = strat_pickup_lintels();
+ /* can return an error code, but we have
+ * nothing to do because pickup_column()
+ * starts with a goto_and_avoid() */
+ if (!TRAJ_SUCCESS(err))
+ nop();
+
+ DUMP_RATE_LIMIT(strat_dump_col_disp, last_print_cols);
+
+ err = strat_pickup_columns();
+ if (!TRAJ_SUCCESS(err))
+ nop(); /* nothing to do */
+
+ /* XXX check here that we have elements, or do
+ * something else */
+ /* if we cannot take elements, try to build */
+ }
+ }
+ return END_TRAJ;
+#endif
+}
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2008)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat.h,v 1.7 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#ifndef _STRAT_H_
+#define _STRAT_H_
+
+/* convert coords according to our color */
+#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_RED)? (y) : (AREA_Y-(y)))
+#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_RED)? (a) : (-a))
+#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (-x))
+#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (!x))
+
+/* area */
+#define AREA_X 3000
+#define AREA_Y 2100
+
+#define START_X 200
+#define START_Y COLOR_Y(200)
+#define START_A COLOR_A(45)
+
+#define CENTER_X 1500
+#define CENTER_Y 1050
+
+#define CORNER_X 3000
+#define CORNER_Y COLOR_Y(2100)
+
+/*
+ * /- line 0
+ * | /- line 1
+ * | | /- line 2
+ * | | |
+ * +---C1--------------------------C1---+
+ * | z0a z1 z0b |
+ * | . |
+ * | . |
+ * C3 0 1 2 ^ C3
+ * y | 3 4 5 < > |
+ * C2 6 7 8 v C2
+ * |------ 9 10 11 . ------|
+ * | | . | |
+ * | red | . |green|
+ * +-----+--L1--L2-------L2--L1---+-----+
+ * x
+ */
+
+/* static columns */
+#define LINE0_X 600
+#define LINE1_X 850
+#define LINE2_X 1100
+
+#define COL0_X 600
+#define COL0_Y COLOR_Y(1175)
+#define COL1_X 850
+#define COL1_Y COLOR_Y(1175)
+#define COL2_X 1100
+#define COL2_Y COLOR_Y(1175)
+
+#define COL3_X 600
+#define COL3_Y COLOR_Y(975)
+#define COL4_X 850
+#define COL4_Y COLOR_Y(975)
+#define COL5_X 1100
+#define COL5_Y COLOR_Y(975)
+
+#define COL6_X 600
+#define COL6_Y COLOR_Y(775)
+#define COL7_X 850
+#define COL7_Y COLOR_Y(775)
+#define COL8_X 1100
+#define COL8_Y COLOR_Y(775)
+
+#define COL9_X 600
+#define COL9_Y COLOR_Y(575)
+#define COL10_X 850
+#define COL10_Y COLOR_Y(575)
+#define COL11_X 1100
+#define COL11_Y COLOR_Y(575)
+
+/* distance to go backward before pickup in dispenser */
+#define DIST_BACK_DISPENSER 35
+
+/* diag of the pentagon (pentacle ?) */
+#define DISC_PENTA_DIAG 530
+
+#define COL_DISP_MAX_TRIES 5
+#define LIN_DISP_MAX_TRIES 3
+
+/* useful traj flags */
+#define TRAJ_SUCCESS(f) (f & (END_TRAJ|END_NEAR))
+#define TRAJ_FLAGS_STD (END_TRAJ|END_BLOCKING|END_NEAR|END_OBSTACLE|END_INTR|END_TIMER)
+#define TRAJ_FLAGS_NO_TIMER (END_TRAJ|END_BLOCKING|END_NEAR|END_OBSTACLE|END_INTR)
+#define TRAJ_FLAGS_NO_NEAR (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR|END_TIMER)
+#define TRAJ_FLAGS_NO_NEAR_NO_TIMER (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR)
+#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
+
+/* default speeds */
+#define SPEED_DIST_FAST 2500
+#define SPEED_ANGLE_FAST 2000
+#define SPEED_DIST_SLOW 1000
+#define SPEED_ANGLE_SLOW 1000
+#define SPEED_DIST_VERY_SLOW 400
+#define SPEED_ANGLE_VERY_SLOW 400
+
+/* strat infos structures */
+
+struct bbox {
+ int32_t x1;
+ int32_t y1;
+ int32_t x2;
+ int32_t y2;
+};
+
+struct conf {
+#define STRAT_CONF_ONLY_ONE_ON_DISC 0x01
+#define STRAT_CONF_BYPASS_STATIC2 0x02
+#define STRAT_CONF_TAKE_ONE_LINTEL 0x04
+#define STRAT_CONF_SKIP_WHEN_CHECK_FAILS 0x08
+#define STRAT_CONF_STORE_STATIC2 0x10
+#define STRAT_CONF_BIG_3_TEMPLE 0x20
+#define STRAT_CONF_EARLY_SCAN 0x40
+#define STRAT_CONF_PUSH_OPP_COLS 0x80
+ uint8_t flags;
+ uint8_t scan_opp_min_time;
+ uint8_t delay_between_opp_scan;
+ uint8_t scan_our_min_time;
+ uint8_t delay_between_our_scan;
+ uint8_t wait_opponent;
+ uint8_t lintel_min_time;
+ int16_t scan_opp_angle;
+};
+
+struct static_columns {
+#define STATIC_COL_LINE0_DONE 0x01
+#define STATIC_COL_LINE1_DONE 0x02
+#define STATIC_COL_LINE2_DONE 0x04
+ uint8_t flags;
+ uint8_t configuration;
+};
+
+struct column_dispenser {
+ int8_t count;
+ uint8_t last_try_time;
+ uint8_t scan_left;
+ int16_t checkpoint_x;
+ int16_t checkpoint_y;
+ int16_t scan_a;
+ int16_t eject_a;
+ int16_t pickup_a;
+ int16_t recalib_x;
+ int16_t recalib_y;
+ char *name;
+};
+
+struct lintel_dispenser {
+ int8_t count;
+ uint8_t last_try_time;
+ int16_t x;
+ char *name;
+};
+
+struct temple {
+#define TEMPLE_F_VALID 0x01 /* structure is valid */
+#define TEMPLE_F_MONOCOL 0x02 /* temple has only one col */
+#define TEMPLE_F_ON_DISC 0x04 /* temple is on disc (else it's on other zone) */
+#define TEMPLE_F_OPPONENT 0x08 /* temple was originally built by opponent */
+#define TEMPLE_F_LINTEL 0x10 /* lintel on top (don't put another lintel) */
+
+ uint8_t flags;
+ /* position of the robot when we built it */
+ int16_t x;
+ int16_t y;
+ int16_t a;
+
+ /* position of the robot checkpoint */
+ int16_t checkpoint_x;
+ int16_t checkpoint_y;
+
+ /* position and level of each col */
+ uint8_t level_l;
+ uint8_t dist_l;
+ uint8_t angle_l;
+
+ uint8_t level_r;
+ uint8_t dist_r;
+ uint8_t angle_r;
+
+#define TEMPLE_DISABLE_TIME 5
+ uint8_t last_try_time;
+
+ struct build_zone *zone;
+};
+
+struct build_zone {
+#define ZONE_F_VALID 0x01 /* zone is valid */
+#define ZONE_F_DISC 0x02 /* specific disc zone */
+#define ZONE_F_ZONE1 0x04 /* specific zone 1 */
+#define ZONE_F_ZONE0 0x08 /* specific zone 0 */
+#define ZONE_F_BUSY 0x10 /* this zone is busy */
+ uint8_t flags;
+ uint8_t level;
+ int16_t checkpoint_x;
+ int16_t checkpoint_y;
+
+#define ZONE_DISABLE_TIME 5
+ uint8_t last_try_time;
+ char *name;
+};
+
+#define MAX_TEMPLE 5
+#define MAX_ZONE 5
+
+/* all infos related to strat */
+struct strat_infos {
+ uint8_t dump_enabled;
+ struct conf conf;
+ struct bbox area_bbox;
+ uint8_t taken_lintel;
+ uint8_t col_in_boobs;
+ uint8_t lazy_pickup_done;
+ uint8_t i2c_loaded_skipped;
+ struct static_columns s_cols;
+ struct column_dispenser c1;
+ struct column_dispenser c2;
+ struct column_dispenser c3;
+ struct lintel_dispenser l1;
+ struct lintel_dispenser l2;
+ struct build_zone zone_list[MAX_ZONE];
+ struct temple temple_list[MAX_TEMPLE];
+};
+extern struct strat_infos strat_infos;
+
+/* in strat.c */
+void strat_dump_infos(const char *caller); /* show current known state
+ of area */
+void strat_dump_temple(struct temple *temple);
+void strat_dump_conf(void);
+void strat_reset_infos(void); /* reset current known state */
+void strat_preinit(void);
+void strat_init(void);
+void strat_exit(void);
+void strat_dump_flags(void);
+void strat_goto_near(int16_t x, int16_t y, uint16_t dist);
+uint8_t strat_main(void);
+void strat_event(void *dummy);
+
+/* in strat_static_columns.c */
+uint8_t strat_static_columns(uint8_t configuration);
+uint8_t strat_static_columns_pass2(void);
+
+/* in strat_lintel.c */
+uint8_t strat_goto_lintel_disp(struct lintel_dispenser *disp);
+uint8_t strat_pickup_lintels(void);
+
+/* in strat_column_disp.c */
+uint8_t strat_eject_col(int16_t eject_a, int16_t pickup_a);
+uint8_t strat_pickup_columns(void);
+uint8_t strat_goto_col_disp(struct column_dispenser **disp);
+
+/* in strat_building.c */
+uint8_t strat_goto_disc(int8_t level);
+uint8_t strat_goto_build_zone(struct build_zone *build_zone, uint8_t level);
+uint8_t strat_build_new_temple(struct build_zone *build_zone);
+uint8_t strat_goto_temple(struct temple *temple);
+uint8_t strat_grow_temple(struct temple *temple);
+uint8_t strat_grow_temple_column(struct temple *temple);
+struct temple *strat_get_best_temple(void);
+struct temple *strat_get_our_temple_on_disc(uint8_t valid);
+struct build_zone *strat_get_best_zone(void);
+struct temple *strat_get_free_temple(void);
+
+/* in strat_scan.c */
+struct scan_disc_result;
+void scanner_dump_state(void);
+int8_t strat_scan_get_checkpoint(uint8_t mode, int16_t *ckpt_rel_x,
+ int16_t *ckpt_rel_y, int16_t *back_mm);
+uint8_t strat_scan_disc(int16_t angle, uint8_t mode,
+ struct scan_disc_result *result);
+uint8_t strat_goto_disc_angle(int16_t a_deg, int8_t level);
+int16_t strat_get_temple_angle(struct temple *temple);
+int16_t strat_temple_angle_to_scan_angle(int16_t temple_angle);
+uint8_t strat_build_on_opponent_temple(void);
+uint8_t strat_check_temple_and_build(void);
+
+#endif
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_avoid.c,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "main.h"
+#include "strat.h"
+#include "strat_base.h"
+#include "strat_utils.h"
+
+#define EDGE_NUMBER 5
+void set_rotated_pentagon(poly_t *pol, const point_t *robot_pt,
+ int16_t radius, int16_t x, int16_t y)
+{
+
+ double c_a, s_a;
+ uint8_t i;
+ double px1, py1, px2, py2;
+ double a_rad;
+
+ a_rad = atan2(y - robot_pt->y, x - robot_pt->x);
+
+ /* generate pentagon */
+ c_a = cos(-2*M_PI/EDGE_NUMBER);
+ s_a = sin(-2*M_PI/EDGE_NUMBER);
+
+ /*
+ px1 = radius;
+ py1 = 0;
+ */
+ px1 = radius * cos(a_rad + 2*M_PI/(2*EDGE_NUMBER));
+ py1 = radius * sin(a_rad + 2*M_PI/(2*EDGE_NUMBER));
+
+
+ for (i = 0; i < EDGE_NUMBER; i++){
+ oa_poly_set_point(pol, x + px1, y + py1, i);
+
+ px2 = px1*c_a + py1*s_a;
+ py2 = -px1*s_a + py1*c_a;
+
+ px1 = px2;
+ py1 = py2;
+ }
+}
+
+void set_rotated_poly(poly_t *pol, const point_t *robot_pt,
+ int16_t w, int16_t l, int16_t x, int16_t y)
+{
+ double tmp_x, tmp_y;
+ double a_rad;
+
+ a_rad = atan2(y - robot_pt->y, x - robot_pt->x);
+
+ DEBUG(E_USER_STRAT, "%s() x,y=%d,%d a_rad=%2.2f",
+ __FUNCTION__, x, y, a_rad);
+
+ /* point 1 */
+ tmp_x = w;
+ tmp_y = l;
+ rotate(&tmp_x, &tmp_y, a_rad);
+ tmp_x += x;
+ tmp_y += y;
+ oa_poly_set_point(pol, tmp_x, tmp_y, 0);
+
+ /* point 2 */
+ tmp_x = -w;
+ tmp_y = l;
+ rotate(&tmp_x, &tmp_y, a_rad);
+ tmp_x += x;
+ tmp_y += y;
+ oa_poly_set_point(pol, tmp_x, tmp_y, 1);
+
+ /* point 3 */
+ tmp_x = -w;
+ tmp_y = -l;
+ rotate(&tmp_x, &tmp_y, a_rad);
+ tmp_x += x;
+ tmp_y += y;
+ oa_poly_set_point(pol, tmp_x, tmp_y, 2);
+
+ /* point 4 */
+ tmp_x = w;
+ tmp_y = -l;
+ rotate(&tmp_x, &tmp_y, a_rad);
+ tmp_x += x;
+ tmp_y += y;
+ oa_poly_set_point(pol, tmp_x, tmp_y, 3);
+}
+
+#define DISC_X CENTER_X
+#define DISC_Y CENTER_Y
+
+void set_central_disc_poly(poly_t *pol, const point_t *robot_pt)
+{
+ set_rotated_pentagon(pol, robot_pt, DISC_PENTA_DIAG,
+ DISC_X, DISC_Y);
+}
+
+#ifdef HOMOLOGATION
+/* /!\ half size */
+#define O_WIDTH 400
+#define O_LENGTH 550
+#else
+/* /!\ half size */
+#define O_WIDTH 360
+#define O_LENGTH 500
+#endif
+
+void set_opponent_poly(poly_t *pol, const point_t *robot_pt, int16_t w, int16_t l)
+{
+ int16_t x, y;
+ get_opponent_xy(&x, &y);
+ DEBUG(E_USER_STRAT, "oponent at: %d %d", x, y);
+
+ /* place poly even if invalid, because it's -100 */
+ set_rotated_poly(pol, robot_pt, w, l, x, y);
+}
+
+/* don't care about polygons further than this distance for escape */
+#define ESCAPE_POLY_THRES 1000
+
+/* don't reduce opp if opp is too far */
+#define REDUCE_POLY_THRES 600
+
+/* has to be longer than any poly */
+#define ESCAPE_VECT_LEN 3000
+
+/*
+ * Go in playground, loop until out of poly. The argument robot_pt is
+ * the pointer to the current position of the robot.
+ * Return 0 if there was nothing to do.
+ * Return 1 if we had to move. In this case, update the theorical
+ * position of the robot in robot_pt.
+ */
+static int8_t go_in_area(point_t *robot_pt)
+{
+ point_t poly_pts_area[4];
+ poly_t poly_area;
+ point_t disc_pt, dst_pt;
+
+ disc_pt.x = DISC_X;
+ disc_pt.y = DISC_Y;
+
+ /* Go in playground */
+ if (!is_in_boundingbox(robot_pt)){
+ NOTICE(E_USER_STRAT, "not in playground %"PRIi32", %"PRIi32"",
+ robot_pt->x, robot_pt->y);
+
+ poly_area.l = 4;
+ poly_area.pts = poly_pts_area;
+ poly_pts_area[0].x = strat_infos.area_bbox.x1;
+ poly_pts_area[0].y = strat_infos.area_bbox.y1;
+
+ poly_pts_area[1].x = strat_infos.area_bbox.x2;
+ poly_pts_area[1].y = strat_infos.area_bbox.y1;
+
+ poly_pts_area[2].x = strat_infos.area_bbox.x2;
+ poly_pts_area[2].y = strat_infos.area_bbox.y2;
+
+ poly_pts_area[3].x = strat_infos.area_bbox.x1;
+ poly_pts_area[3].y = strat_infos.area_bbox.y2;
+
+ is_crossing_poly(*robot_pt, disc_pt, &dst_pt, &poly_area);
+ NOTICE(E_USER_STRAT, "pt dst %"PRIi32", %"PRIi32"", dst_pt.x, dst_pt.y);
+
+ strat_goto_xy_force(dst_pt.x, dst_pt.y);
+
+ robot_pt->x = dst_pt.x;
+ robot_pt->y = dst_pt.y;
+
+ NOTICE(E_USER_STRAT, "GOTO %"PRIi32",%"PRIi32"",
+ dst_pt.x, dst_pt.y);
+
+ return 1;
+ }
+
+ return 0;
+}
+
+
+/*
+ * Escape from polygons if needed.
+ * robot_pt is the current position of the robot, it will be
+ * updated.
+ */
+static int8_t escape_from_poly(point_t *robot_pt,
+ poly_t *pol_disc,
+ int16_t opp_x, int16_t opp_y,
+ int16_t opp_w, int16_t opp_l,
+ poly_t *pol_opp)
+{
+ uint8_t in_disc = 0, in_opp = 0;
+ double escape_dx = 0, escape_dy = 0;
+ double disc_dx = 0, disc_dy = 0;
+ double opp_dx = 0, opp_dy = 0;
+ double len;
+ point_t opp_pt, disc_pt, dst_pt;
+ point_t intersect_disc_pt, intersect_opp_pt;
+
+ opp_pt.x = opp_x;
+ opp_pt.y = opp_y;
+ disc_pt.x = DISC_X;
+ disc_pt.y = DISC_Y;
+
+ /* escape from other poly if necessary */
+ if (is_in_poly(robot_pt, pol_disc) == 1)
+ in_disc = 1;
+ if (is_in_poly(robot_pt, pol_opp) == 1)
+ in_opp = 1;
+
+ if (in_disc == 0 && in_opp == 0) {
+ NOTICE(E_USER_STRAT, "no need to escape");
+ return 0;
+ }
+
+ NOTICE(E_USER_STRAT, "in_disc=%d, in_opp=%d", in_disc, in_opp);
+
+ /* process escape vector */
+
+ if (distance_between(robot_pt->x, robot_pt->y, DISC_X, DISC_Y) < ESCAPE_POLY_THRES) {
+ disc_dx = robot_pt->x - DISC_X;
+ disc_dy = robot_pt->y - DISC_Y;
+ NOTICE(E_USER_STRAT, " robot is near disc: vect=%2.2f,%2.2f",
+ disc_dx, disc_dy);
+ len = norm(disc_dx, disc_dy);
+ if (len != 0) {
+ disc_dx /= len;
+ disc_dy /= len;
+ }
+ else {
+ disc_dx = 1.0;
+ disc_dy = 0.0;
+ }
+ escape_dx += disc_dx;
+ escape_dy += disc_dy;
+ }
+
+ if (distance_between(robot_pt->x, robot_pt->y, opp_x, opp_y) < ESCAPE_POLY_THRES) {
+ opp_dx = robot_pt->x - opp_x;
+ opp_dy = robot_pt->y - opp_y;
+ NOTICE(E_USER_STRAT, " robot is near opp: vect=%2.2f,%2.2f",
+ opp_dx, opp_dy);
+ len = norm(opp_dx, opp_dy);
+ if (len != 0) {
+ opp_dx /= len;
+ opp_dy /= len;
+ }
+ else {
+ opp_dx = 1.0;
+ opp_dy = 0.0;
+ }
+ escape_dx += opp_dx;
+ escape_dy += opp_dy;
+ }
+
+ /* normalize escape vector */
+ len = norm(escape_dx, escape_dy);
+ if (len != 0) {
+ escape_dx /= len;
+ escape_dy /= len;
+ }
+ else {
+ if (pol_disc != NULL) {
+ /* rotate 90° */
+ escape_dx = disc_dy;
+ escape_dy = disc_dx;
+ }
+ else if (pol_opp != NULL) {
+ /* rotate 90° */
+ escape_dx = opp_dy;
+ escape_dy = opp_dx;
+ }
+ else { /* should not happen */
+ opp_dx = 1.0;
+ opp_dy = 0.0;
+ }
+ }
+
+ NOTICE(E_USER_STRAT, " escape vect = %2.2f,%2.2f",
+ escape_dx, escape_dy);
+
+ /* process the correct len of escape vector */
+
+ dst_pt.x = robot_pt->x + escape_dx * ESCAPE_VECT_LEN;
+ dst_pt.y = robot_pt->y + escape_dy * ESCAPE_VECT_LEN;
+
+ NOTICE(E_USER_STRAT, "robot pt %"PRIi32" %"PRIi32,
+ robot_pt->x, robot_pt->y);
+ NOTICE(E_USER_STRAT, "dst point %"PRIi32",%"PRIi32,
+ dst_pt.x, dst_pt.y);
+
+ if (in_disc) {
+ if (is_crossing_poly(*robot_pt, dst_pt, &intersect_disc_pt,
+ pol_disc) == 1) {
+ /* we add 2 mm to be sure we are out of th polygon */
+ dst_pt.x = intersect_disc_pt.x + escape_dx * 2;
+ dst_pt.y = intersect_disc_pt.y + escape_dy * 2;
+ if (is_point_in_poly(pol_opp, dst_pt.x, dst_pt.y) != 1) {
+
+ if (!is_in_boundingbox(&dst_pt))
+ return -1;
+
+ NOTICE(E_USER_STRAT, "GOTO %"PRIi32",%"PRIi32"",
+ dst_pt.x, dst_pt.y);
+
+ strat_goto_xy_force(dst_pt.x, dst_pt.y);
+
+ robot_pt->x = dst_pt.x;
+ robot_pt->y = dst_pt.y;
+
+ return 0;
+ }
+ }
+ }
+
+ if (in_opp) {
+ if (is_crossing_poly(*robot_pt, dst_pt, &intersect_opp_pt,
+ pol_opp) == 1) {
+ /* we add 2 cm to be sure we are out of th polygon */
+ dst_pt.x = intersect_opp_pt.x + escape_dx * 2;
+ dst_pt.y = intersect_opp_pt.y + escape_dy * 2;
+
+ if (is_point_in_poly(pol_disc, dst_pt.x, dst_pt.y) != 1) {
+
+ if (!is_in_boundingbox(&dst_pt))
+ return -1;
+
+ NOTICE(E_USER_STRAT, "GOTO %"PRIi32",%"PRIi32"",
+ dst_pt.x, dst_pt.y);
+
+ strat_goto_xy_force(dst_pt.x, dst_pt.y);
+
+ robot_pt->x = dst_pt.x;
+ robot_pt->y = dst_pt.y;
+
+ return 0;
+ }
+ }
+ }
+
+ /* should not happen */
+ return -1;
+}
+
+
+static int8_t __goto_and_avoid(int16_t x, int16_t y,
+ uint8_t flags_intermediate,
+ uint8_t flags_final,
+ uint8_t forward)
+{
+ int8_t len = -1, i;
+ point_t *p;
+ poly_t *pol_disc, *pol_opp;
+ int8_t ret;
+ int16_t opp_w, opp_l, opp_x, opp_y;
+ point_t p_dst, robot_pt;
+
+ DEBUG(E_USER_STRAT, "%s(%d,%d) flags_i=%x flags_f=%x forw=%d",
+ __FUNCTION__, x, y, flags_intermediate, flags_final, forward);
+
+ retry:
+ get_opponent_xy(&opp_x, &opp_y);
+ opp_w = O_WIDTH;
+ opp_l = O_LENGTH;
+
+ robot_pt.x = position_get_x_s16(&mainboard.pos);
+ robot_pt.y = position_get_y_s16(&mainboard.pos);
+
+ oa_init();
+ pol_disc = oa_new_poly(5);
+ set_central_disc_poly(pol_disc, &robot_pt);
+ pol_opp = oa_new_poly(4);
+ set_opponent_poly(pol_opp, &robot_pt, O_WIDTH, O_LENGTH);
+
+ /* If we are not in the limited area, try to go in it. */
+ ret = go_in_area(&robot_pt);
+
+ /* check that destination is valid */
+ p_dst.x = x;
+ p_dst.y = y;
+ if (!is_in_boundingbox(&p_dst)) {
+ NOTICE(E_USER_STRAT, " dst is not in playground");
+ return END_ERROR;
+ }
+ if (is_point_in_poly(pol_disc, x, y)) {
+ NOTICE(E_USER_STRAT, " dst is in disc");
+ return END_ERROR;
+ }
+ if (is_point_in_poly(pol_opp, x, y)) {
+ NOTICE(E_USER_STRAT, " dst is in opp");
+ return END_ERROR;
+ }
+
+ /* now start to avoid */
+ while (opp_w && opp_l) {
+
+ /* robot_pt is not updated if it fails */
+ ret = escape_from_poly(&robot_pt,
+ pol_disc, opp_x, opp_y,
+ opp_w, opp_l, pol_opp);
+ if (ret == 0) {
+ oa_reset();
+ oa_start_end_points(robot_pt.x, robot_pt.y, x, y);
+ /* oa_dump(); */
+
+ len = oa_process();
+ if (len >= 0)
+ break;
+ }
+ if (distance_between(robot_pt.x, robot_pt.y, opp_x, opp_y) < REDUCE_POLY_THRES ) {
+ if (opp_w == 0)
+ opp_l /= 2;
+ opp_w /= 2;
+ }
+ else {
+ NOTICE(E_USER_STRAT, "oa_process() returned %d", len);
+ return END_ERROR;
+ }
+
+ NOTICE(E_USER_STRAT, "reducing opponent %d %d", opp_w, opp_l);
+ set_opponent_poly(pol_opp, &robot_pt, opp_w, opp_l);
+ }
+
+ p = oa_get_path();
+ for (i=0 ; i<len ; i++) {
+ DEBUG(E_USER_STRAT, "With avoidance %d: x=%"PRIi32" y=%"PRIi32"", i, p->x, p->y);
+
+ if (forward)
+ trajectory_goto_forward_xy_abs(&mainboard.traj, p->x, p->y);
+ else
+ trajectory_goto_backward_xy_abs(&mainboard.traj, p->x, p->y);
+
+ /* no END_NEAR for the last point */
+ if (i == len - 1)
+ ret = wait_traj_end(flags_final);
+ else
+ ret = wait_traj_end(flags_intermediate);
+
+ if (ret == END_BLOCKING) {
+ DEBUG(E_USER_STRAT, "Retry avoidance %s(%d,%d)",
+ __FUNCTION__, x, y);
+ goto retry;
+ }
+ else if (ret == END_OBSTACLE) {
+ /* brake and wait the speed to be slow */
+ DEBUG(E_USER_STRAT, "Retry avoidance %s(%d,%d)",
+ __FUNCTION__, x, y);
+ goto retry;
+ }
+ /* else if it is not END_TRAJ or END_NEAR, return */
+ else if (!TRAJ_SUCCESS(ret)) {
+ return ret;
+ }
+ p++;
+ }
+
+ return END_TRAJ;
+}
+
+/* go forward to a x,y point. use current speed for that */
+uint8_t goto_and_avoid_forward(int16_t x, int16_t y, uint8_t flags_intermediate,
+ uint8_t flags_final)
+{
+ return __goto_and_avoid(x, y, flags_intermediate, flags_final, 1);
+}
+
+/* go backward to a x,y point. use current speed for that */
+uint8_t goto_and_avoid_backward(int16_t x, int16_t y, uint8_t flags_intermediate,
+ uint8_t flags_final)
+{
+ return __goto_and_avoid(x, y, flags_intermediate, flags_final, 0);
+}
+
+/* go to a x,y point. prefer backward but go forward if the point is
+ * near and in front of us */
+uint8_t goto_and_avoid(int16_t x, int16_t y, uint8_t flags_intermediate,
+ uint8_t flags_final)
+{
+ double d,a;
+ abs_xy_to_rel_da(x, y, &d, &a);
+
+ if (d < 300 && a < RAD(90) && a > RAD(-90))
+ return __goto_and_avoid(x, y, flags_intermediate,
+ flags_final, 1);
+ else
+ return __goto_and_avoid(x, y, flags_intermediate,
+ flags_final, 0);
+}
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_avoid.h,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+void set_opponent_poly(poly_t *pol, int16_t w, int16_t l);
+int8_t goto_and_avoid(int16_t x, int16_t y, uint8_t flags_intermediate,
+ uint8_t flags_final);
+int8_t goto_and_avoid_backward(int16_t x, int16_t y,
+ uint8_t flags_intermediate,
+ uint8_t flags_final);
+int8_t goto_and_avoid_forward(int16_t x, int16_t y,
+ uint8_t flags_intermediate,
+ uint8_t flags_final);
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_base.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "main.h"
+#include "cmdline.h"
+#include "strat_utils.h"
+#include "strat_base.h"
+#include "strat.h"
+
+/* true if we want to interrupt a trajectory */
+static uint8_t traj_intr=0;
+
+/* filled when a END_OBSTACLE is returned */
+struct opponent_obstacle opponent_obstacle;
+
+/* asked speed */
+static volatile int16_t strat_speed_a = SPEED_DIST_FAST;
+static volatile int16_t strat_speed_d = SPEED_ANGLE_FAST;
+static volatile uint16_t strat_limit_speed_a = 0; /* no limit */
+static volatile uint16_t strat_limit_speed_d = 0;
+
+static volatile uint8_t strat_limit_speed_enabled = 1;
+
+
+/* Strings that match the end traj cause */
+/* /!\ keep it sync with stat_base.h */
+const char *err_tab []= {
+ "END_TRAJ",
+ "END_BLOCKING",
+ "END_NEAR",
+ "END_OBSTACLE",
+ "END_ERROR",
+ "END_INTR",
+ "END_TIMER",
+ "END_RESERVED",
+};
+
+/* return string from end traj type num */
+const char *get_err(uint8_t err)
+{
+ uint8_t i;
+ if (err == 0)
+ return "SUCCESS";
+ for (i=0 ; i<8; i++) {
+ if (err & (1 <<i))
+ return err_tab[i];
+ }
+ return "END_UNKNOWN";
+}
+
+void strat_hardstop(void)
+{
+ trajectory_hardstop(&mainboard.traj);
+ pid_reset(&mainboard.angle.pid);
+ pid_reset(&mainboard.distance.pid);
+ bd_reset(&mainboard.angle.bd);
+ bd_reset(&mainboard.distance.bd);
+
+ while ((ABS(mainboard.speed_d) > 200) ||
+ (ABS(mainboard.speed_a) > 200))
+
+ trajectory_hardstop(&mainboard.traj);
+ pid_reset(&mainboard.angle.pid);
+ pid_reset(&mainboard.distance.pid);
+ bd_reset(&mainboard.angle.bd);
+ bd_reset(&mainboard.distance.bd);
+}
+
+/* go to an x,y point without checking for obstacle or blocking. It
+ * should be used for very small dist only. Return END_TRAJ if we
+ * reach destination, or END_BLOCKING if the robot blocked more than 3
+ * times. */
+uint8_t strat_goto_xy_force(int16_t x, int16_t y)
+{
+ uint8_t i, err;
+
+#ifdef HOMOLOGATION
+ int8_t serr;
+ uint8_t hardstop = 0;
+ microseconds us = time_get_us2();
+ int16_t opp_a, opp_d, opp_x, opp_y;
+
+ while (1) {
+ serr = get_opponent_xyda(&opp_x, &opp_y,
+ &opp_d, &opp_a);
+ if (serr == -1)
+ break;
+ if (opp_d < 600)
+ break;
+ if (hardstop == 0) {
+ strat_hardstop();
+ hardstop = 1;
+ }
+ if ((time_get_us2() - us) > 3000000L)
+ break;
+ }
+#endif
+ for (i=0; i<3; i++) {
+ trajectory_goto_xy_abs(&mainboard.traj, x, y);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (TRAJ_SUCCESS(err))
+ return END_TRAJ;
+ if (err == END_BLOCKING) {
+ time_wait_ms(500);
+ strat_hardstop();
+ }
+ }
+ return END_BLOCKING;
+}
+
+/* reset position */
+void strat_reset_pos(int16_t x, int16_t y, int16_t a)
+{
+ int16_t posx = position_get_x_s16(&mainboard.pos);
+ int16_t posy = position_get_y_s16(&mainboard.pos);
+ int16_t posa = position_get_a_deg_s16(&mainboard.pos);
+
+ if (x == DO_NOT_SET_POS)
+ x = posx;
+ if (y == DO_NOT_SET_POS)
+ y = posy;
+ if (a == DO_NOT_SET_POS)
+ a = posa;
+
+ DEBUG(E_USER_STRAT, "reset pos (%s%s%s)",
+ x == DO_NOT_SET_POS ? "" : "x",
+ y == DO_NOT_SET_POS ? "" : "y",
+ a == DO_NOT_SET_POS ? "" : "a");
+ position_set(&mainboard.pos, x, y, a);
+ DEBUG(E_USER_STRAT, "pos resetted", __FUNCTION__);
+}
+
+/*
+ * decrease gain on angle PID, and go forward until we reach the
+ * border.
+ */
+uint8_t strat_calib(int16_t dist, uint8_t flags)
+{
+ int32_t p = pid_get_gain_P(&mainboard.angle.pid);
+ int32_t i = pid_get_gain_I(&mainboard.angle.pid);
+ int32_t d = pid_get_gain_D(&mainboard.angle.pid);
+ uint8_t err;
+
+ pid_set_gains(&mainboard.angle.pid, 150, 0, 2000);
+ trajectory_d_rel(&mainboard.traj, dist);
+ err = wait_traj_end(flags);
+ pid_set_gains(&mainboard.angle.pid, p, i, d);
+ return err;
+}
+
+/* escape from zone, and don't brake, so we can continue with another
+ * traj */
+uint8_t strat_escape(struct build_zone *zone, uint8_t flags)
+{
+ uint8_t err;
+ uint16_t old_spdd, old_spda;
+
+ strat_get_speed(&old_spdd, &old_spda);
+
+ err = WAIT_COND_OR_TIMEOUT(!opponent_is_behind(), 1000);
+ if (err == 0) {
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -150);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ strat_set_speed(old_spdd, old_spda);
+ return err;
+ }
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ if (zone->flags & ZONE_F_DISC) {
+ trajectory_d_rel(&mainboard.traj, -350);
+ err = WAIT_COND_OR_TRAJ_END(!robot_is_near_disc(), flags);
+ }
+ else {
+ trajectory_d_rel(&mainboard.traj, -300);
+ err = wait_traj_end(flags);
+ }
+
+ strat_set_speed(old_spdd, old_spda);
+ if (err == 0)
+ return END_NEAR;
+ return err;
+}
+
+static void strat_update_traj_speed(void)
+{
+ uint16_t d, a;
+
+ d = strat_speed_d;
+ if (strat_limit_speed_d && d > strat_limit_speed_d)
+ d = strat_limit_speed_d;
+ a = strat_speed_a;
+ if (strat_limit_speed_a && a > strat_limit_speed_a)
+ a = strat_limit_speed_a;
+
+ trajectory_set_speed(&mainboard.traj, d, a);
+}
+
+void strat_set_speed(uint16_t d, uint16_t a)
+{
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ strat_speed_d = d;
+ strat_speed_a = a;
+ strat_update_traj_speed();
+ IRQ_UNLOCK(flags);
+}
+
+void strat_get_speed(uint16_t *d, uint16_t *a)
+{
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ *d = strat_speed_d;
+ *a = strat_speed_a;
+ IRQ_UNLOCK(flags);
+}
+
+void strat_limit_speed_enable(void)
+{
+ strat_limit_speed_enabled = 1;
+}
+
+void strat_limit_speed_disable(void)
+{
+ strat_limit_speed_enabled = 0;
+}
+
+/* called periodically */
+void strat_limit_speed(void)
+{
+ uint16_t lim_d = 0, lim_a = 0;
+ int16_t opp_d, opp_a;
+
+ if (strat_limit_speed_enabled == 0)
+ goto update;
+
+ if (get_opponent_da(&opp_d, &opp_a) != 0)
+ goto update;
+
+#ifdef HOMOLOGATION
+ if (opp_d < 600) {
+ lim_d = 150;
+ lim_a = 200;
+ }
+#else
+ if (opp_d < 500) {
+ if (mainboard.speed_d > 0 && (opp_a > 290 || opp_a < 70)) {
+ lim_d = SPEED_DIST_VERY_SLOW;
+ lim_a = SPEED_ANGLE_VERY_SLOW;
+ }
+ else if (mainboard.speed_d < 0 && (opp_a < 250 && opp_a > 110)) {
+ lim_d = SPEED_DIST_VERY_SLOW;
+ lim_a = SPEED_ANGLE_VERY_SLOW;
+ }
+ else {
+ lim_d = SPEED_DIST_SLOW;
+ lim_a = SPEED_ANGLE_VERY_SLOW;
+ }
+ }
+#endif
+ else if (opp_d < 800) {
+ if (mainboard.speed_d > 0 && (opp_a > 290 || opp_a < 70)) {
+ lim_d = SPEED_DIST_SLOW;
+ lim_a = SPEED_ANGLE_SLOW;
+ }
+ else if (mainboard.speed_d < 0 && (opp_a < 250 && opp_a > 110)) {
+ lim_d = SPEED_DIST_SLOW;
+ lim_a = SPEED_ANGLE_SLOW;
+ }
+ }
+
+ update:
+ if (lim_d != strat_limit_speed_d ||
+ lim_a != strat_limit_speed_a) {
+ strat_limit_speed_d = lim_d;
+ strat_limit_speed_a = lim_a;
+ DEBUG(E_USER_STRAT, "new speed limit da=%d,%d", lim_d, lim_a);
+ strat_update_traj_speed();
+ }
+}
+
+/* start the strat */
+void strat_start(void)
+{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ int8_t i;
+ uint8_t err;
+
+ strat_preinit();
+
+ /* if start sw not plugged */
+ if (sensor_get(S_START_SWITCH)) {
+ printf_P(PSTR("No start switch, press a key or plug it\r\n"));
+
+ /* while start sw not plugged */
+ while (sensor_get(S_START_SWITCH)) {
+ if (! cmdline_keypressed())
+ continue;
+
+ for (i=3; i>0; i--) {
+ printf_P(PSTR("%d\r\n"), i);
+ time_wait_ms(1000);
+ }
+ break;
+ }
+ }
+
+ /* if start sw plugged */
+ if (!sensor_get(S_START_SWITCH)) {
+ printf_P(PSTR("Ready, unplug start switch to start\r\n"));
+ /* while start sw plugged */
+ while (!sensor_get(S_START_SWITCH));
+ }
+
+ strat_init();
+ err = strat_main();
+ NOTICE(E_USER_STRAT, "Finished !! returned %s", get_err(err));
+ strat_exit();
+#endif
+}
+
+/* return true if we have to brake due to an obstacle */
+uint8_t strat_obstacle(void)
+{
+ int16_t x_rel, y_rel;
+ int16_t opp_x, opp_y, opp_d, opp_a;
+
+ /* too slow */
+ if (ABS(mainboard.speed_d) < 150)
+ return 0;
+
+ /* no opponent detected */
+ if (get_opponent_xyda(&opp_x, &opp_y,
+ &opp_d, &opp_a))
+ return 0;
+
+ /* save obstacle position */
+ opponent_obstacle.x = opp_x;
+ opponent_obstacle.y = opp_y;
+ opponent_obstacle.d = opp_d;
+ opponent_obstacle.a = opp_a;
+
+#ifndef HOST_VERSION
+ /* sensor are temporarily disabled */
+ if (sensor_obstacle_is_disabled())
+ return 0;
+#endif
+
+ /* relative position */
+ x_rel = cos(RAD(opp_a)) * (double)opp_d;
+ y_rel = sin(RAD(opp_a)) * (double)opp_d;
+
+ /* opponent too far */
+ if (opp_d > 600)
+ return 0;
+
+ /* opponent is in front of us */
+ if (mainboard.speed_d > 0 && (opp_a > 325 || opp_a < 35)) {
+ DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
+ "xrel=%d yrel=%d (speed_d=%d)",
+ opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
+#ifndef HOST_VERSION
+ sensor_obstacle_disable();
+#endif
+ return 1;
+ }
+ /* opponent is behind us */
+ if (mainboard.speed_d < 0 && (opp_a < 215 && opp_a > 145)) {
+ DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
+ opp_d, opp_a, x_rel, y_rel);
+#ifndef HOST_VERSION
+ sensor_obstacle_disable();
+#endif
+ return 1;
+ }
+
+ return 0;
+}
+
+void interrupt_traj(void)
+{
+ traj_intr = 1;
+}
+
+void interrupt_traj_reset(void)
+{
+ traj_intr = 0;
+}
+
+uint8_t test_traj_end(uint8_t why)
+{
+ uint16_t cur_timer;
+ point_t robot_pt;
+
+ robot_pt.x = position_get_x_s16(&mainboard.pos);
+ robot_pt.y = position_get_y_s16(&mainboard.pos);
+
+ /* trigger an event at 3 sec before the end of the match if we
+ * have balls in the barrel */
+ cur_timer = time_get_s();
+
+ if ((mainboard.flags & DO_TIMER) && (why & END_TIMER)) {
+ /* end of match */
+ if (cur_timer >= MATCH_TIME)
+ return END_TIMER;
+ }
+
+ if ((why & END_INTR) && traj_intr) {
+ interrupt_traj_reset();
+ return END_INTR;
+ }
+
+ if ((why & END_TRAJ) && trajectory_finished(&mainboard.traj))
+ return END_TRAJ;
+
+ /* we are near the destination point (depends on current
+ * speed) AND the robot is in the area bounding box. */
+ if (why & END_NEAR) {
+ int16_t d_near = 100;
+
+ if (mainboard.speed_d > 2000)
+ d_near = 150;
+
+ if (trajectory_in_window(&mainboard.traj, d_near, RAD(5.0)) &&
+ is_in_boundingbox(&robot_pt))
+ return END_NEAR;
+ }
+
+ if ((why & END_BLOCKING) && bd_get(&mainboard.angle.bd)) {
+ strat_hardstop();
+ return END_BLOCKING;
+ }
+
+ if ((why & END_BLOCKING) && bd_get(&mainboard.distance.bd)) {
+ strat_hardstop();
+ return END_BLOCKING;
+ }
+
+ if ((why & END_OBSTACLE) && strat_obstacle()) {
+ strat_hardstop();
+ return END_OBSTACLE;
+ }
+
+ return 0;
+}
+
+uint8_t __wait_traj_end_debug(uint8_t why, uint16_t line)
+{
+ uint8_t ret = 0;
+ int16_t opp_x, opp_y, opp_d, opp_a;
+
+ while (ret == 0)
+ ret = test_traj_end(why);
+
+ if (ret == END_OBSTACLE) {
+ if (get_opponent_xyda(&opp_x, &opp_y,
+ &opp_d, &opp_a) == 0)
+ DEBUG(E_USER_STRAT, "Got %s at line %d"
+ " xy=(%d,%d) da=(%d,%d)", get_err(ret),
+ line, opp_x, opp_y, opp_d, opp_a);
+ }
+ else {
+ DEBUG(E_USER_STRAT, "Got %s at line %d",
+ get_err(ret), line);
+ }
+ return ret;
+}
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_base.h,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+/* return values for strats and sub trajs */
+#define END_TRAJ 1 /* traj successful */
+#define END_BLOCKING 2 /* blocking during traj */
+#define END_NEAR 4 /* we are near destination */
+#define END_OBSTACLE 8 /* There is an obstacle in front of us */
+#define END_ERROR 16 /* Cannot do the command */
+#define END_INTR 32 /* interrupted by user */
+#define END_TIMER 64 /* we don't a lot of time */
+#define END_RESERVED 128 /* reserved */
+
+/* only valid after a END_OBSTACLE */
+struct opponent_obstacle {
+ int16_t x;
+ int16_t y;
+ int16_t a;
+ int16_t d;
+};
+extern struct opponent_obstacle opponent_obstacle;
+
+/* stop as fast as possible, without ramp */
+void strat_hardstop(void);
+
+#define DO_NOT_SET_POS -1000
+/* Reset position. If arg == DO_NOT_SET_POS, don't update value for
+ * it. */
+void strat_reset_pos(int16_t x, int16_t y, int16_t a);
+
+/* decrease gain on angle PID, and go forward until we reach the
+ * border. */
+uint8_t strat_calib(int16_t d, uint8_t flags);
+
+/* launch start procedure */
+void strat_start(void);
+
+/* go to an x,y point without checking for obstacle or blocking. It
+ * should be used for very small dist only. Return END_TRAJ if we
+ * reach destination, or END_BLOCKING if the robot blocked more than 3
+ * times. */
+uint8_t strat_goto_xy_force(int16_t x, int16_t y);
+
+/* escape from disc polygon or another zone */
+struct build_zone;
+uint8_t strat_escape(struct build_zone *zone, uint8_t flags);
+
+/* return true if we have to brake due to an obstacle */
+uint8_t strat_obstacle(void);
+
+/* set/get user strat speed */
+void strat_set_speed(uint16_t d, uint16_t a);
+void strat_get_speed(uint16_t *d, uint16_t *a);
+
+/* when user type ctrl-c we can interrupt traj */
+void interrupt_traj(void);
+void interrupt_traj_reset(void);
+
+/* limit speed when we are close of opponent */
+void strat_limit_speed_enable(void);
+void strat_limit_speed_disable(void);
+void strat_limit_speed(void);
+
+/* get name of traj error with its number */
+const char *get_err(uint8_t err);
+
+/* test trajectory end condition */
+uint8_t test_traj_end(uint8_t why);
+
+/* loop until test_traj_end() is true */
+#define wait_traj_end(why) __wait_traj_end_debug(why, __LINE__)
+uint8_t __wait_traj_end_debug(uint8_t why, uint16_t line);
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_utils.c,v 1.7 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "main.h"
+#include "i2c_commands.h"
+#include "strat_utils.h"
+#include "strat.h"
+
+/* return the distance between two points */
+int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
+{
+ int32_t x,y;
+ x = (x2-x1);
+ x = x*x;
+ y = (y2-y1);
+ y = y*y;
+ return sqrt(x+y);
+}
+
+/* return the distance to a point in the area */
+int16_t distance_from_robot(int16_t x, int16_t y)
+{
+ return distance_between(position_get_x_s16(&mainboard.pos),
+ position_get_y_s16(&mainboard.pos), x, y);
+}
+
+/** do a modulo 360 -> [-180,+180], knowing that 'a' is in [-3*180,+3*180] */
+int16_t simple_modulo_360(int16_t a)
+{
+ if (a < -180) {
+ a += 360;
+ }
+ else if (a > 180) {
+ a -= 360;
+ }
+ return a;
+}
+
+/* return the distance to a point in the area */
+int16_t angle_abs_to_rel(int16_t a_abs)
+{
+ return simple_modulo_360(a_abs - position_get_a_deg_s16(&mainboard.pos));
+}
+
+void rel_da_to_abs_xy(double d_rel, double a_rel_rad,
+ double *x_abs, double *y_abs)
+{
+ 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);
+
+ *x_abs = x + d_rel*cos(a+a_rel_rad);
+ *y_abs = y + d_rel*sin(a+a_rel_rad);
+}
+
+double norm(double x, double y)
+{
+ return sqrt(x*x + y*y);
+}
+
+void rel_xy_to_abs_xy(double x_rel, double y_rel,
+ double *x_abs, double *y_abs)
+{
+ double d_rel, a_rel;
+ d_rel = norm(x_rel, y_rel);
+ a_rel = atan2(y_rel, x_rel);
+ rel_da_to_abs_xy(d_rel, a_rel, x_abs, y_abs);
+}
+
+/* return an angle between -pi and pi */
+void abs_xy_to_rel_da(double x_abs, double y_abs,
+ double *d_rel, double *a_rel_rad)
+{
+ 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);
+
+ *a_rel_rad = atan2(y_abs - y, x_abs - x) - a;
+ if (*a_rel_rad < -M_PI) {
+ *a_rel_rad += M_2PI;
+ }
+ else if (*a_rel_rad > M_PI) {
+ *a_rel_rad -= M_2PI;
+ }
+ *d_rel = norm(x_abs-x, y_abs-y);
+}
+
+void rotate(double *x, double *y, double rot)
+{
+ double l, a;
+
+ l = norm(*x, *y);
+ a = atan2(*y, *x);
+
+ a += rot;
+ *x = l * cos(a);
+ *y = l * sin(a);
+}
+
+/* return true if the point is in area */
+uint8_t is_in_area(int16_t x, int16_t y, int16_t margin)
+{
+ if (x < margin)
+ return 0;
+ if (x > (AREA_X - margin))
+ return 0;
+ if (y < margin)
+ return 0;
+ if (y > (AREA_Y - margin))
+ return 0;
+ return 1;
+}
+
+
+/* return true if the point is in area */
+uint8_t robot_is_in_area(int16_t margin)
+{
+ return is_in_area(position_get_x_s16(&mainboard.pos),
+ position_get_y_s16(&mainboard.pos),
+ margin);
+}
+
+/* return true if we are near the disc */
+uint8_t robot_is_near_disc(void)
+{
+ if (distance_from_robot(CENTER_X, CENTER_Y) < DISC_PENTA_DIAG)
+ return 1;
+ return 0;
+}
+
+/* return 1 or 0 depending on which side of a line (y=cste) is the
+ * robot. works in red or green color. */
+uint8_t y_is_more_than(int16_t y)
+{
+ int16_t posy;
+
+ posy = position_get_y_s16(&mainboard.pos);
+ if (mainboard.our_color == I2C_COLOR_RED) {
+ if (posy > y)
+ return 1;
+ else
+ return 0;
+ }
+ else {
+ if (posy < (AREA_Y-y))
+ return 1;
+ else
+ return 0;
+ }
+}
+
+/* return 1 or 0 depending on which side of a line (x=cste) is the
+ * robot. works in red or green color. */
+uint8_t x_is_more_than(int16_t x)
+{
+ int16_t posx;
+
+ posx = position_get_x_s16(&mainboard.pos);
+ if (posx > x)
+ return 1;
+ else
+ return 0;
+}
+
+int16_t sin_table[] = {
+ 0,
+ 3211,
+ 6392,
+ 9512,
+ 12539,
+ 15446,
+ 18204,
+ 20787,
+ 23170,
+ 25330,
+ 27245,
+ 28898,
+ 30273,
+ 31357,
+ 32138,
+ 32610,
+ 32767,
+};
+
+int16_t fast_sin(int16_t deg)
+{
+ deg %= 360;
+
+ if (deg < 0)
+ deg += 360;
+
+ if (deg < 90)
+ return sin_table[(deg*16)/90];
+ else if (deg < 180)
+ return sin_table[((180-deg)*16)/90];
+ else if (deg < 270)
+ return -sin_table[((deg-180)*16)/90];
+ else
+ return -sin_table[((360-deg)*16)/90];
+}
+
+int16_t fast_cos(int16_t deg)
+{
+ return fast_sin(90+deg);
+}
+
+
+/* get the color of our robot */
+uint8_t get_color(void)
+{
+ return mainboard.our_color;
+}
+
+/* get the color of the opponent robot */
+uint8_t get_opponent_color(void)
+{
+ if (mainboard.our_color == I2C_COLOR_RED)
+ return I2C_COLOR_GREEN;
+ else
+ return I2C_COLOR_RED;
+}
+
+/* get the xy pos of the opponent robot */
+int8_t get_opponent_xy(int16_t *x, int16_t *y)
+{
+#ifdef HOST_VERSION
+ *x = I2C_OPPONENT_NOT_THERE;
+ return -1;
+#else
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ *x = sensorboard.opponent_x;
+ *y = sensorboard.opponent_y;
+ IRQ_UNLOCK(flags);
+ if (*x == I2C_OPPONENT_NOT_THERE)
+ return -1;
+ return 0;
+#endif
+}
+
+/* get the da pos of the opponent robot */
+int8_t get_opponent_da(int16_t *d, int16_t *a)
+{
+#ifdef HOST_VERSION
+ return -1;
+#else
+ uint8_t flags;
+ int16_t x_tmp;
+ IRQ_LOCK(flags);
+ x_tmp = sensorboard.opponent_x;
+ *d = sensorboard.opponent_d;
+ *a = sensorboard.opponent_a;
+ IRQ_UNLOCK(flags);
+ if (x_tmp == I2C_OPPONENT_NOT_THERE)
+ return -1;
+ return 0;
+#endif
+}
+
+/* get the da pos of the opponent robot */
+int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
+{
+#ifdef HOST_VERSION
+ *x = I2C_OPPONENT_NOT_THERE;
+ return -1;
+#else
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ *x = sensorboard.opponent_x;
+ *y = sensorboard.opponent_y;
+ *d = sensorboard.opponent_d;
+ *a = sensorboard.opponent_a;
+ IRQ_UNLOCK(flags);
+ if (*x == I2C_OPPONENT_NOT_THERE)
+ return -1;
+ return 0;
+#endif
+}
+
+#ifndef HOST_VERSION
+uint8_t pump_left1_is_full(void)
+{
+ return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_L1) &&
+ (sensor_get_adc(ADC_CSENSE3) > I2C_MECHBOARD_CURRENT_COLUMN));
+}
+
+uint8_t pump_left2_is_full(void)
+{
+ return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_L2) &&
+ (sensor_get_adc(ADC_CSENSE4) > I2C_MECHBOARD_CURRENT_COLUMN));
+}
+
+uint8_t pump_right1_is_full(void)
+{
+ return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_R1) &&
+ (mechboard.pump_right1_current > I2C_MECHBOARD_CURRENT_COLUMN));
+}
+
+uint8_t pump_right2_is_full(void)
+{
+ return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_R2) &&
+ (mechboard.pump_right2_current > I2C_MECHBOARD_CURRENT_COLUMN));
+}
+
+/* number of column owned by the robot */
+uint8_t get_column_count_left(void)
+{
+ uint8_t ret = 0;
+ ret += pump_left1_is_full();
+ ret += pump_left2_is_full();
+ return ret;
+}
+
+/* number of column owned by the robot */
+uint8_t get_column_count_right(void)
+{
+ uint8_t ret = 0;
+ ret += pump_right1_is_full();
+ ret += pump_right2_is_full();
+ return ret;
+}
+
+/* number of column owned by the robot */
+uint8_t get_column_count(void)
+{
+ uint8_t ret = 0;
+ ret += pump_left1_is_full();
+ ret += pump_left2_is_full();
+ ret += pump_right1_is_full();
+ ret += pump_right2_is_full();
+ return ret;
+}
+
+uint8_t get_lintel_count(void)
+{
+ return mechboard.lintel_count;
+}
+
+uint8_t get_mechboard_mode(void)
+{
+ return mechboard.mode;
+}
+
+uint8_t get_scanner_status(void)
+{
+ return sensorboard.scan_status;
+}
+
+/* return 0 if timeout, or 1 if cond is true */
+uint8_t wait_scan_done(uint16_t timeout)
+{
+ uint8_t err;
+ err = WAIT_COND_OR_TIMEOUT(get_scanner_status() & I2C_SCAN_DONE, timeout);
+ return err;
+}
+#endif
+
+uint8_t opponent_is_behind(void)
+{
+ int8_t opp_there;
+ int16_t opp_d = 0, opp_a = 0;
+
+ opp_there = get_opponent_da(&opp_d, &opp_a);
+ if (opp_there && (opp_a < 215 && opp_a > 145) && opp_d < 600)
+ return 1;
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_utils.h,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+
+#define DEG(x) (((double)(x)) * (180.0 / M_PI))
+#define RAD(x) (((double)(x)) * (M_PI / 180.0))
+#define M_2PI (2*M_PI)
+
+struct xy_point {
+ int16_t x;
+ int16_t y;
+};
+
+/* wait traj end flag or cond. return 0 if cond become true, else
+ * return the traj flag */
+#define WAIT_COND_OR_TRAJ_END(cond, mask) \
+ ({ \
+ uint8_t __err = 0; \
+ while ( (! (cond)) && (__err == 0)) { \
+ __err = test_traj_end(TRAJ_FLAGS_NO_NEAR); \
+ } \
+ __err; \
+ }) \
+
+int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
+int16_t distance_from_robot(int16_t x, int16_t y);
+int16_t simple_modulo_360(int16_t a);
+int16_t angle_abs_to_rel(int16_t a_abs);
+void rel_da_to_abs_xy(double d_rel, double a_rel_rad, double *x_abs, double *y_abs);
+double norm(double x, double y);
+void rel_xy_to_abs_xy(double x_rel, double y_rel, double *x_abs, double *y_abs);
+void abs_xy_to_rel_da(double x_abs, double y_abs, double *d_rel, double *a_rel_rad);
+void rotate(double *x, double *y, double rot);
+uint8_t is_in_area(int16_t x, int16_t y, int16_t margin);
+uint8_t robot_is_in_area(int16_t margin);
+uint8_t robot_is_near_disc(void);
+uint8_t y_is_more_than(int16_t y);
+uint8_t x_is_more_than(int16_t x);
+int16_t fast_sin(int16_t deg);
+int16_t fast_cos(int16_t deg);
+uint8_t get_color(void);
+uint8_t get_opponent_color(void);
+int8_t get_opponent_xy(int16_t *x, int16_t *y);
+int8_t get_opponent_da(int16_t *d, int16_t *a);
+int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a);
+uint8_t get_column_count(void);
+uint8_t get_column_count_right(void);
+uint8_t get_column_count_left(void);
+uint8_t get_lintel_count(void);
+uint8_t get_mechboard_mode(void);
+uint8_t pump_left1_is_full(void);
+uint8_t pump_left2_is_full(void);
+uint8_t pump_right1_is_full(void);
+uint8_t pump_right2_is_full(void);
+uint8_t get_scanner_status(void);
+uint8_t wait_scan_done(uint16_t timeout);
+uint8_t opponent_is_behind(void);
git.droids-corp.org / aversive.git / commitdiff