2 * Copyright Droids Corporation (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: commands_traj.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
26 #include <aversive/pgmspace.h>
27 #include <aversive/wait.h>
28 #include <aversive/error.h>
35 #include <encoders_spi.h>
39 #include <control_system_manager.h>
40 #include <trajectory_manager.h>
41 #include <vect_base.h>
44 #include <obstacle_avoidance.h>
45 #include <blocking_detection_manager.h>
46 #include <robot_system.h>
47 #include <position_manager.h>
51 #include <parse_string.h>
52 #include <parse_num.h>
57 #include "strat_utils.h"
58 #include "strat_base.h"
59 #include "strat_avoid.h"
61 #include "../common/i2c_commands.h"
62 #include "i2c_protocol.h"
64 /**********************************************************/
65 /* Traj_Speeds for trajectory_manager */
67 /* this structure is filled when cmd_traj_speed is parsed successfully */
68 struct cmd_traj_speed_result {
74 /* function called when cmd_traj_speed is parsed successfully */
75 static void cmd_traj_speed_parsed(void *parsed_result, void *data)
77 struct cmd_traj_speed_result * res = parsed_result;
79 if (!strcmp_P(res->arg1, PSTR("angle"))) {
80 trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
82 else if (!strcmp_P(res->arg1, PSTR("distance"))) {
83 trajectory_set_speed(&mainboard.traj, res->s, mainboard.traj.a_speed);
85 /* else it is a "show" */
87 printf_P(PSTR("angle %u, distance %u\r\n"),
88 mainboard.traj.a_speed,
89 mainboard.traj.d_speed);
92 prog_char str_traj_speed_arg0[] = "traj_speed";
93 parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
94 prog_char str_traj_speed_arg1[] = "angle#distance";
95 parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
96 parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
98 prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
99 parse_pgm_inst_t cmd_traj_speed = {
100 .f = cmd_traj_speed_parsed, /* function to call */
101 .data = NULL, /* 2nd arg of func */
102 .help_str = help_traj_speed,
103 .tokens = { /* token list, NULL terminated */
104 (prog_void *)&cmd_traj_speed_arg0,
105 (prog_void *)&cmd_traj_speed_arg1,
106 (prog_void *)&cmd_traj_speed_s,
113 prog_char str_traj_speed_show_arg[] = "show";
114 parse_pgm_token_string_t cmd_traj_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_show_arg);
116 prog_char help_traj_speed_show[] = "Show traj_speed values for trajectory manager";
117 parse_pgm_inst_t cmd_traj_speed_show = {
118 .f = cmd_traj_speed_parsed, /* function to call */
119 .data = NULL, /* 2nd arg of func */
120 .help_str = help_traj_speed_show,
121 .tokens = { /* token list, NULL terminated */
122 (prog_void *)&cmd_traj_speed_arg0,
123 (prog_void *)&cmd_traj_speed_show_arg,
128 /**********************************************************/
129 /* trajectory window configuration */
131 /* this structure is filled when cmd_trajectory is parsed successfully */
132 struct cmd_trajectory_result {
141 /* function called when cmd_trajectory is parsed successfully */
142 static void cmd_trajectory_parsed(void * parsed_result, void * data)
144 struct cmd_trajectory_result * res = parsed_result;
146 if (!strcmp_P(res->arg1, PSTR("set"))) {
147 trajectory_set_windows(&mainboard.traj, res->d_win,
148 res->a_win, res->a_start);
151 printf_P(PSTR("trajectory %2.2f %2.2f %2.2f\r\n"), mainboard.traj.d_win,
152 DEG(mainboard.traj.a_win_rad), DEG(mainboard.traj.a_start_rad));
155 prog_char str_trajectory_arg0[] = "trajectory";
156 parse_pgm_token_string_t cmd_trajectory_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg0, str_trajectory_arg0);
157 prog_char str_trajectory_arg1[] = "set";
158 parse_pgm_token_string_t cmd_trajectory_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_arg1);
159 parse_pgm_token_num_t cmd_trajectory_d = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, d_win, FLOAT);
160 parse_pgm_token_num_t cmd_trajectory_a = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_win, FLOAT);
161 parse_pgm_token_num_t cmd_trajectory_as = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_start, FLOAT);
163 prog_char help_trajectory[] = "Set trajectory windows (distance, angle, angle_start)";
164 parse_pgm_inst_t cmd_trajectory = {
165 .f = cmd_trajectory_parsed, /* function to call */
166 .data = NULL, /* 2nd arg of func */
167 .help_str = help_trajectory,
168 .tokens = { /* token list, NULL terminated */
169 (prog_void *)&cmd_trajectory_arg0,
170 (prog_void *)&cmd_trajectory_arg1,
171 (prog_void *)&cmd_trajectory_d,
172 (prog_void *)&cmd_trajectory_a,
173 (prog_void *)&cmd_trajectory_as,
180 prog_char str_trajectory_show_arg[] = "show";
181 parse_pgm_token_string_t cmd_trajectory_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_show_arg);
183 prog_char help_trajectory_show[] = "Show trajectory window configuration";
184 parse_pgm_inst_t cmd_trajectory_show = {
185 .f = cmd_trajectory_parsed, /* function to call */
186 .data = NULL, /* 2nd arg of func */
187 .help_str = help_trajectory_show,
188 .tokens = { /* token list, NULL terminated */
189 (prog_void *)&cmd_trajectory_arg0,
190 (prog_void *)&cmd_trajectory_show_arg,
195 /**********************************************************/
196 /* rs_gains configuration */
198 /* this structure is filled when cmd_rs_gains is parsed successfully */
199 struct cmd_rs_gains_result {
206 /* function called when cmd_rs_gains is parsed successfully */
207 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
209 struct cmd_rs_gains_result * res = parsed_result;
211 if (!strcmp_P(res->arg1, PSTR("set"))) {
212 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
213 LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
214 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
215 RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
217 printf_P(PSTR("rs_gains set "));
218 f64_print(mainboard.rs.left_ext_gain);
220 f64_print(mainboard.rs.right_ext_gain);
221 printf_P(PSTR("\r\n"));
224 prog_char str_rs_gains_arg0[] = "rs_gains";
225 parse_pgm_token_string_t cmd_rs_gains_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg0, str_rs_gains_arg0);
226 prog_char str_rs_gains_arg1[] = "set";
227 parse_pgm_token_string_t cmd_rs_gains_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_arg1);
228 parse_pgm_token_num_t cmd_rs_gains_l = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, left, FLOAT);
229 parse_pgm_token_num_t cmd_rs_gains_r = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, right, FLOAT);
231 prog_char help_rs_gains[] = "Set rs_gains (left, right)";
232 parse_pgm_inst_t cmd_rs_gains = {
233 .f = cmd_rs_gains_parsed, /* function to call */
234 .data = NULL, /* 2nd arg of func */
235 .help_str = help_rs_gains,
236 .tokens = { /* token list, NULL terminated */
237 (prog_void *)&cmd_rs_gains_arg0,
238 (prog_void *)&cmd_rs_gains_arg1,
239 (prog_void *)&cmd_rs_gains_l,
240 (prog_void *)&cmd_rs_gains_r,
247 prog_char str_rs_gains_show_arg[] = "show";
248 parse_pgm_token_string_t cmd_rs_gains_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_show_arg);
250 prog_char help_rs_gains_show[] = "Show rs_gains";
251 parse_pgm_inst_t cmd_rs_gains_show = {
252 .f = cmd_rs_gains_parsed, /* function to call */
253 .data = NULL, /* 2nd arg of func */
254 .help_str = help_rs_gains_show,
255 .tokens = { /* token list, NULL terminated */
256 (prog_void *)&cmd_rs_gains_arg0,
257 (prog_void *)&cmd_rs_gains_show_arg,
262 /**********************************************************/
263 /* track configuration */
265 /* this structure is filled when cmd_track is parsed successfully */
266 struct cmd_track_result {
272 /* function called when cmd_track is parsed successfully */
273 static void cmd_track_parsed(void * parsed_result, void * data)
275 struct cmd_track_result * res = parsed_result;
277 if (!strcmp_P(res->arg1, PSTR("set"))) {
278 position_set_physical_params(&mainboard.pos, res->val, DIST_IMP_MM);
280 printf_P(PSTR("track set %f\r\n"), mainboard.pos.phys.track_mm);
283 prog_char str_track_arg0[] = "track";
284 parse_pgm_token_string_t cmd_track_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg0, str_track_arg0);
285 prog_char str_track_arg1[] = "set";
286 parse_pgm_token_string_t cmd_track_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_arg1);
287 parse_pgm_token_num_t cmd_track_val = TOKEN_NUM_INITIALIZER(struct cmd_track_result, val, FLOAT);
289 prog_char help_track[] = "Set track in mm";
290 parse_pgm_inst_t cmd_track = {
291 .f = cmd_track_parsed, /* function to call */
292 .data = NULL, /* 2nd arg of func */
293 .help_str = help_track,
294 .tokens = { /* token list, NULL terminated */
295 (prog_void *)&cmd_track_arg0,
296 (prog_void *)&cmd_track_arg1,
297 (prog_void *)&cmd_track_val,
304 prog_char str_track_show_arg[] = "show";
305 parse_pgm_token_string_t cmd_track_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_show_arg);
307 prog_char help_track_show[] = "Show track";
308 parse_pgm_inst_t cmd_track_show = {
309 .f = cmd_track_parsed, /* function to call */
310 .data = NULL, /* 2nd arg of func */
311 .help_str = help_track_show,
312 .tokens = { /* token list, NULL terminated */
313 (prog_void *)&cmd_track_arg0,
314 (prog_void *)&cmd_track_show_arg,
321 /**********************************************************/
322 /* Pt_Lists for testing traj */
324 #define PT_LIST_SIZE 10
325 static struct xy_point pt_list[PT_LIST_SIZE];
326 static uint16_t pt_list_len = 0;
328 /* this structure is filled when cmd_pt_list is parsed successfully */
329 struct cmd_pt_list_result {
337 /* function called when cmd_pt_list is parsed successfully */
338 static void cmd_pt_list_parsed(void * parsed_result, void * data)
340 struct cmd_pt_list_result * res = parsed_result;
343 if (!strcmp_P(res->arg1, PSTR("append"))) {
344 res->arg2 = pt_list_len;
347 if (!strcmp_P(res->arg1, PSTR("insert")) ||
348 !strcmp_P(res->arg1, PSTR("append"))) {
349 if (res->arg2 > pt_list_len) {
350 printf_P(PSTR("Index too large\r\n"));
353 if (pt_list_len >= PT_LIST_SIZE) {
354 printf_P(PSTR("List is too large\r\n"));
357 memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
358 PT_LIST_SIZE-1-res->arg2);
359 pt_list[res->arg2].x = res->arg3;
360 pt_list[res->arg2].y = res->arg4;
363 else if (!strcmp_P(res->arg1, PSTR("del"))) {
364 if (pt_list_len <= 0) {
365 printf_P(PSTR("Error: list empty\r\n"));
368 if (res->arg2 > pt_list_len) {
369 printf_P(PSTR("Index too large\r\n"));
372 memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
373 (PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
376 else if (!strcmp_P(res->arg1, PSTR("reset"))) {
380 /* else it is a "show" or a "start" */
381 if (pt_list_len == 0) {
382 printf_P(PSTR("List empty\r\n"));
385 for (i=0 ; i<pt_list_len ; i++) {
386 printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
387 if (!strcmp_P(res->arg1, PSTR("start"))) {
388 trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
389 why = wait_traj_end(0xFF); /* all */
391 else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
393 why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
394 printf("next point\r\n");
395 if (why != END_OBSTACLE)
399 if (why & (~(END_TRAJ | END_NEAR)))
400 trajectory_stop(&mainboard.traj);
404 prog_char str_pt_list_arg0[] = "pt_list";
405 parse_pgm_token_string_t cmd_pt_list_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg0, str_pt_list_arg0);
406 prog_char str_pt_list_arg1[] = "insert";
407 parse_pgm_token_string_t cmd_pt_list_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1);
408 parse_pgm_token_num_t cmd_pt_list_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg2, UINT16);
409 parse_pgm_token_num_t cmd_pt_list_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg3, INT16);
410 parse_pgm_token_num_t cmd_pt_list_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg4, INT16);
412 prog_char help_pt_list[] = "Insert point in pt_list (idx,x,y)";
413 parse_pgm_inst_t cmd_pt_list = {
414 .f = cmd_pt_list_parsed, /* function to call */
415 .data = NULL, /* 2nd arg of func */
416 .help_str = help_pt_list,
417 .tokens = { /* token list, NULL terminated */
418 (prog_void *)&cmd_pt_list_arg0,
419 (prog_void *)&cmd_pt_list_arg1,
420 (prog_void *)&cmd_pt_list_arg2,
421 (prog_void *)&cmd_pt_list_arg3,
422 (prog_void *)&cmd_pt_list_arg4,
429 prog_char str_pt_list_arg1_append[] = "append";
430 parse_pgm_token_string_t cmd_pt_list_arg1_append = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1_append);
432 prog_char help_pt_list_append[] = "Append point in pt_list (x,y)";
433 parse_pgm_inst_t cmd_pt_list_append = {
434 .f = cmd_pt_list_parsed, /* function to call */
435 .data = NULL, /* 2nd arg of func */
436 .help_str = help_pt_list_append,
437 .tokens = { /* token list, NULL terminated */
438 (prog_void *)&cmd_pt_list_arg0,
439 (prog_void *)&cmd_pt_list_arg1_append,
440 (prog_void *)&cmd_pt_list_arg3,
441 (prog_void *)&cmd_pt_list_arg4,
448 prog_char str_pt_list_del_arg[] = "del";
449 parse_pgm_token_string_t cmd_pt_list_del_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_del_arg);
451 prog_char help_pt_list_del[] = "Del or insert point in pt_list (num)";
452 parse_pgm_inst_t cmd_pt_list_del = {
453 .f = cmd_pt_list_parsed, /* function to call */
454 .data = NULL, /* 2nd arg of func */
455 .help_str = help_pt_list_del,
456 .tokens = { /* token list, NULL terminated */
457 (prog_void *)&cmd_pt_list_arg0,
458 (prog_void *)&cmd_pt_list_del_arg,
459 (prog_void *)&cmd_pt_list_arg2,
465 prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
466 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
468 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
469 parse_pgm_inst_t cmd_pt_list_show = {
470 .f = cmd_pt_list_parsed, /* function to call */
471 .data = NULL, /* 2nd arg of func */
472 .help_str = help_pt_list_show,
473 .tokens = { /* token list, NULL terminated */
474 (prog_void *)&cmd_pt_list_arg0,
475 (prog_void *)&cmd_pt_list_show_arg,
482 /**********************************************************/
485 /* this structure is filled when cmd_goto is parsed successfully */
486 struct cmd_goto_result {
494 /* function called when cmd_goto is parsed successfully */
495 static void cmd_goto_parsed(void * parsed_result, void * data)
497 struct cmd_goto_result * res = parsed_result;
501 interrupt_traj_reset();
502 if (!strcmp_P(res->arg1, PSTR("a_rel"))) {
503 trajectory_a_rel(&mainboard.traj, res->arg2);
505 else if (!strcmp_P(res->arg1, PSTR("d_rel"))) {
506 trajectory_d_rel(&mainboard.traj, res->arg2);
508 else if (!strcmp_P(res->arg1, PSTR("a_abs"))) {
509 trajectory_a_abs(&mainboard.traj, res->arg2);
511 else if (!strcmp_P(res->arg1, PSTR("a_to_xy"))) {
512 trajectory_turnto_xy(&mainboard.traj, res->arg2, res->arg3);
514 else if (!strcmp_P(res->arg1, PSTR("a_behind_xy"))) {
515 trajectory_turnto_xy_behind(&mainboard.traj, res->arg2, res->arg3);
517 else if (!strcmp_P(res->arg1, PSTR("xy_rel"))) {
518 trajectory_goto_xy_rel(&mainboard.traj, res->arg2, res->arg3);
520 else if (!strcmp_P(res->arg1, PSTR("xy_abs"))) {
521 trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
523 else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
524 err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
525 if (err != END_TRAJ && err != END_NEAR)
528 else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
529 err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
530 if (err != END_TRAJ && err != END_NEAR)
533 else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
534 trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
536 else if (!strcmp_P(res->arg1, PSTR("xy_abs_back"))) {
537 trajectory_goto_backward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
539 else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
540 trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
543 while ((err = test_traj_end(0xFF)) == 0) {
545 if (t2 - t1 > 200000) {
546 dump_cs_debug("angle", &mainboard.angle.cs);
547 dump_cs_debug("distance", &mainboard.distance.cs);
551 if (err != END_TRAJ && err != END_NEAR)
553 printf_P(PSTR("returned %s\r\n"), get_err(err));
556 prog_char str_goto_arg0[] = "goto";
557 parse_pgm_token_string_t cmd_goto_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg0, str_goto_arg0);
558 prog_char str_goto_arg1_a[] = "d_rel#a_rel#a_abs";
559 parse_pgm_token_string_t cmd_goto_arg1_a = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_a);
560 parse_pgm_token_num_t cmd_goto_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg2, INT32);
563 prog_char help_goto1[] = "Change orientation of the mainboard";
564 parse_pgm_inst_t cmd_goto1 = {
565 .f = cmd_goto_parsed, /* function to call */
566 .data = NULL, /* 2nd arg of func */
567 .help_str = help_goto1,
568 .tokens = { /* token list, NULL terminated */
569 (prog_void *)&cmd_goto_arg0,
570 (prog_void *)&cmd_goto_arg1_a,
571 (prog_void *)&cmd_goto_arg2,
576 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";
577 parse_pgm_token_string_t cmd_goto_arg1_b = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_b);
578 parse_pgm_token_num_t cmd_goto_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg3, INT32);
581 prog_char help_goto2[] = "Go to a (x,y) or (d,a) position";
582 parse_pgm_inst_t cmd_goto2 = {
583 .f = cmd_goto_parsed, /* function to call */
584 .data = NULL, /* 2nd arg of func */
585 .help_str = help_goto2,
586 .tokens = { /* token list, NULL terminated */
587 (prog_void *)&cmd_goto_arg0,
588 (prog_void *)&cmd_goto_arg1_b,
589 (prog_void *)&cmd_goto_arg2,
590 (prog_void *)&cmd_goto_arg3,
595 /**********************************************************/
598 /* this structure is filled when cmd_position is parsed successfully */
599 struct cmd_position_result {
607 #define AUTOPOS_SPEED_FAST 200
608 static void auto_position(void)
611 uint16_t old_spdd, old_spda;
613 interrupt_traj_reset();
614 strat_get_speed(&old_spdd, &old_spda);
615 strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
617 trajectory_d_rel(&mainboard.traj, -300);
618 err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
622 strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
624 trajectory_d_rel(&mainboard.traj, 120);
625 err = wait_traj_end(END_INTR|END_TRAJ);
629 trajectory_a_rel(&mainboard.traj, COLOR_A(90));
630 err = wait_traj_end(END_INTR|END_TRAJ);
634 trajectory_d_rel(&mainboard.traj, -300);
635 err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
639 strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
642 trajectory_d_rel(&mainboard.traj, 120);
643 err = wait_traj_end(END_INTR|END_TRAJ);
648 trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
649 err = wait_traj_end(END_INTR|END_TRAJ);
654 strat_set_speed(old_spdd, old_spda);
659 strat_set_speed(old_spdd, old_spda);
662 /* function called when cmd_position is parsed successfully */
663 static void cmd_position_parsed(void * parsed_result, void * data)
665 struct cmd_position_result * res = parsed_result;
667 /* display raw position values */
668 if (!strcmp_P(res->arg1, PSTR("reset"))) {
669 position_set(&mainboard.pos, 0, 0, 0);
671 else if (!strcmp_P(res->arg1, PSTR("set"))) {
672 position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
674 else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
675 mainboard.our_color = I2C_COLOR_GREEN;
676 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
677 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
680 else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
681 mainboard.our_color = I2C_COLOR_RED;
682 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
683 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
687 /* else it's just a "show" */
688 printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
689 position_get_x_double(&mainboard.pos),
690 position_get_y_double(&mainboard.pos),
691 DEG(position_get_a_rad_double(&mainboard.pos)));
694 prog_char str_position_arg0[] = "position";
695 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
696 prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
697 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
699 prog_char help_position[] = "Show/reset (x,y,a) position";
700 parse_pgm_inst_t cmd_position = {
701 .f = cmd_position_parsed, /* function to call */
702 .data = NULL, /* 2nd arg of func */
703 .help_str = help_position,
704 .tokens = { /* token list, NULL terminated */
705 (prog_void *)&cmd_position_arg0,
706 (prog_void *)&cmd_position_arg1,
712 prog_char str_position_arg1_set[] = "set";
713 parse_pgm_token_string_t cmd_position_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1_set);
714 parse_pgm_token_num_t cmd_position_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg2, INT32);
715 parse_pgm_token_num_t cmd_position_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg3, INT32);
716 parse_pgm_token_num_t cmd_position_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg4, INT32);
718 prog_char help_position_set[] = "Set (x,y,a) position";
719 parse_pgm_inst_t cmd_position_set = {
720 .f = cmd_position_parsed, /* function to call */
721 .data = NULL, /* 2nd arg of func */
722 .help_str = help_position_set,
723 .tokens = { /* token list, NULL terminated */
724 (prog_void *)&cmd_position_arg0,
725 (prog_void *)&cmd_position_arg1_set,
726 (prog_void *)&cmd_position_arg2,
727 (prog_void *)&cmd_position_arg3,
728 (prog_void *)&cmd_position_arg4,
734 /**********************************************************/
735 /* strat configuration */
737 /* this structure is filled when cmd_strat_infos is parsed successfully */
738 struct cmd_strat_infos_result {
743 /* function called when cmd_strat_infos is parsed successfully */
744 static void cmd_strat_infos_parsed(void *parsed_result, void *data)
746 struct cmd_strat_infos_result *res = parsed_result;
748 if (!strcmp_P(res->arg1, PSTR("reset"))) {
751 strat_infos.dump_enabled = 1;
752 strat_dump_infos(__FUNCTION__);
755 prog_char str_strat_infos_arg0[] = "strat_infos";
756 parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
757 prog_char str_strat_infos_arg1[] = "show#reset";
758 parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
760 prog_char help_strat_infos[] = "reset/show strat_infos";
761 parse_pgm_inst_t cmd_strat_infos = {
762 .f = cmd_strat_infos_parsed, /* function to call */
763 .data = NULL, /* 2nd arg of func */
764 .help_str = help_strat_infos,
765 .tokens = { /* token list, NULL terminated */
766 (prog_void *)&cmd_strat_infos_arg0,
767 (prog_void *)&cmd_strat_infos_arg1,
772 /**********************************************************/
773 /* strat configuration */
775 /* this structure is filled when cmd_strat_conf is parsed successfully */
776 struct cmd_strat_conf_result {
781 /* function called when cmd_strat_conf is parsed successfully */
782 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
784 struct cmd_strat_conf_result *res = parsed_result;
786 if (!strcmp_P(res->arg1, PSTR("base"))) {
787 strat_infos.conf.flags = 0;
788 strat_infos.conf.scan_our_min_time = 90;
789 strat_infos.conf.delay_between_our_scan = 90;
790 strat_infos.conf.scan_opp_min_time = 90;
791 strat_infos.conf.delay_between_opp_scan = 90;
793 else if (!strcmp_P(res->arg1, PSTR("big3"))) {
794 strat_infos.conf.flags =
795 STRAT_CONF_STORE_STATIC2 |
796 STRAT_CONF_BIG_3_TEMPLE;
797 strat_infos.conf.scan_our_min_time = 90;
798 strat_infos.conf.delay_between_our_scan = 90;
799 strat_infos.conf.scan_opp_min_time = 90;
800 strat_infos.conf.delay_between_opp_scan = 90;
802 else if (!strcmp_P(res->arg1, PSTR("base_check"))) {
803 strat_infos.conf.flags = 0;
804 strat_infos.conf.scan_our_min_time = 35;
805 strat_infos.conf.delay_between_our_scan = 90;
806 strat_infos.conf.scan_opp_min_time = 90;
807 strat_infos.conf.delay_between_opp_scan = 90;
809 else if (!strcmp_P(res->arg1, PSTR("big3_check"))) {
810 strat_infos.conf.flags =
811 STRAT_CONF_STORE_STATIC2 |
812 STRAT_CONF_BIG_3_TEMPLE;
813 strat_infos.conf.scan_our_min_time = 35;
814 strat_infos.conf.delay_between_our_scan = 90;
815 strat_infos.conf.scan_opp_min_time = 90;
816 strat_infos.conf.delay_between_opp_scan = 90;
818 else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) {
819 strat_infos.conf.flags =
820 STRAT_CONF_TAKE_ONE_LINTEL |
821 STRAT_CONF_STORE_STATIC2 |
822 STRAT_CONF_EARLY_SCAN |
823 STRAT_CONF_PUSH_OPP_COLS;
824 strat_infos.conf.scan_our_min_time = 50;
825 strat_infos.conf.delay_between_our_scan = 90;
826 strat_infos.conf.scan_opp_min_time = 15;
827 strat_infos.conf.delay_between_opp_scan = 90;
828 strat_infos.conf.wait_opponent = 5;
830 else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) {
831 strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL;
832 strat_infos.conf.scan_our_min_time = 90;
833 strat_infos.conf.delay_between_our_scan = 90;
834 strat_infos.conf.scan_opp_min_time = 30;
835 strat_infos.conf.delay_between_opp_scan = 90;
837 else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) {
838 strat_infos.conf.flags =
839 STRAT_CONF_ONLY_ONE_ON_DISC;
840 strat_infos.conf.scan_our_min_time = 90;
841 strat_infos.conf.delay_between_our_scan = 90;
842 strat_infos.conf.scan_opp_min_time = 90;
843 strat_infos.conf.delay_between_opp_scan = 90;
845 strat_infos.dump_enabled = 1;
849 prog_char str_strat_conf_arg0[] = "strat_conf";
850 parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
851 prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc";
852 parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
854 prog_char help_strat_conf[] = "configure strat options";
855 parse_pgm_inst_t cmd_strat_conf = {
856 .f = cmd_strat_conf_parsed, /* function to call */
857 .data = NULL, /* 2nd arg of func */
858 .help_str = help_strat_conf,
859 .tokens = { /* token list, NULL terminated */
860 (prog_void *)&cmd_strat_conf_arg0,
861 (prog_void *)&cmd_strat_conf_arg1,
866 /**********************************************************/
867 /* strat configuration */
869 /* this structure is filled when cmd_strat_conf2 is parsed successfully */
870 struct cmd_strat_conf2_result {
876 /* function called when cmd_strat_conf2 is parsed successfully */
877 static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
879 struct cmd_strat_conf2_result *res = parsed_result;
882 if (!strcmp_P(res->arg2, PSTR("on")))
887 if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
888 bit = STRAT_CONF_ONLY_ONE_ON_DISC;
889 else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
890 bit = STRAT_CONF_BYPASS_STATIC2;
891 else if (!strcmp_P(res->arg1, PSTR("take_one_lintel")))
892 bit = STRAT_CONF_TAKE_ONE_LINTEL;
893 else if (!strcmp_P(res->arg1, PSTR("skip_when_check_fail")))
894 bit = STRAT_CONF_TAKE_ONE_LINTEL;
895 else if (!strcmp_P(res->arg1, PSTR("store_static2")))
896 bit = STRAT_CONF_STORE_STATIC2;
897 else if (!strcmp_P(res->arg1, PSTR("big3_temple")))
898 bit = STRAT_CONF_BIG_3_TEMPLE;
899 else if (!strcmp_P(res->arg1, PSTR("early_opp_scan")))
900 bit = STRAT_CONF_EARLY_SCAN;
901 else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
902 bit = STRAT_CONF_PUSH_OPP_COLS;
905 strat_infos.conf.flags |= bit;
907 strat_infos.conf.flags &= (~bit);
909 strat_infos.dump_enabled = 1;
913 prog_char str_strat_conf2_arg0[] = "strat_conf";
914 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
915 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";
916 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
917 prog_char str_strat_conf2_arg2[] = "on#off";
918 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
921 prog_char help_strat_conf2[] = "configure strat options";
922 parse_pgm_inst_t cmd_strat_conf2 = {
923 .f = cmd_strat_conf2_parsed, /* function to call */
924 .data = NULL, /* 2nd arg of func */
925 .help_str = help_strat_conf2,
926 .tokens = { /* token list, NULL terminated */
927 (prog_void *)&cmd_strat_conf2_arg0,
928 (prog_void *)&cmd_strat_conf2_arg1,
929 (prog_void *)&cmd_strat_conf2_arg2,
934 /**********************************************************/
935 /* strat configuration */
937 /* this structure is filled when cmd_strat_conf3 is parsed successfully */
938 struct cmd_strat_conf3_result {
944 /* function called when cmd_strat_conf3 is parsed successfully */
945 static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
947 struct cmd_strat_conf3_result *res = parsed_result;
949 if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
952 strat_infos.conf.scan_opp_min_time = res->arg2;
954 else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
957 strat_infos.conf.delay_between_opp_scan = res->arg2;
959 else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
962 strat_infos.conf.scan_our_min_time = res->arg2;
964 else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
967 strat_infos.conf.delay_between_our_scan = res->arg2;
969 else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
970 strat_infos.conf.wait_opponent = res->arg2;
972 else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
973 strat_infos.conf.lintel_min_time = res->arg2;
975 strat_infos.dump_enabled = 1;
979 prog_char str_strat_conf3_arg0[] = "strat_conf";
980 parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
981 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";
982 parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
983 parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
985 prog_char help_strat_conf3[] = "configure strat options";
986 parse_pgm_inst_t cmd_strat_conf3 = {
987 .f = cmd_strat_conf3_parsed, /* function to call */
988 .data = NULL, /* 2nd arg of func */
989 .help_str = help_strat_conf3,
990 .tokens = { /* token list, NULL terminated */
991 (prog_void *)&cmd_strat_conf3_arg0,
992 (prog_void *)&cmd_strat_conf3_arg1,
993 (prog_void *)&cmd_strat_conf3_arg2,
998 /**********************************************************/
999 /* strat configuration */
1001 /* this structure is filled when cmd_strat_conf4 is parsed successfully */
1002 struct cmd_strat_conf4_result {
1003 fixed_string_t arg0;
1004 fixed_string_t arg1;
1008 /* function called when cmd_strat_conf4 is parsed successfully */
1009 static void cmd_strat_conf4_parsed(void *parsed_result, void *data)
1011 struct cmd_strat_conf4_result *res = parsed_result;
1013 if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) {
1014 strat_infos.conf.scan_opp_angle = res->arg2;
1016 strat_infos.dump_enabled = 1;
1020 prog_char str_strat_conf4_arg0[] = "strat_conf";
1021 parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0);
1022 prog_char str_strat_conf4_arg1[] = "scan_opponent_angle";
1023 parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1);
1024 parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16);
1026 prog_char help_strat_conf4[] = "configure strat options";
1027 parse_pgm_inst_t cmd_strat_conf4 = {
1028 .f = cmd_strat_conf4_parsed, /* function to call */
1029 .data = NULL, /* 2nd arg of func */
1030 .help_str = help_strat_conf4,
1031 .tokens = { /* token list, NULL terminated */
1032 (prog_void *)&cmd_strat_conf4_arg0,
1033 (prog_void *)&cmd_strat_conf4_arg1,
1034 (prog_void *)&cmd_strat_conf4_arg2,
1040 /**********************************************************/
1043 /* this structure is filled when cmd_subtraj is parsed successfully */
1044 struct cmd_subtraj_result {
1045 fixed_string_t arg0;
1046 fixed_string_t arg1;
1053 /* function called when cmd_subtraj is parsed successfully */
1054 static void cmd_subtraj_parsed(void *parsed_result, void *data)
1056 struct cmd_subtraj_result *res = parsed_result;
1058 struct column_dispenser *disp;
1060 if (strcmp_P(res->arg1, PSTR("static")) == 0) {
1061 err = strat_static_columns(res->arg2);
1063 else if (strcmp_P(res->arg1, PSTR("static2")) == 0) {
1064 strat_infos.s_cols.configuration = res->arg2;
1065 switch (res->arg2) {
1067 position_set(&mainboard.pos, 1398,
1068 COLOR_Y(1297), COLOR_A(-66));
1071 position_set(&mainboard.pos, 1232,
1072 COLOR_Y(1051), COLOR_A(4));
1075 position_set(&mainboard.pos, 1232,
1076 COLOR_Y(1043), COLOR_A(5));
1079 position_set(&mainboard.pos, 1346,
1080 COLOR_Y(852), COLOR_A(57));
1085 if (res->arg2 == 1 && res->arg3 == 1) {
1086 strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE;
1088 if (res->arg2 == 1 && res->arg3 == 2) {
1089 strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE;
1091 err = strat_static_columns_pass2();
1093 else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) {
1094 err = strat_goto_lintel_disp(&strat_infos.l1);
1096 else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) {
1097 err = strat_goto_lintel_disp(&strat_infos.l2);
1099 else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) {
1100 disp = &strat_infos.c1;
1101 err = strat_goto_col_disp(&disp);
1103 else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) {
1104 disp = &strat_infos.c2;
1105 err = strat_goto_col_disp(&disp);
1107 else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) {
1108 disp = &strat_infos.c3;
1109 err = strat_goto_col_disp(&disp);
1111 else if (strcmp_P(res->arg1, PSTR("disc")) == 0) {
1112 if (res->arg2 == 0) {
1113 printf_P(PSTR("bad level\r\n"));
1116 err = strat_goto_disc(res->arg2);
1119 printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
1120 trajectory_hardstop(&mainboard.traj);
1123 prog_char str_subtraj_arg0[] = "subtraj";
1124 parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
1125 prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2";
1126 parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
1127 parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
1128 parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
1129 parse_pgm_token_num_t cmd_subtraj_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg4, INT32);
1130 parse_pgm_token_num_t cmd_subtraj_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg5, INT32);
1132 prog_char help_subtraj[] = "Test sub-trajectories (a,b,c,d: specific params)";
1133 parse_pgm_inst_t cmd_subtraj = {
1134 .f = cmd_subtraj_parsed, /* function to call */
1135 .data = NULL, /* 2nd arg of func */
1136 .help_str = help_subtraj,
1137 .tokens = { /* token list, NULL terminated */
1138 (prog_void *)&cmd_subtraj_arg0,
1139 (prog_void *)&cmd_subtraj_arg1,
1140 (prog_void *)&cmd_subtraj_arg2,
1141 (prog_void *)&cmd_subtraj_arg3,
1142 (prog_void *)&cmd_subtraj_arg4,
1143 (prog_void *)&cmd_subtraj_arg5,