+++ /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_sensorboard.c,v 1.2 2009-04-24 19:30:42 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 <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 "main.h"
-#include "cmdline.h"
-#include "../common/i2c_commands.h"
-#include "i2c_protocol.h"
-#include "actuator.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_BD | DO_POWER;
- if (!strcmp_P(res->arg2, PSTR("on")))
- sensorboard.flags |= bit;
- else if (!strcmp_P(res->arg2, PSTR("off")))
- sensorboard.flags &= bit;
- else { /* show */
- printf_P(PSTR("encoders is %s\r\n"),
- (DO_ENCODERS & sensorboard.flags) ? "on":"off");
- printf_P(PSTR("cs is %s\r\n"),
- (DO_CS & sensorboard.flags) ? "on":"off");
- printf_P(PSTR("bd is %s\r\n"),
- (DO_BD & sensorboard.flags) ? "on":"off");
- printf_P(PSTR("power is %s\r\n"),
- (DO_POWER & sensorboard.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("bd")))
- bit = DO_BD;
- else if (!strcmp_P(res->arg1, PSTR("power")))
- bit = DO_POWER;
-
-
- if (!strcmp_P(res->arg2, PSTR("on")))
- sensorboard.flags |= bit;
- else if (!strcmp_P(res->arg2, PSTR("off"))) {
- if (!strcmp_P(res->arg1, PSTR("cs"))) {
- pwm_ng_set(BEACON_PWM, 0);
- pwm_ng_set(SCANNER_PWM, 0);
- }
- sensorboard.flags &= (~bit);
- }
- printf_P(PSTR("%s is %s\r\n"), res->arg1,
- (bit & sensorboard.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#bd#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,
- },
-};
-
-/**********************************************************/
-/* 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)
-{
- struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("red"))) {
- sensorboard.our_color = I2C_COLOR_RED;
- }
- else if (!strcmp_P(res->color, PSTR("green"))) {
- sensorboard.our_color = I2C_COLOR_GREEN;
- }
- printf_P(PSTR("Done\r\n"));
-}
-
-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,
- },
-};
-
-
-/**********************************************************/
-/* Test */
-
-/* this structure is filled when cmd_test is parsed successfully */
-struct cmd_test_result {
- fixed_string_t arg0;
-};
-
-/* 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;
-
-}
-
-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);
-
-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,
- NULL,
- },
-};
git.droids-corp.org / aversive.git / blobdiff