--- /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_traj.c,v 1.6 2009-05-02 10:08:09 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 <uart.h>
+#include <pwm_ng.h>
+#include <time.h>
+#include <encoders_microb.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "main.h"
+#include "strat_base.h"
+#include "strat_utils.h"
+#include "cs.h"
+#include "cmdline.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,
+ },
+};
+
+/**********************************************************/
+/* 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)
+{
+ struct cmd_rs_gains_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ rs_set_left_ext_encoder(&mainboard.rs, encoders_microb_get_value,
+ LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
+ rs_set_right_ext_encoder(&mainboard.rs, encoders_microb_get_value,
+ RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
+ }
+ printf_P(PSTR("rs_gains set %f %f"),
+ mainboard.rs.left_ext_gain,
+ mainboard.rs.right_ext_gain);
+/* f64_print(mainboard.rs.left_ext_gain); */
+/* printf_P(PSTR(" ")); */
+/* f64_print(mainboard.rs.right_ext_gain); */
+ printf_P(PSTR("\r\n"));
+}
+
+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 ; i<pt_list_len ; i++) {
+ printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
+ if (!strcmp_P(res->arg1, 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);
+ err=0;
+ 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);
+ err=0;
+ 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, 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, ROBOT_LENGTH/2,
+ 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, -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"))) {
+ auto_position();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
+ 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,
+ },
+};
+
git.droids-corp.org / aversive.git / blobdiff