X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fsensorboard%2Fcommands_scan.c;fp=projects%2Fmicrob2010%2Fsensorboard%2Fcommands_scan.c;h=0000000000000000000000000000000000000000;hp=e252298dc870793bf427f26cc2607a91ac09e4c8;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/sensorboard/commands_scan.c b/projects/microb2010/sensorboard/commands_scan.c
deleted file mode 100644
index e252298..0000000
--- a/projects/microb2010/sensorboard/commands_scan.c
+++ /dev/null
@@ -1,401 +0,0 @@
-/*
- *  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,
-	},
-};
-
-