Mercurial > hg-public > freeslot / changeset

--- a/blackbox/main.c	Sat Dec 03 12:10:10 2011 +0100
+++ b/blackbox/main.c	Sat Dec 03 13:53:44 2011 +0100
@@ -36,6 +36,16 @@
 volatile uint8_t timer0_delay;
 
 
+int insert_queue(uint16_t tmp, uint8_t len) {
+    if (transmit_buffer_queue == 0) {
+        transmit_buffer_queue = tmp;
+        transmit_len_queue = len;
+        return 1;
+    }
+    return 0;
+}
+
+
 ISR ( USART_RXC_vect ) {
     char c = UDR;
 
@@ -44,14 +54,12 @@
         buffer_len=0;
     }  else {
         // collect characters until end of line
-        if ( (c==0x0A) ) {
+        if ( (c=='\n') ) {
             buffer[buffer_len]=0;
 
             // packet end received, parse the received packet
             switch (buffer[0]) {
                 case 'P': // inject a program data word to the rails
-                    // TODO: at the moment only parameters 0..9 supported
-                    // needs to build a "human" parser
                     if (program_count == 0) {
                         program_id = buffer[3]-'0';
                         program_command = buffer[1]-'0';
@@ -80,14 +88,6 @@
 
 
 
-int insert_queue(uint16_t tmp, uint8_t len) {
-    if (transmit_buffer_queue == 0) {
-        transmit_buffer_queue = tmp;
-        transmit_len_queue = len;
-        return 1;
-    }
-    return 0;
-}
 
 
 int do_controller(uint8_t controller) {

--- a/slotUI/SlotCli.py	Sat Dec 03 12:10:10 2011 +0100
+++ b/slotUI/SlotCli.py	Sat Dec 03 13:53:44 2011 +0100
@@ -5,6 +5,10 @@
 """
 
 from freeslot import Blackbox
+from optparse import OptionParser
+import time, sys
+
+VERSION = "1.0"
 
 class SlotCli():
     def __init__(self):
@@ -18,5 +22,35 @@
         return None
 
 if __name__ == "__main__":
-    app = SlotCli()
-    app.run()
\ No newline at end of file
+    parser = OptionParser(version="%prog " + VERSION)
+    parser.add_option("--carid", dest="carid",
+        help="Required for programming a car directly", metavar="[0-5]")
+    parser.add_option("--fuel", dest="fuel",
+        help="Set maximum CAR fuel level", metavar="[0-15]")
+    parser.add_option("--brake", dest="brake",
+        help="Set CAR brake strength", metavar="[0-15]")
+    parser.add_option("--speed", dest="speed",
+        help="Set maximum CAR speed", metavar="[0-15]")
+    parser.add_option("--blink", dest="blink",
+        help="Set car lights blinking state", metavar="[on|off]")
+
+    (options, args) = parser.parse_args()
+    cli = SlotCli()
+    # should a CLI function be started?
+
+
+    # check commandline if we have to program something
+    if options.carid == None:
+        print "Option --carid is required for all car programming commands!\nUse --help to get a list of available commands"
+        sys.exit(1)
+    if options.fuel != None:
+        print "setFuel: " + cli.box.progcar(int(options.carid), "fuel", int(options.fuel))
+    if options.speed != None:
+        print "setSpeed: " + cli.box.progcar(int(options.carid), "speed", int(options.speed))
+    if options.brake != None:
+        print "setBrake: " + cli.box.progcar(int(options.carid), "brake", int(options.brake))
+    if options.blink != None:
+        state = False
+        if options.blink == "on":
+            state = True
+        print "setBlink: " + cli.box.blinkcar(int(options.carid), state)

--- a/slotUI/freeslot.py	Sat Dec 03 12:10:10 2011 +0100
+++ b/slotUI/freeslot.py	Sat Dec 03 13:53:44 2011 +0100
@@ -3,8 +3,18 @@
 Blackbox communication library
 """
 
-import serial
-import sys
+import serial, sys, string, time
+
+# how often should a command retried when busy?
+RETRIES = 10
+
+# define loglevels
+DEBUG = 20
+def log(level, msg):
+    """
+    Logging output function
+    """
+    print msg
 
 class SerialCommunicator():
     def __init__(self, device, speed):
@@ -38,12 +48,23 @@
         answer = self.com.readline()
         return string.strip(answer, "\n")
 
+    def query(self, msg):
+        retry = 0
+        response = self.write(msg, True)
+        while (retry < RETRIES) and (response == "BUSY"):
+            time.sleep(0.1)
+            response = self.write(msg, True)
+            retry += 1
+        log( DEBUG, "%i> %s\n< %s" % (retry, msg, response) )
+        return response
+
+
 class Blackbox():
     def __init__(self):
         self.com = None
         self.info = None
 
-    def connect(self, device="/dev/ttyUSB0", speed=115200):
+    def connect(self, device="/dev/ttyUSB0", speed=57600):
         if self.com == None:
             self.com = SerialCommunicator(device, speed)
         if self.com.connected:
@@ -51,10 +72,10 @@
         self.com.connect()
         self.info = self.readinfo()
 
-    def disconnect():
+    def disconnect(self):
         self.com.disconnect()
 
-    def readinfo():
+    def readinfo(self):
         """
         Read complete Information from connected box
         This does not include race+car status!
@@ -64,10 +85,40 @@
     def progcar(self, carid, command, value):
         """
         Send program packets to specified car id
-        valid command: speed, brake
+        valid command: speed, brake, fuel
         valid value: 4 bit integer (0..15)
+        valid carid: 0..5
         """
-        return True
+        if (carid < 0) or (carid > 5):
+            return "ERR - invalid carid"
+        cmd = -1
+        if command == "speed":
+            cmd = 0
+        if command == "brake":
+            cmd = 1
+        if command == "fuel":
+            cmd = 2
+        if (cmd == -1):
+            return "ERR - invalid command"
+        if (value<0) or (value>15):
+            return "ERR - invalid value"
+        # transform value 10..15 to A..F
+        if (value>9):
+            value = chr(ord("A") + (value-10))
+        command = "P%i%s%i" % (cmd, value, carid)
+        response = self.com.query( command )
+        return response
+
+    def blinkcar(self, carid, blink):
+        """
+        Set car blinking state
+        """
+        if (carid < 0) or (carid > 5):
+            return "ERR - invalid carid"
+        if blink:
+            return self.com.query( "P48%i" % carid )
+        else:
+            return self.com.query( "P40%i" % carid )
 
     def setmode(self, mode):
         """