root / trunk / code / projects / diagnostic_station / station / main.c @ 1153
History | View | Annotate | Download (2.07 KB)
1 |
#include <dragonfly_lib.h> |
---|---|
2 |
|
3 |
#include "global.h" |
4 |
#include "station_hardware.h" |
5 |
|
6 |
#include "test_comm.h" |
7 |
#include "test_bom.h" |
8 |
#include "test_rangefinders.h" |
9 |
#include "test_encoders.h" |
10 |
#include "test_motors.h" |
11 |
|
12 |
bool communication_ok=false; |
13 |
|
14 |
bool require_comm (void) |
15 |
{ |
16 |
if (!communication_ok)
|
17 |
communication_ok=test_comm (); |
18 |
|
19 |
if (!communication_ok)
|
20 |
usb_puts ("Communications required. Stop." NL);
|
21 |
|
22 |
return communication_ok;
|
23 |
} |
24 |
|
25 |
void test_all (void) |
26 |
{ |
27 |
// test_all tests comm itself because we want to test comm, even if it
|
28 |
// succeeded before (that's what test_all means).
|
29 |
if (!test_comm ())
|
30 |
{ |
31 |
usb_puts ("Communications require. Stop." NL);
|
32 |
return;
|
33 |
} |
34 |
|
35 |
test_bom (true, true); |
36 |
test_rangefinders (); |
37 |
test_encoders (); |
38 |
test_motors (); |
39 |
} |
40 |
|
41 |
void interactive_main (void) |
42 |
{ |
43 |
while (1) |
44 |
{ |
45 |
// Set the orbs to green/green
|
46 |
orbs_set (0,255,0, 0,255,0); |
47 |
|
48 |
usb_puts (NL); |
49 |
usb_puts ("Diagnostic station interactive mode" NL);
|
50 |
usb_puts ("Test (s)elf, (a)ll, (c)omm, (b)om, (r)angefinders, (e)ncoders, (m)otors" NL);
|
51 |
|
52 |
char choice = usb_getc ();
|
53 |
switch (choice) {
|
54 |
case 'c': case 'C': test_comm (); break; |
55 |
case 'a': case 'A': test_all (); break; // test_all will test comm itself |
56 |
case 'b': case 'B': if (require_comm ()) test_bom (true, true); break; |
57 |
case 'r': case 'R': if (require_comm ()) test_rangefinders (); break; |
58 |
case 'e': case 'E': if (require_comm ()) test_encoders (); break; |
59 |
case 'm': case 'M': if (require_comm ()) test_motors (); break; |
60 |
case 's': case 'S': self_test (); break; |
61 |
default: break; // ignore it |
62 |
// usb_puts("Received invalid input ");
|
63 |
// usb_putc(choice);
|
64 |
// usb_puts(NL);
|
65 |
} |
66 |
} |
67 |
} |
68 |
|
69 |
void server_main (void) |
70 |
{ |
71 |
// Set the orbs to green/yellow
|
72 |
orbs_set (0,255,0, 255,127,0); |
73 |
|
74 |
while (1); |
75 |
} |
76 |
|
77 |
int main (void) |
78 |
{ |
79 |
dragonfly_init(0);
|
80 |
usb_init (); |
81 |
orb_init (); |
82 |
|
83 |
usb_puts(NL NL NL); |
84 |
usb_puts("Diagnostic station version " version_string " starting" NL); |
85 |
hardware_init (); |
86 |
|
87 |
if (button2_read ())
|
88 |
server_main (); |
89 |
else
|
90 |
interactive_main (); |
91 |
|
92 |
while (1); |
93 |
} |