hostsim and cob handling

diff --git a/projects/microb2010/tests/hostsim/commands_mainboard.c b/projects/microb2010/tests/hostsim/commands_mainboard.c
index ff808c3..0238257 100644 (file)
--- a/projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/projects/microb2010/tests/hostsim/commands_mainboard.c
@@ -2249,8 +2249,48 @@ void circle_get_da_speed_from_radius(struct trajectory *traj,
 /* function called when cmd_test is parsed successfully */
 static void cmd_test_parsed(void *parsed_result, void *data)
 {
-       trajectory_line_abs(&mainboard.traj, 0, 1050,
-                           1500, 1050, 100.);
+       uint8_t err;
+       double d,a;
+
+#if 0
+       strat_set_speed(500, 500);
+       circle_get_da_speed_from_radius(&mainboard.traj, 225, &d, &a);
+       trajectory_line_abs(&mainboard.traj,
+                           375, 347,
+                           375, 1847, 100.);
+       err = WAIT_COND_OR_TRAJ_END(y_is_more_than(945),
+                                   TRAJ_FLAGS_NO_NEAR);
+       /* circle */
+       strat_set_speed(d, a);
+       trajectory_d_a_rel(&mainboard.traj, 350, -61);
+
+       err = WAIT_COND_OR_TRAJ_END(x_is_more_than(600),
+                                   TRAJ_FLAGS_NO_NEAR);
+
+       strat_set_speed(500, 500);
+       trajectory_line_abs(&mainboard.traj,
+                           375, 1097,
+                           1725, 1847, 100.);
+#else
+       strat_set_speed(500, 500);
+       circle_get_da_speed_from_radius(&mainboard.traj, 225, &d, &a);
+       trajectory_line_abs(&mainboard.traj,
+                           375, 347,
+                           375, 1847, 100.);
+       err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1445),
+                                   TRAJ_FLAGS_NO_NEAR);
+       /* circle */
+       strat_set_speed(d, a);
+       trajectory_d_a_rel(&mainboard.traj, 700, -121);
+
+       err = WAIT_COND_OR_TRAJ_END(x_is_more_than(750),
+                                   TRAJ_FLAGS_NO_NEAR);
+
+       strat_set_speed(500, 500);
+       trajectory_line_abs(&mainboard.traj,
+                           825, 1596,
+                           1950, 972, 100.);
+#endif
 }
 
 prog_char str_test_arg0[] = "test";

diff --git a/projects/microb2010/tests/oa/.config b/projects/microb2010/tests/oa/.config
index 046653a..ad65973 100644 (file)
--- a/projects/microb2010/tests/oa/.config
+++ b/projects/microb2010/tests/oa/.config
@@ -1,5 +1,5 @@
 #
-# Automatically generated by make menuconfig: don't edit
+# Automatically generated make config: don't edit
 #
 
 #
@@ -74,11 +74,16 @@ CONFIG_FORMAT_IHEX=y
 #
 # Base modules
 #
+
+#
+# Enable math library in generation options to see all modules
+#
 # CONFIG_MODULE_CIRBUF is not set
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 # CONFIG_MODULE_FIXED_POINT is not set
 # CONFIG_MODULE_VECT2 is not set
 CONFIG_MODULE_GEOMETRY=y
+# CONFIG_MODULE_HOSTSIM is not set
 # CONFIG_MODULE_SCHEDULER is not set
 # CONFIG_MODULE_SCHEDULER_STATS is not set
 # CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
@@ -93,6 +98,10 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 #
 # Communication modules
 #
+
+#
+# uart needs circular buffer, mf2 client may need scheduler
+#
 # CONFIG_MODULE_UART is not set
 # CONFIG_MODULE_UART_9BITS is not set
 # CONFIG_MODULE_UART_CREATE_CONFIG is not set
@@ -161,9 +170,10 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 # CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
 
 #
-# Robot specific modules
+# Robot specific modules (fixed point lib may be needed)
 #
 # CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set
 # CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
 # CONFIG_MODULE_POSITION_MANAGER is not set
 # CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
@@ -176,6 +186,10 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 # Control system modules
 #
 # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+
+#
+# Filters
+#
 # CONFIG_MODULE_PID is not set
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set
@@ -186,12 +200,20 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 #
 # Radio devices
 #
+
+#
+# Some radio devices require SPI to be activated
+#
 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #
+
+#
+# Crypto modules depend on utils module
+#
 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set
@@ -201,12 +223,20 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 #
 # Encodings modules
 #
+
+#
+# Encoding modules depend on utils module
+#
 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #
+
+#
+# Debug modules depend on utils module
+#
 # CONFIG_MODULE_DIAGNOSTIC is not set
 # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
 CONFIG_MODULE_ERROR=y

diff --git a/projects/microb2010/tests/oa/.config.old b/projects/microb2010/tests/oa/.config.old
index 112f126..046653a 100644 (file)
--- a/projects/microb2010/tests/oa/.config.old
+++ b/projects/microb2010/tests/oa/.config.old
@@ -1,5 +1,5 @@
 #
-# Automatically generated make config: don't edit
+# Automatically generated by make menuconfig: don't edit
 #
 
 #
@@ -56,11 +56,11 @@ CONFIG_QUARTZ=12000000
 #
 # Generation options
 #
-# CONFIG_OPTM_0 is not set
+CONFIG_OPTM_0=y
 # CONFIG_OPTM_1 is not set
 # CONFIG_OPTM_2 is not set
 # CONFIG_OPTM_3 is not set
-CONFIG_OPTM_S=y
+# CONFIG_OPTM_S is not set
 CONFIG_MATH_LIB=y
 # CONFIG_FDEVOPEN_COMPAT is not set
 # CONFIG_NO_PRINTF is not set
@@ -74,10 +74,6 @@ CONFIG_FORMAT_IHEX=y
 #
 # Base modules
 #
-
-#
-# Enable math library in generation options to see all modules
-#
 # CONFIG_MODULE_CIRBUF is not set
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 # CONFIG_MODULE_FIXED_POINT is not set
@@ -97,10 +93,6 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 #
 # Communication modules
 #
-
-#
-# uart needs circular buffer, mf2 client may need scheduler
-#
 # CONFIG_MODULE_UART is not set
 # CONFIG_MODULE_UART_9BITS is not set
 # CONFIG_MODULE_UART_CREATE_CONFIG is not set
@@ -184,10 +176,6 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 # Control system modules
 #
 # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
-
-#
-# Filters
-#
 # CONFIG_MODULE_PID is not set
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set
@@ -198,20 +186,12 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 #
 # Radio devices
 #
-
-#
-# Some radio devices require SPI to be activated
-#
 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #
-
-#
-# Crypto modules depend on utils module
-#
 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set
@@ -221,20 +201,12 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 #
 # Encodings modules
 #
-
-#
-# Encoding modules depend on utils module
-#
 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #
-
-#
-# Debug modules depend on utils module
-#
 # CONFIG_MODULE_DIAGNOSTIC is not set
 # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
 CONFIG_MODULE_ERROR=y

diff --git a/projects/microb2010/tests/oa/graph.py b/projects/microb2010/tests/oa/graph.py
index d5946f1..7ba6948 100644 (file)
--- a/projects/microb2010/tests/oa/graph.py
+++ b/projects/microb2010/tests/oa/graph.py
@@ -170,7 +170,7 @@ def build_area(ax):
     # area
     x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
     ax.plot(x, y, 'g-')
-    
+
     x,y = build_poly([(0,0), (0,500), (500,500), (500,0)])
     ax.plot(x, y, 'y-')
 
@@ -179,16 +179,38 @@ def build_area(ax):
 
     x,y = build_poly([(740,0), (740,500), (2260,500), (2260,0)])
     ax.plot(x, y, 'g--')
- 
+
+    x,y = build_path([(375,0), (375,2050)])
+    ax.plot(x, y, 'r-')
+
+    x,y = build_path([(150,1972), (2850,472)])
+    ax.plot(x, y, 'r-')
+
+    x,y = build_path([(0,1722), (3000,1722)])
+    ax.plot(x, y, 'r-')
+
+    x,y = build_path([(150,972), (1950,1972)])
+    ax.plot(x, y, 'r-')
+
+    acoef = (2850-150)/5.
+    bcoef = (472-1972)/5.
+    x,y = build_path([(600,1972), (600+bcoef, 1972-acoef)])
+    ax.plot(x, y, 'r-')
+
    # limit
     #x,y = build_poly([(250,250), (2750,250), (2750,1850), (250,1850)])
     #ax.plot(x, y, 'g--')
-    
+
+    xtick = [i * STEP_CORN_X + OFFSET_CORN_X for i in range(WAYPOINTS_NBX)]
+    ax.set_xticks(xtick)
+    ytick = [(i-1) * STEP_CORN_Y/2 + OFFSET_CORN_Y for i in range(WAYPOINTS_NBY*2)]
+    ax.set_yticks(ytick)
+
     init_corn_table(random.randint(0,8), random.randint(0,3))
 
     waypoints = init_waypoints()
     mark_all_neigh(5,6)
-    
+
     wcorn = []
     bcorn = []
     points = []
@@ -250,7 +272,7 @@ def graph(filename):
 
     build_area(ax)
 
-    ax.grid()
+    ax.grid(color = (0.3, 0.3, 0.3))
     ax.set_xlim(-100, 3100)
     ax.set_ylim(-100, 2200)
     #ax.set_title('spline paths')

diff --git a/projects/microb2010/tests/oa/main.c b/projects/microb2010/tests/oa/main.c
index 5d05ae9..f2f4c86 100644 (file)
--- a/projects/microb2010/tests/oa/main.c
+++ b/projects/microb2010/tests/oa/main.c
@@ -48,7 +48,7 @@ struct djpoint {
        struct point pos;
        uint16_t weight;
        struct djpoint *parent;
-       
+
        uint8_t type:3;
        uint8_t parent_pos:3;
        uint8_t updated:1;
@@ -60,7 +60,7 @@ static struct djpoint djpoints[WAYPOINTS_NBX][WAYPOINTS_NBY];
 
 /* table to find the symetric idx */
 uint8_t corn_sym[] = {
-       15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2 
+       15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2
 };
 
 uint8_t corn_side_confs[9][2] = {
@@ -95,7 +95,7 @@ void dump(void)
                printf(" %2d ", i);
        }
        printf("\n");
-                       
+
        for (j=WAYPOINTS_NBY*2-1; j>=0; j--) {
                printf("%3d   ", j/2);
 
@@ -104,7 +104,7 @@ void dump(void)
 
                for (i=0; i<WAYPOINTS_NBX; i++) {
                        pt = &djpoints[i][j/2];
-                       
+
                        if (((i+j) & 1) == 0)
                                continue;
 
@@ -119,7 +119,7 @@ void dump(void)
                        else if (pt->type == TYPE_WAYPOINT)
                                printf(" %5d  ", pt->weight);
                        else
-                               printf("     ?  "); 
+                               printf("     ?  ");
                }
                printf("\n");
        }
@@ -285,7 +285,7 @@ int dijkstra(struct djpoint *start)
                        todolist = 1;
                        cur->todo = 1;
                        cur->updated = 0;
-               }               
+               }
        }
        return 0; /* XXX */
 }
@@ -365,7 +365,7 @@ void init_waypoints(void)
                if (i & 1)
                        y = OFFSET_CORN_Y - STEP_CORN_Y/2;
                else
-                       y = OFFSET_CORN_Y;                      
+                       y = OFFSET_CORN_Y;
 
                for (j=0; j<WAYPOINTS_NBY; j++) {
                        pt = &djpoints[i][j];
@@ -450,7 +450,7 @@ int main(void)
 {
        struct djpoint *start;
        struct djpoint *end;
-       
+
        start = &djpoints[1][1];
        end = &djpoints[12][1];