+++ /dev/null
-/*
- * Copyright Droids Corporation (2009)
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * Revision : $Id: commands_scan.c,v 1.1 2009-05-27 20:04:07 zer0 Exp $
- *
- * Olivier MATZ <zer0@droids-corp.org>
- */
-
-#include <stdio.h>
-#include <string.h>
-
-#include <aversive/pgmspace.h>
-#include <aversive/wait.h>
-#include <aversive/error.h>
-#include <time.h>
-
-#include <ax12.h>
-#include <uart.h>
-#include <pwm_ng.h>
-#include <time.h>
-#include <spi.h>
-
-#include <pid.h>
-#include <quadramp.h>
-#include <control_system_manager.h>
-#include <blocking_detection_manager.h>
-
-#include <rdline.h>
-#include <parse.h>
-#include <parse_string.h>
-#include <parse_num.h>
-
-#include <adc.h>
-
-#include <math.h>
-
-#include "main.h"
-#include "cmdline.h"
-#include "../common/i2c_commands.h"
-#include "i2c_protocol.h"
-#include "actuator.h"
-
-#include <vect_base.h>
-#include <lines.h>
-#include <polygon.h>
-
-#include "img_processing.h"
-#include "scanner.h"
-
-
-
-/**********************************************************/
-/* sample ADC */
-/*
-extern uint16_t sample_i;
-extern float scan_offset_a;
-extern float scan_offset_b;
-*/
-extern struct scan_params scan_params;
-
-//extern uint16_t sample_tab[MAX_SAMPLE];
-/* this structure is filled when cmd_sample is parsed successfully */
-struct cmd_sample_result {
- fixed_string_t arg0;
- fixed_string_t arg1;
- uint16_t offset_b;
- float offset_a;
- uint16_t dump_speed;
- uint8_t filter;
-};
-
-extern int32_t pos_start_scan;
-/* function called when cmd_sample is parsed successfully */
-
-#define MAX_OBJECTS 10
-Object_bb sac_obj[MAX_OBJECTS];
-static void cmd_sample_parsed(void * parsed_result, void * data)
-{
- struct cmd_sample_result * res = parsed_result;
- uint16_t i;
-
- printf_P(PSTR("cmd sample called\r\n"));
- printf_P(PSTR("arg %s %d\r\n"), res->arg1, res->offset_b);
-
- quadramp_set_1st_order_vars(&sensorboard.scanner.qr, res->dump_speed, res->dump_speed); /* set speed */
-
-
- scan_params.offset_b = (((float)res->offset_b)*M_PI/180.);
- scan_params.offset_a = (((float)res->offset_a)*M_PI/180.);
- scan_params.filter = res->filter;
-
- if (!strcmp_P(res->arg1, PSTR("start"))) {
- scan_params.sample_i = MAX_SAMPLE;
- scan_params.pos_start_scan = encoders_spi_get_value_scanner(SCANNER_ENC);
- //printf_P(PSTR("start scan at pos %ld\r\n"), scan_params.pos_start_scan);
-
- memset(scan_params.sample_tab, 0xff, MAX_SAMPLE*sizeof(uint8_t));
-
-
- cs_set_consign(&sensorboard.scanner.cs, scan_params.pos_start_scan+SCANNER_STEP_TOUR*200L);
- //printf_P(PSTR("scan dst %ld\r\n"), scan_params.pos_start_scan+SCANNER_STEP_TOUR*200L);
-
- scan_params.last_col_n = 0;
- scan_params.last_row_n = 0;
- scan_params.last_sample = 0;
-
- }
- else if (!strcmp_P(res->arg1, PSTR("dump"))) {
- printf_P(PSTR("start object detection\r\n"));
- for (i=0;i<MAX_OBJECTS;i++){
- sac_obj[i].x_min = 0;
- sac_obj[i].x_max = 0;
- sac_obj[i].y_min = 0;
- sac_obj[i].y_max = 0;
- }
-
- //parcour_img(sample_tab, PIX_PER_SCAN, MAX_SAMPLE/PIX_PER_SCAN, sac_obj, MAX_OBJECTS);
- /*
- process_img(scan_params.sample_tab, PIX_PER_SCAN, MAX_SAMPLE/PIX_PER_SCAN,
- 4, 1,
- 0, 15, 15,
- 1);
- */
-
- for (i=0;i<MAX_OBJECTS;i++){
- printf_P(PSTR("obj: %d %d %d %d\r\n"),
- sac_obj[i].x_min,
- sac_obj[i].y_min,
- sac_obj[i].x_max,
- sac_obj[i].y_max);
- }
-
- printf_P(PSTR("start dumping %ld\r\n"), PIX_PER_SCAN);
-
- for (i=0;i<MAX_SAMPLE;i++)
- printf_P(PSTR("%d\r\n"),scan_params.sample_tab[i]);
-
- printf_P(PSTR("end dumping (pos: %ld)\r\n"),
- encoders_spi_get_value_scanner((void *)SCANNER_ENC));
- }
-
-}
-
-prog_char str_sample_arg0[] = "sample";
-parse_pgm_token_string_t cmd_sample_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sample_result, arg0, str_sample_arg0);
-prog_char str_sample_arg1[] = "start#dump";
-parse_pgm_token_string_t cmd_sample_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_sample_result, arg1, str_sample_arg1);
-parse_pgm_token_num_t cmd_sample_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_sample_result, offset_b, UINT16);
-parse_pgm_token_num_t cmd_sample_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_sample_result, offset_a, FLOAT);
-parse_pgm_token_num_t cmd_sample_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_sample_result, dump_speed, UINT16);
-parse_pgm_token_num_t cmd_sample_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_sample_result, filter, UINT8);
-
-prog_char help_sample[] = "Sample func off_a_mot, off_a_angl, dump_speed";
-parse_pgm_inst_t cmd_sample = {
- .f = cmd_sample_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_sample,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_sample_arg0,
- (prog_void *)&cmd_sample_arg1,
- (prog_void *)&cmd_sample_arg2,
- (prog_void *)&cmd_sample_arg3,
- (prog_void *)&cmd_sample_arg4,
- (prog_void *)&cmd_sample_arg5,
- NULL,
- },
-};
-
-
-
-
-/**********************************************************/
-/* sadc tests */
-
-/* this structure is filled when cmd_sadc is parsed successfully */
-struct cmd_sadc_result {
- fixed_string_t arg0;
-};
-
-/* function called when cmd_sadc is parsed successfully */
-static void cmd_sadc_parsed(void *parsed_result, void *data)
-{
-
- printf_P(PSTR("Scan ADC values:\r\n"));
- do {
- printf_P(PSTR("%.4d "), adc_get_value( ADC_REF_AVCC | MUX_ADC13 ));
- printf_P(PSTR("\r\n"));
- wait_ms(100);
- } while (!cmdline_keypressed());
-}
-
-prog_char str_sadc_arg0[] = "sadc";
-parse_pgm_token_string_t cmd_sadc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sadc_result, arg0, str_sadc_arg0);
-
-prog_char help_sadc[] = "Show sadc values";
-parse_pgm_inst_t cmd_sadc = {
- .f = cmd_sadc_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_sadc,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_sadc_arg0,
- NULL,
- },
-};
-
-
-
-
-/**********************************************************/
-/* set scanner params */
-
-/* this structure is filled when cmd_scan_params is parsed successfully */
-struct cmd_scan_params_result {
- fixed_string_t arg0;
- int speed;
- uint8_t debug;
-};
-
-/* function called when cmd_scan_params is parsed successfully */
-static void cmd_scan_params_parsed(void * parsed_result, void * data)
-{
- struct cmd_scan_params_result * res = parsed_result;
-
- scan_params.speed = res->speed;
- scan_params.debug = res->debug;
-
-}
-
-prog_char str_scan_params_arg0[] = "scan_params";
-parse_pgm_token_string_t cmd_scan_params_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scan_params_result, arg0, str_scan_params_arg0);
-parse_pgm_token_num_t cmd_scan_params_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_scan_params_result, speed, INT16);
-parse_pgm_token_num_t cmd_scan_params_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_scan_params_result, debug, UINT8);
-
-prog_char help_scan_params[] = "Set scanner params (speed, debug)";
-parse_pgm_inst_t cmd_scan_params = {
- .f = cmd_scan_params_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_sample,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_scan_params_arg0,
- (prog_void *)&cmd_scan_params_arg1,
- (prog_void *)&cmd_scan_params_arg2,
- NULL,
- },
-};
-
-
-
-/**********************************************************/
-/* set scanner calibration */
-
-/* this structure is filled when cmd_scan_calibre is parsed successfully */
-struct cmd_scan_calibre_result {
- fixed_string_t arg0;
- fixed_string_t arg1;
-};
-
-/* function called when cmd_scan_calibre is parsed successfully */
-static void cmd_scan_calibre_parsed(void * parsed_result, void * data)
-{
- struct cmd_scan_calibre_result * res = parsed_result;
-
- printf_P(PSTR("Starting scanner autocalibration\r\n"));
-
-
- if (!strcmp_P(res->arg1, PSTR("mirror"))) {
- scanner_calibre_mirror();
- }
- else{
- scanner_calibre_laser();
- }
-}
-
-prog_char str_scan_calibre_arg0[] = "scan_calibre";
-
-prog_char str_scan_calibre_what_arg1[] = "mirror#laser";
-parse_pgm_token_string_t cmd_scan_calibre_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scan_calibre_result, arg0, str_scan_calibre_arg0);
-parse_pgm_token_string_t cmd_scan_calibre_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scan_calibre_result, arg1, str_scan_calibre_what_arg1);
-
-
-prog_char help_scan_calibre[] = "Scanner auto calibration (mirror|laser)";
-parse_pgm_inst_t cmd_scan_calibre = {
- .f = cmd_scan_calibre_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_scan_calibre,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_scan_calibre_arg0,
- (prog_void *)&cmd_scan_calibre_arg1,
- NULL,
- },
-};
-
-
-
-/**********************************************************/
-/* start scan */
-
-/* this structure is filled when cmd_scan_do is parsed successfully */
-struct cmd_scan_do_result {
- fixed_string_t arg0;
-};
-
-/* function called when cmd_scan_do is parsed successfully */
-static void cmd_scan_do_parsed(void * parsed_result, void * data)
-{
- printf_P(PSTR("Starting scan\r\n"));
- scanner_scan_autonomous();
-}
-
-prog_char str_scan_do_arg0[] = "scan_do";
-parse_pgm_token_string_t cmd_scan_do_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scan_do_result, arg0, str_scan_do_arg0);
-
-prog_char help_scan_do[] = "Scan zone";
-parse_pgm_inst_t cmd_scan_do = {
- .f = cmd_scan_do_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_scan_do,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_scan_do_arg0,
- NULL,
- },
-};
-
-
-
-
-/**********************************************************/
-/* set scanner img params */
-
-/* this structure is filled when cmd_scan_img is parsed successfully */
-struct cmd_scan_img_result {
- fixed_string_t arg0;
- uint8_t algo;
- uint8_t h;
- int16_t x;
- int16_t y;
-
-};
-
-/* function called when cmd_scan_img is parsed successfully */
-static void cmd_scan_img_parsed(void * parsed_result, void * data)
-{
- struct cmd_scan_img_result * res = parsed_result;
-
- scan_params.algo = res->algo;
- if (res->algo == I2C_SCANNER_ALGO_COLUMN_DROPZONE) {
- scan_params.drop_zone.working_zone = res->h;
- scan_params.drop_zone.center_x = res->x;
- scan_params.drop_zone.center_y = res->y;
- } else if (res->algo == I2C_SCANNER_ALGO_CHECK_TEMPLE) {
- scan_params.check_temple.level = res->h;
- scan_params.check_temple.temple_x = res->x;
- scan_params.check_temple.temple_y = res->y;
- } else if (res->algo == I2C_SCANNER_ALGO_TEMPLE_DROPZONE) {
- scan_params.drop_zone.working_zone = res->h;
- scan_params.drop_zone.center_x = res->x;
- scan_params.drop_zone.center_y = res->y;
- }
-
-
-
-}
-
-prog_char str_scan_img_arg0[] = "scan_img";
-parse_pgm_token_string_t cmd_scan_img_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scan_img_result, arg0, str_scan_img_arg0);
-parse_pgm_token_num_t cmd_scan_img_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_scan_img_result, algo, UINT8);
-parse_pgm_token_num_t cmd_scan_img_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_scan_img_result, h, UINT8);
-parse_pgm_token_num_t cmd_scan_img_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_scan_img_result, x, INT16);
-parse_pgm_token_num_t cmd_scan_img_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_scan_img_result, y, INT16);
-
-
-prog_char help_scan_img[] = "Set scanner img processing params (algo, H, x, y)";
-parse_pgm_inst_t cmd_scan_img = {
- .f = cmd_scan_img_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_scan_img,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_scan_img_arg0,
- (prog_void *)&cmd_scan_img_arg1,
- (prog_void *)&cmd_scan_img_arg2,
- (prog_void *)&cmd_scan_img_arg3,
- (prog_void *)&cmd_scan_img_arg4,
- NULL,
- },
-};
-
-
git.droids-corp.org / aversive.git / blobdiff