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_mainboard.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
28 #include <aversive/pgmspace.h>
29 #include <aversive/wait.h>
30 #include <aversive/error.h>
31 #include <aversive/eeprom.h>
36 #include <clock_time.h>
42 #include <control_system_manager.h>
43 #include <trajectory_manager.h>
44 #include <trajectory_manager_core.h>
45 #include <trajectory_manager_utils.h>
46 #include <vect_base.h>
49 #include <obstacle_avoidance.h>
50 #include <blocking_detection_manager.h>
51 #include <robot_system.h>
52 #include <position_manager.h>
56 #include <parse_string.h>
57 #include <parse_num.h>
59 #include "../common/i2c_commands.h"
60 #include "../common/eeprom_mapping.h"
67 #include "strat_utils.h"
68 #include "strat_base.h"
70 #include "strat_corn.h"
71 #include "i2c_protocol.h"
74 struct cmd_event_result {
81 /* function called when cmd_event is parsed successfully */
82 static void cmd_event_parsed(void *parsed_result, void *data)
86 struct cmd_event_result * res = parsed_result;
88 if (!strcmp_P(res->arg1, PSTR("all"))) {
90 if (!strcmp_P(res->arg2, PSTR("on")))
91 mainboard.flags |= bit;
92 else if (!strcmp_P(res->arg2, PSTR("off")))
93 mainboard.flags &= bit;
95 printf_P(PSTR("encoders is %s\r\n"),
96 (DO_ENCODERS & mainboard.flags) ? "on":"off");
97 printf_P(PSTR("cs is %s\r\n"),
98 (DO_CS & mainboard.flags) ? "on":"off");
99 printf_P(PSTR("rs is %s\r\n"),
100 (DO_RS & mainboard.flags) ? "on":"off");
101 printf_P(PSTR("pos is %s\r\n"),
102 (DO_POS & mainboard.flags) ? "on":"off");
103 printf_P(PSTR("bd is %s\r\n"),
104 (DO_BD & mainboard.flags) ? "on":"off");
105 printf_P(PSTR("timer is %s\r\n"),
106 (DO_TIMER & mainboard.flags) ? "on":"off");
107 printf_P(PSTR("power is %s\r\n"),
108 (DO_POWER & mainboard.flags) ? "on":"off");
109 printf_P(PSTR("errblock is %s\r\n"),
110 (DO_ERRBLOCKING & mainboard.flags) ? "on":"off");
115 if (!strcmp_P(res->arg1, PSTR("encoders")))
117 else if (!strcmp_P(res->arg1, PSTR("cs"))) {
121 else if (!strcmp_P(res->arg1, PSTR("rs")))
123 else if (!strcmp_P(res->arg1, PSTR("pos")))
125 else if (!strcmp_P(res->arg1, PSTR("bd")))
127 else if (!strcmp_P(res->arg1, PSTR("timer"))) {
131 else if (!strcmp_P(res->arg1, PSTR("power")))
133 else if (!strcmp_P(res->arg1, PSTR("errblock")))
134 bit = DO_ERRBLOCKING;
136 if (!strcmp_P(res->arg2, PSTR("on")))
137 mainboard.flags |= bit;
138 else if (!strcmp_P(res->arg2, PSTR("off"))) {
139 if (!strcmp_P(res->arg1, PSTR("cs"))) {
141 robotsim_pwm(LEFT_PWM, 0);
142 robotsim_pwm(RIGHT_PWM, 0);
144 pwm_ng_set(LEFT_PWM, 0);
145 pwm_ng_set(RIGHT_PWM, 0);
148 mainboard.flags &= (~bit);
150 printf_P(PSTR("%s is %s\r\n"), res->arg1,
151 (bit & mainboard.flags) ? "on":"off");
154 prog_char str_event_arg0[] = "event";
155 parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
156 prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power#errblock";
157 parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
158 prog_char str_event_arg2[] = "on#off#show";
159 parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
161 prog_char help_event[] = "Enable/disable events";
162 parse_pgm_inst_t cmd_event = {
163 .f = cmd_event_parsed, /* function to call */
164 .data = NULL, /* 2nd arg of func */
165 .help_str = help_event,
166 .tokens = { /* token list, NULL terminated */
167 (prog_void *)&cmd_event_arg0,
168 (prog_void *)&cmd_event_arg1,
169 (prog_void *)&cmd_event_arg2,
175 /**********************************************************/
178 /* this structure is filled when cmd_spi_test is parsed successfully */
179 struct cmd_spi_test_result {
183 /* function called when cmd_spi_test is parsed successfully */
184 static void cmd_spi_test_parsed(void * parsed_result, void * data)
187 printf("not implemented\n");
189 uint16_t i = 0, ret = 0, ret2 = 0;
191 if (mainboard.flags & DO_ENCODERS) {
192 printf_P(PSTR("Disable encoder event first\r\n"));
198 ret = spi_send_and_receive_byte(i);
199 ret2 = spi_send_and_receive_byte(i);
200 spi_slave_deselect(0);
202 if ((i & 0x7ff) == 0)
203 printf_P(PSTR("Sent %.4x twice, received %x %x\r\n"),
207 } while(!cmdline_keypressed());
211 prog_char str_spi_test_arg0[] = "spi_test";
212 parse_pgm_token_string_t cmd_spi_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spi_test_result, arg0, str_spi_test_arg0);
214 prog_char help_spi_test[] = "Test the SPI";
215 parse_pgm_inst_t cmd_spi_test = {
216 .f = cmd_spi_test_parsed, /* function to call */
217 .data = NULL, /* 2nd arg of func */
218 .help_str = help_spi_test,
219 .tokens = { /* token list, NULL terminated */
220 (prog_void *)&cmd_spi_test_arg0,
227 /**********************************************************/
230 /* this structure is filled when cmd_opponent is parsed successfully */
231 struct cmd_opponent_result {
238 /* function called when cmd_opponent is parsed successfully */
239 static void cmd_opponent_parsed(void *parsed_result, void *data)
243 if (get_opponent_xyda(&x, &y, &d, &a))
244 printf_P(PSTR("No opponent\r\n"));
246 printf_P(PSTR("x=%d y=%d, d=%d a=%d\r\n"), x, y, d, a);
249 prog_char str_opponent_arg0[] = "opponent";
250 parse_pgm_token_string_t cmd_opponent_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg0, str_opponent_arg0);
251 prog_char str_opponent_arg1[] = "show";
252 parse_pgm_token_string_t cmd_opponent_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1);
254 prog_char help_opponent[] = "Show (x,y) opponent";
255 parse_pgm_inst_t cmd_opponent = {
256 .f = cmd_opponent_parsed, /* function to call */
257 .data = NULL, /* 2nd arg of func */
258 .help_str = help_opponent,
259 .tokens = { /* token list, NULL terminated */
260 (prog_void *)&cmd_opponent_arg0,
261 (prog_void *)&cmd_opponent_arg1,
267 prog_char str_opponent_arg1_set[] = "set";
268 parse_pgm_token_string_t cmd_opponent_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1_set);
269 parse_pgm_token_num_t cmd_opponent_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg2, INT32);
270 parse_pgm_token_num_t cmd_opponent_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg3, INT32);
272 prog_char help_opponent_set[] = "Set (x,y) opponent";
273 parse_pgm_inst_t cmd_opponent_set = {
274 .f = cmd_opponent_parsed, /* function to call */
275 .data = NULL, /* 2nd arg of func */
276 .help_str = help_opponent_set,
277 .tokens = { /* token list, NULL terminated */
278 (prog_void *)&cmd_opponent_arg0,
279 (prog_void *)&cmd_opponent_arg1_set,
280 (prog_void *)&cmd_opponent_arg2,
281 (prog_void *)&cmd_opponent_arg3,
287 /**********************************************************/
290 /* this structure is filled when cmd_start is parsed successfully */
291 struct cmd_start_result {
293 fixed_string_t color;
294 fixed_string_t debug;
297 /* function called when cmd_start is parsed successfully */
298 static void cmd_start_parsed(void *parsed_result, void *data)
300 struct cmd_start_result *res = parsed_result;
301 uint8_t old_level = gen.log_level;
303 gen.logs[NB_LOGS] = E_USER_STRAT;
304 if (!strcmp_P(res->debug, PSTR("debug"))) {
305 strat_db.dump_enabled = 1;
309 strat_db.dump_enabled = 0;
313 if (!strcmp_P(res->color, PSTR("yellow"))) {
314 mainboard.our_color = I2C_COLOR_YELLOW;
315 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
316 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
318 else if (!strcmp_P(res->color, PSTR("blue"))) {
319 mainboard.our_color = I2C_COLOR_BLUE;
320 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
321 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
326 gen.logs[NB_LOGS] = 0;
327 gen.log_level = old_level;
330 prog_char str_start_arg0[] = "start";
331 parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
332 prog_char str_start_color[] = "blue#yellow";
333 parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
334 prog_char str_start_debug[] = "debug#match";
335 parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
337 prog_char help_start[] = "Start the robot";
338 parse_pgm_inst_t cmd_start = {
339 .f = cmd_start_parsed, /* function to call */
340 .data = NULL, /* 2nd arg of func */
341 .help_str = help_start,
342 .tokens = { /* token list, NULL terminated */
343 (prog_void *)&cmd_start_arg0,
344 (prog_void *)&cmd_start_color,
345 (prog_void *)&cmd_start_debug,
352 /**********************************************************/
355 /* this structure is filled when cmd_interact is parsed successfully */
356 struct cmd_interact_result {
360 static void print_cs(void)
362 printf_P(PSTR("cons_d=% .8"PRIi32" cons_a=% .8"PRIi32" fil_d=% .8"PRIi32" fil_a=% .8"PRIi32" "
363 "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"),
364 cs_get_consign(&mainboard.distance.cs),
365 cs_get_consign(&mainboard.angle.cs),
366 cs_get_filtered_consign(&mainboard.distance.cs),
367 cs_get_filtered_consign(&mainboard.angle.cs),
368 cs_get_error(&mainboard.distance.cs),
369 cs_get_error(&mainboard.angle.cs),
370 cs_get_out(&mainboard.distance.cs),
371 cs_get_out(&mainboard.angle.cs));
374 static void print_pos(void)
376 printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"),
377 position_get_x_s16(&mainboard.pos),
378 position_get_y_s16(&mainboard.pos),
379 position_get_a_deg_s16(&mainboard.pos));
382 static void print_time(void)
384 printf_P(PSTR("time %d\r\n"),time_get_s());
388 static void print_sensors(void)
391 if (sensor_start_switch())
392 printf_P(PSTR("Start switch | "));
394 printf_P(PSTR(" | "));
396 if (IR_DISP_SENSOR())
397 printf_P(PSTR("IR disp | "));
399 printf_P(PSTR(" | "));
401 printf_P(PSTR("\r\n"));
405 static void print_pid(void)
407 printf_P(PSTR("P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32" | "
408 "P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
409 pid_get_value_in(&mainboard.distance.pid) * pid_get_gain_P(&mainboard.distance.pid),
410 pid_get_value_I(&mainboard.distance.pid) * pid_get_gain_I(&mainboard.distance.pid),
411 pid_get_value_D(&mainboard.distance.pid) * pid_get_gain_D(&mainboard.distance.pid),
412 pid_get_value_out(&mainboard.distance.pid),
413 pid_get_value_in(&mainboard.angle.pid) * pid_get_gain_P(&mainboard.angle.pid),
414 pid_get_value_I(&mainboard.angle.pid) * pid_get_gain_I(&mainboard.angle.pid),
415 pid_get_value_D(&mainboard.angle.pid) * pid_get_gain_D(&mainboard.angle.pid),
416 pid_get_value_out(&mainboard.angle.pid));
419 #define PRINT_POS (1<<0)
420 #define PRINT_PID (1<<1)
421 #define PRINT_CS (1<<2)
422 #define PRINT_SENSORS (1<<3)
423 #define PRINT_TIME (1<<4)
424 #define PRINT_BLOCKING (1<<5)
426 static void cmd_interact_parsed(void * parsed_result, void * data)
435 printf_P(PSTR("Display debugs:\r\n"
441 /* " 6:blocking\r\n" */
448 mainboard.flags &= (~DO_CS);
449 pwm_set_and_save(LEFT_PWM, 0);
450 pwm_set_and_save(RIGHT_PWM, 0);
453 if (print & PRINT_POS) {
457 if (print & PRINT_PID) {
461 if (print & PRINT_CS) {
465 if (print & PRINT_SENSORS) {
469 if (print & PRINT_TIME) {
472 /* if (print & PRINT_BLOCKING) { */
473 /* printf_P(PSTR("%s %s blocking=%d\r\n"), */
474 /* mainboard.blocking ? "BLOCK1":" ", */
475 /* rs_is_blocked(&mainboard.rs) ? "BLOCK2":" ", */
476 /* rs_get_blocking(&mainboard.rs)); */
479 c = cmdline_getchar();
484 cmd = vt100_parser(&vt100, c);
492 case '1': print ^= PRINT_POS; break;
493 case '2': print ^= PRINT_PID; break;
494 case '3': print ^= PRINT_CS; break;
495 case '4': print ^= PRINT_SENSORS; break;
496 case '5': print ^= PRINT_TIME; break;
497 case '6': print ^= PRINT_BLOCKING; break;
500 if (mainboard.flags & DO_CS)
502 pwm_set_and_save(LEFT_PWM, 0);
503 pwm_set_and_save(RIGHT_PWM, 0);
506 pwm_set_and_save(LEFT_PWM, 0);
507 pwm_set_and_save(RIGHT_PWM, 0);
516 pwm_set_and_save(LEFT_PWM, 1200);
517 pwm_set_and_save(RIGHT_PWM, 1200);
520 pwm_set_and_save(LEFT_PWM, -1200);
521 pwm_set_and_save(RIGHT_PWM, 1200);
524 pwm_set_and_save(LEFT_PWM, -1200);
525 pwm_set_and_save(RIGHT_PWM, -1200);
528 pwm_set_and_save(LEFT_PWM, 1200);
529 pwm_set_and_save(RIGHT_PWM, -1200);
537 prog_char str_interact_arg0[] = "interact";
538 parse_pgm_token_string_t cmd_interact_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_interact_result, arg0, str_interact_arg0);
540 prog_char help_interact[] = "Interactive mode";
541 parse_pgm_inst_t cmd_interact = {
542 .f = cmd_interact_parsed, /* function to call */
543 .data = NULL, /* 2nd arg of func */
544 .help_str = help_interact,
545 .tokens = { /* token list, NULL terminated */
546 (prog_void *)&cmd_interact_arg0,
552 /**********************************************************/
555 /* this structure is filled when cmd_color is parsed successfully */
556 struct cmd_color_result {
558 fixed_string_t color;
561 /* function called when cmd_color is parsed successfully */
562 static void cmd_color_parsed(void *parsed_result, void *data)
565 printf("not implemented\n");
567 struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
568 if (!strcmp_P(res->color, PSTR("yellow"))) {
569 mainboard.our_color = I2C_COLOR_YELLOW;
570 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
571 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
573 else if (!strcmp_P(res->color, PSTR("blue"))) {
574 mainboard.our_color = I2C_COLOR_BLUE;
575 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
576 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
578 printf_P(PSTR("Done\r\n"));
582 prog_char str_color_arg0[] = "color";
583 parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
584 prog_char str_color_color[] = "blue#yellow";
585 parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
587 prog_char help_color[] = "Set our color";
588 parse_pgm_inst_t cmd_color = {
589 .f = cmd_color_parsed, /* function to call */
590 .data = NULL, /* 2nd arg of func */
591 .help_str = help_color,
592 .tokens = { /* token list, NULL terminated */
593 (prog_void *)&cmd_color_arg0,
594 (prog_void *)&cmd_color_color,
600 /**********************************************************/
603 /* this structure is filled when cmd_rs is parsed successfully */
604 struct cmd_rs_result {
609 /* function called when cmd_rs is parsed successfully */
610 static void cmd_rs_parsed(void *parsed_result, void *data)
612 // struct cmd_rs_result *res = parsed_result;
614 printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
615 cs_get_consign(&mainboard.angle.cs),
616 cs_get_filtered_feedback(&mainboard.angle.cs),
617 cs_get_out(&mainboard.angle.cs));
618 printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
619 cs_get_consign(&mainboard.distance.cs),
620 cs_get_filtered_feedback(&mainboard.distance.cs),
621 cs_get_out(&mainboard.distance.cs));
622 printf_P(PSTR("l=% .4"PRIi32" r=% .4"PRIi32"\r\n"), mainboard.pwm_l,
625 } while(!cmdline_keypressed());
628 prog_char str_rs_arg0[] = "rs";
629 parse_pgm_token_string_t cmd_rs_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg0, str_rs_arg0);
630 prog_char str_rs_arg1[] = "show";
631 parse_pgm_token_string_t cmd_rs_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg1, str_rs_arg1);
633 prog_char help_rs[] = "Show rs (robot system) values";
634 parse_pgm_inst_t cmd_rs = {
635 .f = cmd_rs_parsed, /* function to call */
636 .data = NULL, /* 2nd arg of func */
638 .tokens = { /* token list, NULL terminated */
639 (prog_void *)&cmd_rs_arg0,
640 (prog_void *)&cmd_rs_arg1,
645 /**********************************************************/
648 /* this structure is filled when cmd_i2cdebug is parsed successfully */
649 struct cmd_i2cdebug_result {
653 /* function called when cmd_i2cdebug is parsed successfully */
654 static void cmd_i2cdebug_parsed(void * parsed_result, void * data)
657 printf("not implemented\n");
660 i2c_protocol_debug();
664 prog_char str_i2cdebug_arg0[] = "i2cdebug";
665 parse_pgm_token_string_t cmd_i2cdebug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_i2cdebug_result, arg0, str_i2cdebug_arg0);
667 prog_char help_i2cdebug[] = "I2c debug infos";
668 parse_pgm_inst_t cmd_i2cdebug = {
669 .f = cmd_i2cdebug_parsed, /* function to call */
670 .data = NULL, /* 2nd arg of func */
671 .help_str = help_i2cdebug,
672 .tokens = { /* token list, NULL terminated */
673 (prog_void *)&cmd_i2cdebug_arg0,
678 /**********************************************************/
681 /* this structure is filled when cmd_cobboard_show is parsed successfully */
682 struct cmd_cobboard_show_result {
687 /* function called when cmd_cobboard_show is parsed successfully */
688 static void cmd_cobboard_show_parsed(void * parsed_result, void * data)
691 printf("not implemented\n");
693 printf_P(PSTR("mode = %x\r\n"), cobboard.mode);
694 printf_P(PSTR("status = %x\r\n"), cobboard.status);
695 printf_P(PSTR("cob_count = %x\r\n"), cobboard.cob_count);
696 printf_P(PSTR("left_cobroller_speed = %d\r\n"), cobboard.left_cobroller_speed);
697 printf_P(PSTR("right_cobroller_speed = %d\r\n"), cobboard.right_cobroller_speed);
701 prog_char str_cobboard_show_arg0[] = "cobboard";
702 parse_pgm_token_string_t cmd_cobboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg0, str_cobboard_show_arg0);
703 prog_char str_cobboard_show_arg1[] = "show";
704 parse_pgm_token_string_t cmd_cobboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg1, str_cobboard_show_arg1);
706 prog_char help_cobboard_show[] = "show cobboard status";
707 parse_pgm_inst_t cmd_cobboard_show = {
708 .f = cmd_cobboard_show_parsed, /* function to call */
709 .data = NULL, /* 2nd arg of func */
710 .help_str = help_cobboard_show,
711 .tokens = { /* token list, NULL terminated */
712 (prog_void *)&cmd_cobboard_show_arg0,
713 (prog_void *)&cmd_cobboard_show_arg1,
718 /**********************************************************/
719 /* Cobboard_Setmode1 */
721 /* this structure is filled when cmd_cobboard_setmode1 is parsed successfully */
722 struct cmd_cobboard_setmode1_result {
727 /* function called when cmd_cobboard_setmode1 is parsed successfully */
728 static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
730 struct cmd_cobboard_setmode1_result *res = parsed_result;
732 if (!strcmp_P(res->arg1, PSTR("init")))
733 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
734 else if (!strcmp_P(res->arg1, PSTR("eject")))
735 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
738 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
739 parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
740 prog_char str_cobboard_setmode1_arg1[] = "init#eject";
741 parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
743 prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
744 parse_pgm_inst_t cmd_cobboard_setmode1 = {
745 .f = cmd_cobboard_setmode1_parsed, /* function to call */
746 .data = NULL, /* 2nd arg of func */
747 .help_str = help_cobboard_setmode1,
748 .tokens = { /* token list, NULL terminated */
749 (prog_void *)&cmd_cobboard_setmode1_arg0,
750 (prog_void *)&cmd_cobboard_setmode1_arg1,
755 /**********************************************************/
756 /* Cobboard_Setmode2 */
758 /* this structure is filled when cmd_cobboard_setmode2 is parsed successfully */
759 struct cmd_cobboard_setmode2_result {
765 /* function called when cmd_cobboard_setmode2 is parsed successfully */
766 static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
768 struct cmd_cobboard_setmode2_result *res = parsed_result;
769 uint8_t side = I2C_LEFT_SIDE;
771 if (!strcmp_P(res->arg2, PSTR("left")))
772 side = I2C_LEFT_SIDE;
773 else if (!strcmp_P(res->arg2, PSTR("right")))
774 side = I2C_RIGHT_SIDE;
776 if (!strcmp_P(res->arg1, PSTR("deploy"))) {
777 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
778 i2c_cobboard_deploy(side);
780 else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
781 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
782 i2c_cobboard_autoharvest(side);
784 else if (!strcmp_P(res->arg1, PSTR("pack"))) {
785 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
786 i2c_cobboard_pack(side);
788 else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
789 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
790 i2c_cobboard_deploy_nomove(side);
792 else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
793 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
794 i2c_cobboard_autoharvest_nomove(side);
798 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
799 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
800 prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
801 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
802 prog_char str_cobboard_setmode2_arg2[] = "left#right";
803 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
805 prog_char help_cobboard_setmode2[] = "set cobboard mode (mode, side)";
806 parse_pgm_inst_t cmd_cobboard_setmode2 = {
807 .f = cmd_cobboard_setmode2_parsed, /* function to call */
808 .data = NULL, /* 2nd arg of func */
809 .help_str = help_cobboard_setmode2,
810 .tokens = { /* token list, NULL terminated */
811 (prog_void *)&cmd_cobboard_setmode2_arg0,
812 (prog_void *)&cmd_cobboard_setmode2_arg1,
813 (prog_void *)&cmd_cobboard_setmode2_arg2,
818 /**********************************************************/
819 /* Cobboard_Setmode3 */
821 /* this structure is filled when cmd_cobboard_setmode3 is parsed successfully */
822 struct cmd_cobboard_setmode3_result {
828 /* function called when cmd_cobboard_setmode3 is parsed successfully */
829 static void cmd_cobboard_setmode3_parsed(void *parsed_result, void *data)
831 struct cmd_cobboard_setmode3_result *res = parsed_result;
832 if (!strcmp_P(res->arg1, PSTR("xxx")))
836 prog_char str_cobboard_setmode3_arg0[] = "cobboard";
837 parse_pgm_token_string_t cmd_cobboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg0, str_cobboard_setmode3_arg0);
838 prog_char str_cobboard_setmode3_arg1[] = "xxx";
839 parse_pgm_token_string_t cmd_cobboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg1, str_cobboard_setmode3_arg1);
840 parse_pgm_token_num_t cmd_cobboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_cobboard_setmode3_result, level, UINT8);
842 prog_char help_cobboard_setmode3[] = "set cobboard mode (mode, level)";
843 parse_pgm_inst_t cmd_cobboard_setmode3 = {
844 .f = cmd_cobboard_setmode3_parsed, /* function to call */
845 .data = NULL, /* 2nd arg of func */
846 .help_str = help_cobboard_setmode3,
847 .tokens = { /* token list, NULL terminated */
848 (prog_void *)&cmd_cobboard_setmode3_arg0,
849 (prog_void *)&cmd_cobboard_setmode3_arg1,
850 (prog_void *)&cmd_cobboard_setmode3_arg2,
855 /**********************************************************/
858 /* this structure is filled when cmd_ballboard_show is parsed successfully */
859 struct cmd_ballboard_show_result {
864 /* function called when cmd_ballboard_show is parsed successfully */
865 static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
868 printf("not implemented\n");
870 printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
871 printf_P(PSTR("status = %x\r\n"), ballboard.status);
872 printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
876 prog_char str_ballboard_show_arg0[] = "ballboard";
877 parse_pgm_token_string_t cmd_ballboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg0, str_ballboard_show_arg0);
878 prog_char str_ballboard_show_arg1[] = "show";
879 parse_pgm_token_string_t cmd_ballboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg1, str_ballboard_show_arg1);
881 prog_char help_ballboard_show[] = "show ballboard status";
882 parse_pgm_inst_t cmd_ballboard_show = {
883 .f = cmd_ballboard_show_parsed, /* function to call */
884 .data = NULL, /* 2nd arg of func */
885 .help_str = help_ballboard_show,
886 .tokens = { /* token list, NULL terminated */
887 (prog_void *)&cmd_ballboard_show_arg0,
888 (prog_void *)&cmd_ballboard_show_arg1,
893 /**********************************************************/
894 /* Ballboard_Setmode1 */
896 /* this structure is filled when cmd_ballboard_setmode1 is parsed successfully */
897 struct cmd_ballboard_setmode1_result {
902 /* function called when cmd_ballboard_setmode1 is parsed successfully */
903 static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
905 struct cmd_ballboard_setmode1_result *res = parsed_result;
907 if (!strcmp_P(res->arg1, PSTR("init")))
908 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_INIT);
909 else if (!strcmp_P(res->arg1, PSTR("off")))
910 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_OFF);
911 else if (!strcmp_P(res->arg1, PSTR("eject")))
912 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
913 else if (!strcmp_P(res->arg1, PSTR("harvest")))
914 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
919 prog_char str_ballboard_setmode1_arg0[] = "ballboard";
920 parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
921 prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
922 parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
924 prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
925 parse_pgm_inst_t cmd_ballboard_setmode1 = {
926 .f = cmd_ballboard_setmode1_parsed, /* function to call */
927 .data = NULL, /* 2nd arg of func */
928 .help_str = help_ballboard_setmode1,
929 .tokens = { /* token list, NULL terminated */
930 (prog_void *)&cmd_ballboard_setmode1_arg0,
931 (prog_void *)&cmd_ballboard_setmode1_arg1,
936 /**********************************************************/
937 /* Ballboard_Setmode2 */
939 /* this structure is filled when cmd_ballboard_setmode2 is parsed successfully */
940 struct cmd_ballboard_setmode2_result {
946 /* function called when cmd_ballboard_setmode2 is parsed successfully */
947 static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
949 struct cmd_ballboard_setmode2_result *res = parsed_result;
950 uint8_t mode = I2C_BALLBOARD_MODE_INIT;
952 if (!strcmp_P(res->arg2, PSTR("left"))) {
953 if (!strcmp_P(res->arg1, PSTR("prepare")))
954 mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
955 else if (!strcmp_P(res->arg1, PSTR("take")))
956 mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
959 if (!strcmp_P(res->arg1, PSTR("prepare")))
960 mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
961 else if (!strcmp_P(res->arg1, PSTR("take")))
962 mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
964 i2c_ballboard_set_mode(mode);
967 prog_char str_ballboard_setmode2_arg0[] = "ballboard";
968 parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
969 prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
970 parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
971 prog_char str_ballboard_setmode2_arg2[] = "left#right";
972 parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);
974 prog_char help_ballboard_setmode2[] = "set ballboard mode (mode, side)";
975 parse_pgm_inst_t cmd_ballboard_setmode2 = {
976 .f = cmd_ballboard_setmode2_parsed, /* function to call */
977 .data = NULL, /* 2nd arg of func */
978 .help_str = help_ballboard_setmode2,
979 .tokens = { /* token list, NULL terminated */
980 (prog_void *)&cmd_ballboard_setmode2_arg0,
981 (prog_void *)&cmd_ballboard_setmode2_arg1,
982 (prog_void *)&cmd_ballboard_setmode2_arg2,
987 /**********************************************************/
988 /* Ballboard_Setmode3 */
990 /* this structure is filled when cmd_ballboard_setmode3 is parsed successfully */
991 struct cmd_ballboard_setmode3_result {
997 /* function called when cmd_ballboard_setmode3 is parsed successfully */
998 static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data)
1000 struct cmd_ballboard_setmode3_result *res = parsed_result;
1001 if (!strcmp_P(res->arg1, PSTR("xxx")))
1005 prog_char str_ballboard_setmode3_arg0[] = "ballboard";
1006 parse_pgm_token_string_t cmd_ballboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg0, str_ballboard_setmode3_arg0);
1007 prog_char str_ballboard_setmode3_arg1[] = "xxx";
1008 parse_pgm_token_string_t cmd_ballboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg1, str_ballboard_setmode3_arg1);
1009 parse_pgm_token_num_t cmd_ballboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_ballboard_setmode3_result, level, UINT8);
1011 prog_char help_ballboard_setmode3[] = "set ballboard mode (mode, level)";
1012 parse_pgm_inst_t cmd_ballboard_setmode3 = {
1013 .f = cmd_ballboard_setmode3_parsed, /* function to call */
1014 .data = NULL, /* 2nd arg of func */
1015 .help_str = help_ballboard_setmode3,
1016 .tokens = { /* token list, NULL terminated */
1017 (prog_void *)&cmd_ballboard_setmode3_arg0,
1018 (prog_void *)&cmd_ballboard_setmode3_arg1,
1019 (prog_void *)&cmd_ballboard_setmode3_arg2,
1024 /**********************************************************/
1027 /* this structure is filled when cmd_servo_balls is parsed successfully */
1028 struct cmd_servo_balls_result {
1029 fixed_string_t arg0;
1030 fixed_string_t arg1;
1033 /* function called when cmd_servo_balls is parsed successfully */
1034 static void cmd_servo_balls_parsed(void *parsed_result,
1035 __attribute__((unused)) void *data)
1037 struct cmd_servo_balls_result *res = parsed_result;
1039 if (!strcmp_P(res->arg1, PSTR("deploy")))
1040 support_balls_deploy();
1041 else if (!strcmp_P(res->arg1, PSTR("pack")))
1042 support_balls_pack();
1045 prog_char str_servo_balls_arg0[] = "support_balls";
1046 parse_pgm_token_string_t cmd_servo_balls_arg0 =
1047 TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg0, str_servo_balls_arg0);
1048 prog_char str_servo_balls_arg1[] = "deploy#pack";
1049 parse_pgm_token_string_t cmd_servo_balls_arg1 =
1050 TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg1, str_servo_balls_arg1);
1052 prog_char help_servo_balls[] = "control support balls";
1053 parse_pgm_inst_t cmd_servo_balls = {
1054 .f = cmd_servo_balls_parsed, /* function to call */
1055 .data = NULL, /* 2nd arg of func */
1056 .help_str = help_servo_balls,
1057 .tokens = { /* token list, NULL terminated */
1058 (prog_void *)&cmd_servo_balls_arg0,
1059 (prog_void *)&cmd_servo_balls_arg1,
1064 /**********************************************************/
1067 /* this structure is filled when cmd_clitoid is parsed successfully */
1068 struct cmd_clitoid_result {
1069 fixed_string_t arg0;
1078 /* function called when cmd_test is parsed successfully */
1079 static void cmd_clitoid_parsed(void *parsed_result, void *data)
1081 struct cmd_clitoid_result *res = parsed_result;
1082 /* clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */
1083 /* res->Vd, res->Amax, res->d_inter_mm); */
1084 double x = position_get_x_double(&mainboard.pos);
1085 double y = position_get_y_double(&mainboard.pos);
1086 double a = position_get_a_rad_double(&mainboard.pos);
1088 strat_set_speed(res->Vd, SPEED_ANGLE_FAST);
1089 trajectory_clitoid(&mainboard.traj, x, y, a, 150.,
1090 res->alpha_deg, res->beta_deg, res->R_mm,
1094 prog_char str_clitoid_arg0[] = "clitoid";
1095 parse_pgm_token_string_t cmd_clitoid_arg0 =
1096 TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result,
1097 arg0, str_clitoid_arg0);
1098 parse_pgm_token_num_t cmd_clitoid_alpha_deg =
1099 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1101 parse_pgm_token_num_t cmd_clitoid_beta_deg =
1102 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1104 parse_pgm_token_num_t cmd_clitoid_R_mm =
1105 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1107 parse_pgm_token_num_t cmd_clitoid_Vd =
1108 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1110 parse_pgm_token_num_t cmd_clitoid_Amax =
1111 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1113 parse_pgm_token_num_t cmd_clitoid_d_inter_mm =
1114 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1117 prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)";
1118 parse_pgm_inst_t cmd_clitoid = {
1119 .f = cmd_clitoid_parsed, /* function to call */
1120 .data = NULL, /* 2nd arg of func */
1121 .help_str = help_clitoid,
1122 .tokens = { /* token list, NULL terminated */
1123 (prog_void *)&cmd_clitoid_arg0,
1124 (prog_void *)&cmd_clitoid_alpha_deg,
1125 (prog_void *)&cmd_clitoid_beta_deg,
1126 (prog_void *)&cmd_clitoid_R_mm,
1127 (prog_void *)&cmd_clitoid_Vd,
1128 (prog_void *)&cmd_clitoid_Amax,
1129 (prog_void *)&cmd_clitoid_d_inter_mm,
1134 /**********************************************************/
1137 /* this structure is filled when cmd_time_monitor is parsed successfully */
1138 struct cmd_time_monitor_result {
1139 fixed_string_t arg0;
1140 fixed_string_t arg1;
1143 /* function called when cmd_time_monitor is parsed successfully */
1144 static void cmd_time_monitor_parsed(void *parsed_result, void *data)
1146 #ifndef HOST_VERSION
1147 struct cmd_time_monitor_result *res = parsed_result;
1150 if (!strcmp_P(res->arg1, PSTR("reset"))) {
1151 eeprom_write_word(EEPROM_TIME_ADDRESS, 0);
1153 seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
1154 printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
1158 prog_char str_time_monitor_arg0[] = "time_monitor";
1159 parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0);
1160 prog_char str_time_monitor_arg1[] = "show#reset";
1161 parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1);
1163 prog_char help_time_monitor[] = "Show since how long we are running";
1164 parse_pgm_inst_t cmd_time_monitor = {
1165 .f = cmd_time_monitor_parsed, /* function to call */
1166 .data = NULL, /* 2nd arg of func */
1167 .help_str = help_time_monitor,
1168 .tokens = { /* token list, NULL terminated */
1169 (prog_void *)&cmd_time_monitor_arg0,
1170 (prog_void *)&cmd_time_monitor_arg1,
1176 /**********************************************************/
1179 /* this structure is filled when cmd_strat_event is parsed successfully */
1180 struct cmd_strat_event_result {
1181 fixed_string_t arg0;
1182 fixed_string_t arg1;
1185 /* function called when cmd_strat_event is parsed successfully */
1186 static void cmd_strat_event_parsed(void *parsed_result, void *data)
1188 struct cmd_strat_event_result *res = parsed_result;
1190 if (!strcmp_P(res->arg1, PSTR("on")))
1191 strat_event_enable();
1193 strat_event_disable();
1196 prog_char str_strat_event_arg0[] = "strat_event";
1197 parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
1198 prog_char str_strat_event_arg1[] = "on#off";
1199 parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
1201 prog_char help_strat_event[] = "Enable/disable strat_event callback";
1202 parse_pgm_inst_t cmd_strat_event = {
1203 .f = cmd_strat_event_parsed, /* function to call */
1204 .data = NULL, /* 2nd arg of func */
1205 .help_str = help_strat_event,
1206 .tokens = { /* token list, NULL terminated */
1207 (prog_void *)&cmd_strat_event_arg0,
1208 (prog_void *)&cmd_strat_event_arg1,
1213 /**********************************************************/
1216 /* this structure is filled when cmd_test is parsed successfully */
1217 struct cmd_test_result {
1218 fixed_string_t arg0;
1223 /* function called when cmd_test is parsed successfully */
1224 static void cmd_test_parsed(void *parsed_result, void *data)
1226 strat_db.dump_enabled = 1;
1227 strat_db_dump(__FUNCTION__);
1229 corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
1230 strat_db_dump(__FUNCTION__);
1232 corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
1233 strat_db_dump(__FUNCTION__);
1234 corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
1235 strat_db_dump(__FUNCTION__);
1236 corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
1237 strat_db_dump(__FUNCTION__);
1240 prog_char str_test_arg0[] = "test";
1241 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
1242 parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
1243 parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32);
1245 prog_char help_test[] = "Test function";
1246 parse_pgm_inst_t cmd_test = {
1247 .f = cmd_test_parsed, /* function to call */
1248 .data = NULL, /* 2nd arg of func */
1249 .help_str = help_test,
1250 .tokens = { /* token list, NULL terminated */
1251 (prog_void *)&cmd_test_arg0,