X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcommands_ballboard.c;fp=projects%2Fmicrob2010%2Fballboard%2Fcommands_ballboard.c;h=fd459143fd96b3e89667c0db4a47946e3ff9822e;hp=cae215ea03d933799246fd388b10944be634cf37;hb=c8bae2eb9f3084d53436bc6c9fee9952dfcc1fda;hpb=c5092ef0e45256f7e5ff2ceea8e1aa1cb33027db diff --git a/projects/microb2010/ballboard/commands_ballboard.c b/projects/microb2010/ballboard/commands_ballboard.c index cae215e..fd45914 100644 --- a/projects/microb2010/ballboard/commands_ballboard.c +++ b/projects/microb2010/ballboard/commands_ballboard.c @@ -44,6 +44,7 @@ #include #include "main.h" +#include "state.h" #include "cmdline.h" #include "../common/i2c_commands.h" #include "i2c_protocol.h" @@ -167,6 +168,289 @@ parse_pgm_inst_t cmd_color = { }; +/**********************************************************/ +/* State1 */ + +/* this structure is filled when cmd_state1 is parsed successfully */ +struct cmd_state1_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_state1 is parsed successfully */ +static void cmd_state1_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state1_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("init"))) + state_init(); + else if (!strcmp_P(res->arg1, PSTR("off"))) + state_set_mode(I2C_BALLBOARD_MODE_OFF); + else if (!strcmp_P(res->arg1, PSTR("eject"))) + state_set_mode(I2C_BALLBOARD_MODE_EJECT); + else if (!strcmp_P(res->arg1, PSTR("harvest"))) + state_set_mode(I2C_BALLBOARD_MODE_HARVEST); + + /* other commands */ +} + +prog_char str_state1_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0); +prog_char str_state1_arg1[] = "init#eject#harvest#off"; +parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1); + +prog_char help_state1[] = "set ballboard mode"; +parse_pgm_inst_t cmd_state1 = { + .f = cmd_state1_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state1, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state1_arg0, + (prog_void *)&cmd_state1_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* State2 */ + +/* this structure is filled when cmd_state2 is parsed successfully */ +struct cmd_state2_result { + fixed_string_t arg0; + fixed_string_t arg1; + fixed_string_t arg2; +}; + +/* function called when cmd_state2 is parsed successfully */ +static void cmd_state2_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state2_result *res = parsed_result; + uint8_t mode; + + if (!strcmp_P(res->arg2, PSTR("left"))) { + if (!strcmp_P(res->arg1, PSTR("prepare"))) + mode = I2C_BALLBOARD_MODE_PREP_L_FORK; + else if (!strcmp_P(res->arg1, PSTR("take"))) + mode = I2C_BALLBOARD_MODE_TAKE_L_FORK; + } + else { + if (!strcmp_P(res->arg1, PSTR("prepare"))) + mode = I2C_BALLBOARD_MODE_PREP_R_FORK; + else if (!strcmp_P(res->arg1, PSTR("take"))) + mode = I2C_BALLBOARD_MODE_TAKE_R_FORK; + } + //state_set_mode(mode); +} + +prog_char str_state2_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0); +prog_char str_state2_arg1[] = "prepare#take"; +parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1); +prog_char str_state2_arg2[] = "left#right"; +parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2); + +prog_char help_state2[] = "set ballboard mode"; +parse_pgm_inst_t cmd_state2 = { + .f = cmd_state2_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state2, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state2_arg0, + (prog_void *)&cmd_state2_arg1, + (prog_void *)&cmd_state2_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* State3 */ + +/* this structure is filled when cmd_state3 is parsed successfully */ +struct cmd_state3_result { + fixed_string_t arg0; + fixed_string_t arg1; + uint8_t arg2; +}; + +/* function called when cmd_state3 is parsed successfully */ +static void cmd_state3_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state3_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("xxx"))) { + /* xxx = res->arg2 */ + } + else if (!strcmp_P(res->arg1, PSTR("yyy"))) { + } + state_set_mode(0); +} + +prog_char str_state3_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_state3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg0, str_state3_arg0); +prog_char str_state3_arg1[] = "xxx"; +parse_pgm_token_string_t cmd_state3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg1, str_state3_arg1); +parse_pgm_token_num_t cmd_state3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_state3_result, arg2, UINT8); + +prog_char help_state3[] = "set ballboard mode"; +parse_pgm_inst_t cmd_state3 = { + .f = cmd_state3_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state3, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state3_arg0, + (prog_void *)&cmd_state3_arg1, + (prog_void *)&cmd_state3_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* State_Machine */ + +/* this structure is filled when cmd_state_machine is parsed successfully */ +struct cmd_state_machine_result { + fixed_string_t arg0; +}; + +/* function called when cmd_state_machine is parsed successfully */ +static void cmd_state_machine_parsed(__attribute__((unused)) void *parsed_result, + __attribute__((unused)) void *data) +{ + state_machine(); +} + +prog_char str_state_machine_arg0[] = "state_machine"; +parse_pgm_token_string_t cmd_state_machine_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_machine_result, arg0, str_state_machine_arg0); + +prog_char help_state_machine[] = "launch state machine"; +parse_pgm_inst_t cmd_state_machine = { + .f = cmd_state_machine_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state_machine, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state_machine_arg0, + NULL, + }, +}; + +/**********************************************************/ +/* State_Debug */ + +/* this structure is filled when cmd_state_debug is parsed successfully */ +struct cmd_state_debug_result { + fixed_string_t arg0; + uint8_t on; +}; + +/* function called when cmd_state_debug is parsed successfully */ +static void cmd_state_debug_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state_debug_result *res = parsed_result; + state_debug = res->on; +} + +prog_char str_state_debug_arg0[] = "state_debug"; +parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0); +parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8); + +prog_char help_state_debug[] = "Set debug for state machine"; +parse_pgm_inst_t cmd_state_debug = { + .f = cmd_state_debug_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state_debug, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state_debug_arg0, + (prog_void *)&cmd_state_debug_on, + NULL, + }, +}; + +/**********************************************************/ +/* Fork */ + +/* this structure is filled when cmd_fork is parsed successfully */ +struct cmd_fork_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_fork is parsed successfully */ +static void cmd_fork_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_fork_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("deploy"))) + fork_deploy(); + else if (!strcmp_P(res->arg1, PSTR("pack"))) + fork_pack(); + else if (!strcmp_P(res->arg1, PSTR("left"))) + fork_left(); + else if (!strcmp_P(res->arg1, PSTR("right"))) + fork_right(); + else if (!strcmp_P(res->arg1, PSTR("middle"))) + fork_middle(); +} + +prog_char str_fork_arg0[] = "fork"; +parse_pgm_token_string_t cmd_fork_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg0, str_fork_arg0); +prog_char str_fork_arg1[] = "deploy#pack#left#right#middle"; +parse_pgm_token_string_t cmd_fork_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg1, str_fork_arg1); + +prog_char help_fork[] = "move fork"; +parse_pgm_inst_t cmd_fork = { + .f = cmd_fork_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_fork, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_fork_arg0, + (prog_void *)&cmd_fork_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Roller */ + +/* this structure is filled when cmd_roller is parsed successfully */ +struct cmd_roller_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_roller is parsed successfully */ +static void cmd_roller_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_roller_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("on"))) + roller_on(); + else if (!strcmp_P(res->arg1, PSTR("off"))) + roller_off(); + else if (!strcmp_P(res->arg1, PSTR("reverse"))) + roller_reverse(); +} + +prog_char str_roller_arg0[] = "roller"; +parse_pgm_token_string_t cmd_roller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg0, str_roller_arg0); +prog_char str_roller_arg1[] = "on#off#reverse"; +parse_pgm_token_string_t cmd_roller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg1, str_roller_arg1); + +prog_char help_roller[] = "Servo door function"; +parse_pgm_inst_t cmd_roller = { + .f = cmd_roller_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_roller, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_roller_arg0, + (prog_void *)&cmd_roller_arg1, + NULL, + }, +}; + /**********************************************************/ /* Test */ @@ -179,7 +463,6 @@ struct cmd_test_result { static void cmd_test_parsed(void *parsed_result, void *data) { //struct cmd_test_result *res = parsed_result; - } prog_char str_test_arg0[] = "test";