/*!
* \brief Performs a turn while doing backward line following.
* \return Returns TRUE while turn is still in progress.
*/
static uint8_t EvaluateTurnBw(void) {
REF_LineKind historyLineKind, currLineKind;
TURN_Kind turn;
REF_ClearHistory(); /* clear values */
REF_SampleHistory(); /* store current values */
TURN_Turn(TURN_STEP_LINE_BW); /* make step over line */
historyLineKind = REF_HistoryLineKind(); /* new read new values */
currLineKind = REF_GetLineKind();
#if LINE_DEBUG
REF_DumpHistory();
CLS1_SendStr((unsigned char*)" history: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(historyLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)" curr: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(currLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
turn = MAZE_SelectTurnBw(historyLineKind, currLineKind);
if (turn==TURN_STOP) { /* should not happen here? */
ChangeState(STATE_STOP);
CLS1_SendStr((unsigned char*)"stopped\r\n", CLS1_GetStdio()->stdOut);
return ERR_FAILED; /* error case */
} else { /* turn or do something */
#if LINE_DEBUG
CLS1_SendStr((unsigned char*)"bw turning ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)TURN_TurnKindStr(turn), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
TURN_Turn(TURN_STEP_LINE_FW); /* step over intersection */
TURN_Turn(TURN_STEP_POST_LINE_FW); /* step past intersection */
TURN_Turn(turn); /* make turn */
MAZE_AddPath(MirrorTurn(turn));
MAZE_SimplifyPath();
return ERR_OK; /* turn finished */
}
}
/*!
* \brief Performs a turn.
* \return Returns TRUE while turn is still in progress.
*/
static uint8_t EvaluteTurn(bool *finished, bool *deadEndGoBw) {
REF_LineKind historyLineKind, currLineKind;
TURN_Kind turn;
*finished = FALSE; /* defaults */
*deadEndGoBw = FALSE; /* default */
currLineKind = REF_GetLineKind();
if (currLineKind==REF_LINE_NONE) { /* nothing, must be dead end */
#if PL_GO_DEADEND_BW
TURN_Turn(TURN_STEP_BW); /* step back so we are again on the line for line following */
turn = TURN_STRAIGHT;
*deadEndGoBw = TRUE;
#else
turn = TURN_LEFT180;
#endif
} else {
REF_ClearHistory(); /* clear values */
REF_SampleHistory(); /* store current values */
TURN_Turn(TURN_STEP_LINE_FW); /* make forward step over line */
historyLineKind = REF_HistoryLineKind(); /* new read new values */
currLineKind = REF_GetLineKind();
#if LINE_DEBUG
REF_DumpHistory();
CLS1_SendStr((unsigned char*)" history: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(historyLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)" curr: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(currLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
turn = MAZE_SelectTurn(historyLineKind, currLineKind);
}
if (turn==TURN_FINISHED) {
*finished = TRUE;
ChangeState(STATE_STOP);
CLS1_SendStr((unsigned char*)"finished!\r\n", CLS1_GetStdio()->stdOut);
return ERR_OK;
} else if (turn==TURN_STRAIGHT && *deadEndGoBw) {
MAZE_AddPath(TURN_LEFT180); /* would have been a turn around */
MAZE_SimplifyPath();
CLS1_SendStr((unsigned char*)"going backward\r\n", CLS1_GetStdio()->stdOut);
return ERR_OK;
} else if (turn==TURN_STRAIGHT) {
MAZE_AddPath(turn);
MAZE_SimplifyPath();
CLS1_SendStr((unsigned char*)"going straight\r\n", CLS1_GetStdio()->stdOut);
return ERR_OK;
} else if (turn==TURN_STOP) { /* should not happen here? */
ChangeState(STATE_STOP);
CLS1_SendStr((unsigned char*)"stopped\r\n", CLS1_GetStdio()->stdOut);
return ERR_FAILED; /* error case */
} else { /* turn or do something */
#if LINE_DEBUG
CLS1_SendStr((unsigned char*)"turning ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)TURN_TurnKindStr(turn), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
if (turn==TURN_LEFT90 || turn==TURN_RIGHT90) {
TURN_Turn(TURN_STEP_POST_LINE_FW); /* step before doing the turn so we turn on the middle of the intersection */
}
TURN_Turn(turn); /* make turn */
MAZE_AddPath(turn);
MAZE_SimplifyPath();
return ERR_OK; /* turn finished */
}
}
uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const unsigned char *p;
uint8_t val8u;
uint16_t val16u;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn help")==0) {
TURN_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn status")==0) {
TURN_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left")==0) {
TURN_Turn(TURN_LEFT90, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right")==0) {
TURN_Turn(TURN_RIGHT90, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn around")==0) {
TURN_Turn(TURN_LEFT180, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn forward")==0) {
REF_ClearHistory(); /* clear values */
TURN_Turn(TURN_STEP_FW, FALSE);
TURN_Turn(TURN_STOP, FALSE);
CLS1_SendStr((unsigned char*)REF_LineKindStr(REF_HistoryLineKind()), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn backward")==0) {
TURN_Turn(TURN_STEP_BW, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn duty ", sizeof("turn duty ")-1)==0) {
p = cmd+sizeof("turn duty");
if (UTIL1_ScanDecimal8uNumber(&p, &val8u)==ERR_OK && val8u<=100) {
TURN_DutyPercent = val8u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument, must be in the range -100..100\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn time ", sizeof("turn time ")-1)==0) {
p = cmd+sizeof("turn time");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_TimeMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn step ", sizeof("turn step ")-1)==0) {
p = cmd+sizeof("turn step");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
}
return res;
}
uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const unsigned char *p;
#if !PL_HAS_QUADRATURE
uint8_t val8u;
#endif
uint16_t val16u;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn help")==0) {
TURN_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn status")==0) {
TURN_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left 45")==0) {
TURN_Turn(TURN_LEFT45);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left 90")==0) {
TURN_Turn(TURN_LEFT90);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right 45")==0) {
TURN_Turn(TURN_RIGHT45);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right 90")==0) {
TURN_Turn(TURN_RIGHT90);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn around")==0) {
TURN_Turn(TURN_LEFT180);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn forward")==0) {
#if PL_APP_LINE_MAZE
REF_ClearHistory(); /* clear values */
#endif
TURN_Turn(TURN_STEP_FW);
TURN_Turn(TURN_STOP);
#if PL_APP_LINE_MAZE
CLS1_SendStr((unsigned char*)REF_LineKindStr(REF_HistoryLineKind()), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn backward")==0) {
TURN_Turn(TURN_STEP_BW);
TURN_Turn(TURN_STOP);
*handled = TRUE;
#if PL_HAS_QUADRATURE
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn steps90 ", sizeof("turn steps90 ")-1)==0) {
p = cmd+sizeof("turn steps90");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_Steps90 = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn stepsfw ", sizeof("turn stepsfw ")-1)==0) {
p = cmd+sizeof("turn stepsfw");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepsFwBw = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
#else
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn duty ", sizeof("turn duty ")-1)==0) {
p = cmd+sizeof("turn duty");
if (UTIL1_ScanDecimal8uNumber(&p, &val8u)==ERR_OK && val8u<=100) {
TURN_DutyPercent = val8u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument, must be in the range -100..100\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn time90 ", sizeof("turn time90 ")-1)==0) {
p = cmd+sizeof("turn time90");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_Time90ms = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn timefw ", sizeof("turn timefw ")-1)==0) {
p = cmd+sizeof("turn timefw");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepFwBwMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
#endif
}
return res;
}
