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=e252298dc870793bf427f26cc2607a91ac09e4c8;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

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