From: zer0 Date: Mon, 25 Jan 2010 00:07:11 +0000 (+0100) Subject: hostsim enhancements, some bugs remaining (freeze sometimes) X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=a16ba178c7ef15fb408593b0e7c666ed2ed1d253;p=aversive.git hostsim enhancements, some bugs remaining (freeze sometimes) --- a16ba178c7ef15fb408593b0e7c666ed2ed1d253 diff --cc modules/base/hostsim/hostsim.c index 87bbfc6,e8a02f3..bb77ad9 --- a/modules/base/hostsim/hostsim.c +++ b/modules/base/hostsim/hostsim.c @@@ -45,30 -43,10 +45,30 @@@ #ifdef CONFIG_MODULE_SCHEDULER #include #endif +#ifdef CONFIG_MODULE_UART +#include +#endif - pthread_mutex_t mut; + 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, @@@ -242,11 -138,9 +262,9 @@@ int hostsim_uart_init(void 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; - pthread_mutex_init(&mut, NULL); - parent_id = pthread_self(); pthread_mutex_lock(&mut); @@@ -290,11 -167,4 +308,12 @@@ return 0; } + - void hostsim_exit(void) ++int hostsim_exit(void) +{ +#ifdef CONFIG_MODULE_UART + tcsetattr(0, TCSANOW, &oldterm); +#endif ++ return 0; +} #endif /* HOST_VERSION */ diff --cc modules/base/time/clock_time.h index 0000000,4e1fcec..02e8fe6 mode 000000,100644..100644 --- a/modules/base/time/clock_time.h +++ b/modules/base/time/clock_time.h @@@ -1,0 -1,96 +1,95 @@@ + /* + * 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: time.h,v 1.3.4.2 2007-05-23 17:18:11 zer0 Exp $ + * + */ + + /* Droids-corp, Eirbot, Microb Technology 2005 - Zer0 + * Interface of the time module + */ + + /** + * This module can be used to get a human readable time. It uses the + * scheduler module. Its goal is not to be very precise, but just + * simple to use. provides two timers: one in s and us, and one in + * us which doesn't overflow on seconds (better to substract two + * times) + */ + -#ifndef _TIME_H_ -#define _TIME_H_ ++#ifndef _CLOCK_TIME_H_ ++#define _CLOCK_TIME_H_ + + #include + + /* a 16 bit variable cannot cover one day */ + typedef int32_t seconds; + typedef int32_t microseconds; + - + /** the time structure */ + typedef struct + { + microseconds us; + seconds s; + } time_h; + + + + /**********************************************************/ + + /** init time module : schedule the event with the givent priority */ + void time_init(uint8_t priority); + + /**********************************************************/ + + /** get time in second since last init/reset */ + seconds time_get_s(void); + + /**********************************************************/ + + /** get time in microsecond since last init/reset */ + microseconds time_get_us(void); + + /**********************************************************/ + + /** get the complete time struct since last init/reset */ + time_h time_get_time(void); + + /**********************************************************/ + + /** reset time counter */ + void time_reset(void); + + /**********************************************************/ + + /** set time */ + void time_set(seconds s, microseconds us); + + /**********************************************************/ + + /** This is an equivalent of 'wait_ms(x)', but uses time value, so it + * is independant of CPU load. Warning, you should not use this + * function in a irq locked context, or in a scheduled function with + * higher priority than time module */ + void time_wait_ms(uint16_t ms); + + /**********************************************************/ + + /** get a microsecond timer that overflows naturally */ + microseconds time_get_us2(void); + + #endif diff --cc modules/devices/robot/obstacle_avoidance/obstacle_avoidance.c index ee8a655,ee8a655..5b19ed3 --- a/modules/devices/robot/obstacle_avoidance/obstacle_avoidance.c +++ b/modules/devices/robot/obstacle_avoidance/obstacle_avoidance.c @@@ -164,7 -164,7 +164,7 @@@ void oa_dump(void printf_P(PSTR("poly #%d\r\n"), i); for (j=0; jl; 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); } } } diff --cc projects/microb2010/tests/hostsim/.config index 47c7158,a5d281a..a66a449 --- a/projects/microb2010/tests/hostsim/.config +++ b/projects/microb2010/tests/hostsim/.config @@@ -1,5 -1,5 +1,5 @@@ # --# Automatically generated by make menuconfig: don't edit ++# Automatically generated make config: don't edit # # @@@ -74,6 -74,6 +74,10 @@@ CONFIG_FORMAT_IHEX= # # Base modules # ++ ++# ++# Enable math library in generation options to see all modules ++# CONFIG_MODULE_CIRBUF=y # CONFIG_MODULE_CIRBUF_LARGE is not set # CONFIG_MODULE_FIXED_POINT is not set @@@ -94,6 -94,6 +98,10 @@@ CONFIG_MODULE_TIME_CREATE_CONFIG= # # Communication modules # ++ ++# ++# uart needs circular buffer, mf2 client may need scheduler ++# CONFIG_MODULE_UART=y # CONFIG_MODULE_UART_9BITS is not set # CONFIG_MODULE_UART_CREATE_CONFIG is not set @@@ -178,6 -178,6 +186,10 @@@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE # Control system modules # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y ++ ++# ++# Filters ++# CONFIG_MODULE_PID=y CONFIG_MODULE_PID_CREATE_CONFIG=y # CONFIG_MODULE_RAMP is not set @@@ -188,12 -188,12 +200,20 @@@ CONFIG_MODULE_QUADRAMP= # # 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 @@@ -203,12 -203,12 +223,20 @@@ # # 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 --cc projects/microb2010/tests/hostsim/Makefile index ffc971e,9fe84d3..187ae3a --- a/projects/microb2010/tests/hostsim/Makefile +++ b/projects/microb2010/tests/hostsim/Makefile @@@ -18,6 -15,6 +18,8 @@@ SRC += actuator.c strat_avoid. # 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 diff --cc projects/microb2010/tests/hostsim/cmdline.c index 3038036,0000000..77392ec mode 100644,000000..100644 --- a/projects/microb2010/tests/hostsim/cmdline.c +++ b/projects/microb2010/tests/hostsim/cmdline.c @@@ -1,172 -1,0 +1,172 @@@ +/* + * Copyright Droids Corporation + * Olivier Matz + * + * 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 +#include + +#include +#include + +#include + +#include +#include +#include - #include ++#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#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; ierr_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; +} diff --cc projects/microb2010/tests/hostsim/commands_mainboard.c index 0de0b2d,0000000..b07983b mode 100644,000000..100644 --- a/projects/microb2010/tests/hostsim/commands_mainboard.c +++ b/projects/microb2010/tests/hostsim/commands_mainboard.c @@@ -1,2236 -1,0 +1,2236 @@@ +/* + * 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 + */ + +#include +#include + +#include +#include +#include +#include +#include + +#include - #include ++#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#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, + }, +}; diff --cc projects/microb2010/tests/hostsim/commands_traj.c index 55bfe5f,0000000..0e23798 mode 100644,000000..100644 --- a/projects/microb2010/tests/hostsim/commands_traj.c +++ b/projects/microb2010/tests/hostsim/commands_traj.c @@@ -1,1213 -1,0 +1,1213 @@@ +/* + * 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 + */ + +#include +#include + +#include +#include +#include +#include + +#include - #include ++#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#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 ; iarg1, 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, + }, +}; diff --cc projects/microb2010/tests/hostsim/main.c index 85a31a2,0182943..31a7832 --- a/projects/microb2010/tests/hostsim/main.c +++ b/projects/microb2010/tests/hostsim/main.c @@@ -46,7 -46,6 +46,10 @@@ #include #include "cs.h" +#include "cmdline.h" ++#include "robotsim.h" ++#include "strat.h" ++#include "strat_base.h" #include "main.h" struct genboard gen; @@@ -54,51 -53,29 +57,47 @@@ struct mainboard mainboard int main(void) { + uart_init(); + uart_register_rx_event(CMDLINE_UART, emergency); +#ifndef HOST_VERSION + fdevopen(uart0_dev_send, uart0_dev_recv); + sei(); +#endif + + memset(&gen, 0, sizeof(gen)); + memset(&mainboard, 0, sizeof(mainboard)); + + /* LOGS */ + error_register_emerg(mylog); + error_register_error(mylog); + error_register_warning(mylog); + error_register_notice(mylog); + error_register_debug(mylog); + +#ifdef CONFIG_MODULE_TIMER + timer_init(); +#endif - scheduler_init(); ++ printf("init\n"); - #ifdef HOST_VERSION + scheduler_init(); - time_init(TIME_PRIO); + hostsim_init(); robotsim_init(); - #endif + microb_cs_init(); - gen.logs[0] = E_USER_CS; - gen.log_level = 5; + time_init(TIME_PRIO); + + printf_P(PSTR("\r\n")); + printf_P(PSTR("Respect et robustesse.\r\n")); mainboard.flags = DO_ENCODERS | DO_RS | DO_POS | DO_POWER | DO_BD | DO_CS; + strat_reset_pos(1000, 1000, 0); + + cmdline_interact(); - /* trajectory_d_rel(&mainboard.traj, 1000); */ - /* time_wait_ms(2000); */ - /* trajectory_circle_rel(&mainboard.traj, 1500, 1000, */ - /* 250, 360, 0); */ - /* time_wait_ms(15000); */ - time_wait_ms(1000); - printf("init\n"); - trajectory_d_rel(&mainboard.traj, 1000); - time_wait_ms(2000); - printf("init\n"); - trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000); - time_wait_ms(2000); return 0; } diff --cc projects/microb2010/tests/hostsim/robotsim.c index 990104b,9303a85..85224a3 --- a/projects/microb2010/tests/hostsim/robotsim.c +++ b/projects/microb2010/tests/hostsim/robotsim.c @@@ -22,10 -22,10 +22,11 @@@ #include #include #include - #include + #include #include + #include #include +#include #include #include diff --cc projects/microb2010/tests/hostsim/strat.c index ab6de1d,0000000..4cc17fb mode 100644,000000..100644 --- a/projects/microb2010/tests/hostsim/strat.c +++ b/projects/microb2010/tests/hostsim/strat.c @@@ -1,820 -1,0 +1,820 @@@ +/* + * 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 + */ + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include - #include ++#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#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; izone->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; iflags & 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; iflags & 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= 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 +} diff --cc projects/microb2010/tests/hostsim/strat_base.c index 0dd1a8b,0000000..19e9cf6 mode 100644,000000..100644 --- a/projects/microb2010/tests/hostsim/strat_base.c +++ b/projects/microb2010/tests/hostsim/strat_base.c @@@ -1,515 -1,0 +1,515 @@@ +/* + * 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 +#include +#include +#include + +#include +#include +#include + +#include - #include ++#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#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 < 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; +} diff --cc projects/microb2010/tests/hostsim/strat_utils.c index 8fcecb2,0000000..57c5a0b mode 100644,000000..100644 --- a/projects/microb2010/tests/hostsim/strat_utils.c +++ b/projects/microb2010/tests/hostsim/strat_utils.c @@@ -1,411 -1,0 +1,411 @@@ +/* + * 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 +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#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, opp_a; ++ 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; +}