void runMotorBoardPC(bool singleMode) {
singleModeActivated = singleMode;
setBoardName(MOTOR_BOARD_PC_NAME);
moveConsole(HALF_SCREEN_WIDTH, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT);
// We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC
// with Font : Jerusalem
printf(" __ __ ___ _____ ___ ____ ____ ___ _ ____ ____ ____ ____\r\n");
printf("| \\/ |/ _ |_ _/ _ \\| _ \\ | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n");
printf("| |\\/| | | | || || | | | |_) | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n");
printf("| | | | |_| || || |_| | _ < | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n");
printf("|_| |_|\\___/ |_| \\___/|_| \\_\\ |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n");
printf("\r\n");
initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MOTOR_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
appendStringCRLF(getDebugOutputStreamLogger(), getBoardName());
initTimerList((Timer(*)[]) &timerListArray, MOTOR_BOARD_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MOTOR_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MOTOR_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MOTOR_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
if (!singleModeActivated) {
initI2cBus(&motorI2cBus, I2C_BUS_TYPE_SLAVE, I2C_BUS_PORT_1);
initI2cBusConnection(&motorI2cBusConnection, &motorI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS);
openSlaveI2cStreamLink(&i2cSlaveStreamLink,
&i2cSlaveInputBuffer,
(char(*)[]) &i2cSlaveInputBufferArray,
MOTOR_BOARD_PC_IN_BUFFER_LENGTH,
&i2cSlaveOutputBuffer,
(char(*)[]) &i2cSlaveOutputBufferArray,
MOTOR_BOARD_PC_OUT_BUFFER_LENGTH,
&motorI2cBusConnection
);
// I2C Debug
initI2CDebugBuffers(&i2cSlaveDebugInputBuffer,
(char(*)[]) &i2cSlaveDebugInputBufferArray,
MOTOR_BOARD_PC_I2C_DEBUG_SLAVE_IN_BUFFER_LENGTH,
&i2cSlaveDebugOutputBuffer,
(char(*)[]) &i2cSlaveDebugOutputBufferArray,
MOTOR_BOARD_PC_I2C_DEBUG_SLAVE_OUT_BUFFER_LENGTH);
}
// Eeprom
initEepromPc(&eeprom, "TODO");
// Battery
initBattery(&battery, getBatteryVoltage);
// Clock
initSoftClock(&clock);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MOTOR_BOARD_PC_DEVICE_LIST_LENGTH);
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
addLocalDevice(getI2cSlaveDebugDeviceInterface(), getI2cSlaveDebugDeviceDescriptor(&motorI2cBusConnection));
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getMotorDeviceInterface(), getMotorDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getBatteryDeviceInterface(), getBatteryDeviceDescriptor(&battery));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getRobotKinematicsDeviceInterface(), getRobotKinematicsDeviceDescriptor(&eeprom));
addLocalDevice(getPIDDeviceInterface(), getPIDDeviceDescriptor(&eeprom, true));
addLocalDevice(getMotorDeviceInterface(), getMotorDeviceDescriptor());
addLocalDevice(getCodersDeviceInterface(), getCodersDeviceDescriptor());
addLocalDevice(getTrajectoryDeviceInterface(), getTrajectoryDeviceDescriptor());
addLocalDevice(getMotionDeviceInterface(), getMotionDeviceDescriptor(&eeprom, true));
addLocalDevice(getMotionSimulationDeviceInterface(), getMotionSimulationDeviceDescriptor());
initDevices();
startTimerList();
setDebugI2cEnabled(false);
while (1) {
motorBoardWaitForInstruction();
}
}
void runMechanicalBoard1PC(bool singleMode) {
singleModeActivated = singleMode;
setBoardName(MECHANICAL_BOARD_1_PC_NAME);
setConsoleSizeAndBuffer(CONSOLE_CHARS_WIDTH, CONSOLE_CHARS_HEIGHT, CONSOLE_BUFFER_WIDTH, CONSOLE_BUFFER_HEIGHT);
moveConsole(HALF_SCREEN_WIDTH, CONSOLE_HEIGHT / 2, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT / 2);
// We use http://patorjk.com/software/taag/#p=display&v=2&f=Jerusalem&t=MECA%20%20%201%20%20%20PC
// with Font : Jerusalem
printf(" __ __ _____ ____ _ _ ____ ____\r\n");
printf("| \\/ | ____ / ___| / \\ / | | _ \\ / ___|\r\n");
printf("| |\\/| | _|| | / _ \\ | | | |_) | |\r\n");
printf("| | | | |__| |___ / ___ \\ | | | __/| |___\r\n");
printf("|_| |_| _____\\____/ _ / \\_\\ |_| |_| \\____ |\r\n");
initLogs(LOG_LEVEL_DEBUG, (LogHandler(*)[]) &logHandlerListArray, MECHANICAL_BOARD_1_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(LOG_LEVEL_DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
initSerialLinkList((SerialLink(*)[]) &serialLinkListArray, MECHANICAL_BOARD_1_PC_SERIAL_LINK_LIST_LENGTH);
initTimerList((Timer(*)[]) &timerListArray, MECHANICAL_BOARD_1_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MECHANICAL_BOARD_1_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MECHANICAL_BOARD_1_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MECHANICAL_BOARD_1_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
if (!singleModeActivated) {
// I2c
initI2cBusList((I2cBus(*)[]) &i2cBusListArray, MECHANICAL_BOARD_1_PC_I2C_BUS_LIST_LENGTH);
mechanical1I2cBus = addI2cBus(I2C_BUS_TYPE_SLAVE, I2C_BUS_PORT_1);
initI2cBusConnectionList((I2cBusConnection(*)[]) &i2cBusConnectionListArray, MECHANICAL_BOARD_1_PC_I2C_BUS_CONNECTION_LIST_LENGTH);
mechanical1I2cBusConnection = addI2cBusConnection(mechanical1I2cBus, MECHANICAL_BOARD_1_I2C_ADDRESS, false);
mechanical1I2cBusConnection->i2cBus = mechanical1I2cBus;
mechanical1I2cBusConnectionPc.i2cPipeMasterName = MAIN_BOARD_TO_MECA1_BOARD_PC_PIPE_I2C_MASTER_NAME;
mechanical1I2cBusConnectionPc.i2cPipeSlaveName = MECHANICAL_BOARD_1_PC_PIPE_I2C_SLAVE_NAME;
mechanical1I2cBusConnection->object = &mechanical1I2cBusConnectionPc;
openSlaveI2cStreamLink(&i2cSlaveStreamLink,
&i2cSlaveInputBuffer,
(char(*)[]) &i2cSlaveInputBufferArray,
MECHANICAL_BOARD_1_PC_IN_BUFFER_LENGTH,
&i2cSlaveOutputBuffer,
(char(*)[]) &i2cSlaveOutputBufferArray,
MECHANICAL_BOARD_1_PC_OUT_BUFFER_LENGTH,
mechanical1I2cBusConnection
);
// I2C Debug
initI2CDebugBuffers(&i2cSlaveDebugInputBuffer,
(char(*)[]) &i2cSlaveDebugInputBufferArray,
MECHANICAL_BOARD_1_PC_I2C_DEBUG_SLAVE_IN_BUFFER_LENGTH,
&i2cSlaveDebugOutputBuffer,
(char(*)[]) &i2cSlaveDebugOutputBufferArray,
MECHANICAL_BOARD_1_PC_I2C_DEBUG_SLAVE_OUT_BUFFER_LENGTH);
}
// Eeprom
initEepromPc(&eeprom, "MECHANICAL_BOARD_1_PC_EEPROM");
// Battery
initBattery(&battery, getBatteryVoltage);
// Clock
initSoftClock(&clock);
// HBridge Fake Motor MD22
initDualHBridgeMotorPc(&md22);
// 2018
// IO Expander
initIOExpanderList(&ioExpanderList, (IOExpander(*)[]) &ioExpanderArray, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LIST_LENGTH);
initIOExpanderPc(getIOExpanderByIndex(&ioExpanderList, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LAUNCHER_INDEX), &ioExpanderValue0);
IOExpander* launcherIoExpander = getIOExpanderByIndex(&ioExpanderList, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LAUNCHER_INDEX);
// TODO : Add tof !
// initLauncher2018(&launcher2018, launcherIoExpander, &relay, &md22, NULL);
// Relay
initRelayPc(&relay, &relayValue);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MECHANICAL_BOARD_1_PC_DEVICE_LIST_LENGTH);
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getI2cCommonDebugDeviceInterface(), getI2cCommonDebugDeviceDescriptor());
addLocalDevice(getI2cSlaveDebugDeviceInterface(), getI2cSlaveDebugDeviceDescriptor(mechanical1I2cBusConnection));
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
// 2018
addLocalDevice(getIOExpanderDeviceInterface(), getIOExpanderDeviceDescriptor(&ioExpanderList));
addLocalDevice(getRelayDeviceInterface(), getRelayDeviceDescriptor(&relay));
addLocalDevice(getMD22DeviceInterface(), getMD22DeviceDescriptor(&md22));
initDevices();
startTimerList(true);
setDebugI2cEnabled(false);
while (1) {
mechanicalBoard1PcWaitForInstruction();
}
}
