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-rw-r--r--digital/io/src/test/common.host.c154
-rw-r--r--digital/io/src/test/gutter/Makefile17
-rw-r--r--digital/io/src/test/gutter/main.c49
-rw-r--r--digital/io/src/test/move/Makefile13
-rw-r--r--digital/io/src/test/move/main.c135
-rw-r--r--digital/io/src/test/testgetsamples/Makefile15
-rw-r--r--digital/io/src/test/testgetsamples/main.c89
7 files changed, 0 insertions, 472 deletions
diff --git a/digital/io/src/test/common.host.c b/digital/io/src/test/common.host.c
deleted file mode 100644
index c6586e58..00000000
--- a/digital/io/src/test/common.host.c
+++ /dev/null
@@ -1,154 +0,0 @@
-/* common.c */
-/* {{{
- *
- * Copyright (C) 2008 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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.
- *
- * }}} */
-
-#include "common.h"
-#include "../giboulee.h"
-
-#include <stdio.h>
-
-static uint16_t asserv_arm_position = 0;
-
-/* Yerk export */
-enum team_color_e bot_color = RED_TEAM;
-
-/* Define functions for debug */
-void
-trap_setup_path_to_box (uint8_t box_id)
-{
- printf ("[trap] Configure trap doors to open %d.\n", box_id);
-}
-
-void
-trap_close_rear_panel (void)
-{
- printf ("[trap] Closing rear panel.\n");
-}
-
-void
-trap_open_rear_panel (void)
-{
- printf ("[trap] Opening rear panel.\n");
-}
-
-void
-asserv_move_linearly (int32_t distance)
-{
- printf ("[asserv] Make the bot move linearly of %d mm.\n", distance);
-}
-
-void
-asserv_move_arm (uint16_t position, uint8_t speed)
-{
- asserv_arm_position += position;
- printf ("[asserv] Move arm at %d (speed: %d).\n",
- asserv_arm_position, speed);
-}
-
-void
-asserv_close_input_hole (void)
-{
- printf ("[asserv] Put the arm in front of the input hole.\n");
- asserv_move_arm (asserv_arm_position %
- BOT_ARM_THIRD_ROUND, BOT_ARM_SPEED);
-}
-
-uint16_t
-asserv_get_arm_position (void)
-{
- return asserv_arm_position;
-}
-
-void
-asserv_arm_set_position_reached (uint16_t position)
-{
- printf ("[asserv] Arm notifier at position %d (we are at %d).\n",
- position, asserv_arm_position);
-}
-
-void
-asserv_go_to_distributor (void)
-{
- printf ("[asserv] Go to distributor.\n");
-}
-
-void
-asserv_get_position (void *undef)
-{
- printf ("[asserv] Asking position of the bot.\n");
-}
-
-void
-asserv_goto (uint32_t x, uint32_t y)
-{
- printf ("[asserv] Move the bot to (%d; %d).\n", x, y);
-}
-
-void
-asserv_goto_angle (int16_t angle)
-{
- printf ("[asserv] Move the bot to face %X.\n", angle);
-}
-
-void
-asserv_set_x_position (int32_t x)
-{
- printf ("[asserv] Set X position to %d.\n", x);
-}
-
-void
-asserv_set_y_position (int32_t y)
-{
- printf ("[asserv] Set Y position to %d.\n", y);
-}
-
-void
-asserv_set_angle_position (int16_t a)
-{
- printf ("[asserv] Set angle position to %d.\n", a);
-}
-
-void
-asserv_set_position (int32_t x, int32_t y, int16_t a)
-{
- printf ("[asserv] Set bot position to (%d, %d, %d).\n", x, y, a);
-}
-
-void
-asserv_go_to_the_wall (void)
-{
- printf ("[asserv] Go to the wall.\n");
-}
-
-void
-chrono_init (void)
-{
- printf ("[chrono] Chrono init.\n");
-}
-
-void
-gutter_start (void)
-{
- printf ("[FSM:gutter] Start the gutter FSM\n");
-}
diff --git a/digital/io/src/test/gutter/Makefile b/digital/io/src/test/gutter/Makefile
deleted file mode 100644
index fb829dc8..00000000
--- a/digital/io/src/test/gutter/Makefile
+++ /dev/null
@@ -1,17 +0,0 @@
-BASE= ../../../../avr
-HOST_PROGS = gutter
-IOBASE = ../..
-gutter_SOURCES = main.c ../common.host.c $(IOBASE)/fsm.c \
- $(IOBASE)/gutter_cb.c $(IOBASE)/gutter_fsm.c $(IOBASE)/gutter.c \
- $(IOBASE)/getsamples_cb.c $(IOBASE)/getsamples_fsm.c $(IOBASE)/getsamples.c \
- $(IOBASE)/top.c $(IOBASE)/top_cb.c $(IOBASE)/top_fsm.c \
- $(IOBASE)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \
- $(IOBASE)/simu.host.c
-
-MODULES =
-CONFIGFILE = $(IOBASE)/avrconfig.h
-# -O2 : speed
-# -Os : size
-OPTIMIZE = -O2
-
-include $(BASE)/make/Makefile.gen
diff --git a/digital/io/src/test/gutter/main.c b/digital/io/src/test/gutter/main.c
deleted file mode 100644
index 39acaf28..00000000
--- a/digital/io/src/test/gutter/main.c
+++ /dev/null
@@ -1,49 +0,0 @@
-/* main.c */
-/* {{{
- *
- * Copyright (C) 2008 Nélio Laranjeiro
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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.
- *
- * }}} */
-#include "common.h"
-#include "../../fsm.h"
-#include "../../playground.h"
-
-#include <stdio.h>
-
-int
-main (void)
-{
- fsm_init (&gutter_fsm);
-
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_start);
-
- /* Move (angle here) command succeed */
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed);
-
- /* Move (go to the wall) command succeed */
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed);
-
- /* We have wait enough time for the all the balls to falls */
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_wait_finished);
-
- return 0;
-}
-
diff --git a/digital/io/src/test/move/Makefile b/digital/io/src/test/move/Makefile
deleted file mode 100644
index 4b301734..00000000
--- a/digital/io/src/test/move/Makefile
+++ /dev/null
@@ -1,13 +0,0 @@
-BASE= ../../../../avr
-HOST_PROGS = fsm
-IOBASE = ../..
-fsm_SOURCES = main.c $(IOBASE)/fsm.c \
- $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \
- $(IOBASE)/move.c
-MODULES = utils
-CONFIGFILE =
-# -O2 : speed
-# -Os : size
-OPTIMIZE = -O2
-
-include $(BASE)/make/Makefile.gen
diff --git a/digital/io/src/test/move/main.c b/digital/io/src/test/move/main.c
deleted file mode 100644
index 25ca08b7..00000000
--- a/digital/io/src/test/move/main.c
+++ /dev/null
@@ -1,135 +0,0 @@
-/* main.c */
-/* {{{
- *
- * Copyright (C) 2008 Nélio Laranjeiro
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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.
- *
- * }}} */
-#include "common.h"
-#include "../../fsm.h"
-#include "../../asserv.h"
-#include "../../move.h"
-
-#include <stdio.h>
-
-/**
- * Status structure maintains by the update command.
- */
-typedef struct asserv_struct_s
-{
- /** Status flags. */
- uint8_t status;
- /** Sequence number. */
- uint8_t seq;
- /** Bot position. */
- asserv_position_t position;
- /** Arm position. */
- uint16_t arm_position;
-} asserv_struct_s;
-
-/**
- * Status variable.
- */
-asserv_struct_s asserv_status;
-
-
-void
-move_print_test (fsm_t *move)
-{
- printf ("Machine state ");
-
- switch (move->state_current)
- {
- case MOVE_STATE_IDLE:
- printf ("IDLE");
- break;
- case MOVE_STATE_DESIRED_POSITION:
- printf ("DESIRED POSITION");
- break;
- case MOVE_STATE_MOVE_ON_RIGHT:
- printf ("MOVE ON RIGHT");
- break;
- case MOVE_STATE_MOVE_ON_LEFT:
- printf ("MOVE ON LEFT");
- break;
- default:
- printf ("STATE_NB");
- }
- printf ("\n");
-}
-
-int
-main (void)
-{
- move_data.position_x = asserv_status.position.x = 1500;
- move_data.position_y = asserv_status.position.y = 1050;
-
- fsm_init (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_start);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_blocked);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_blocked);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_blocked);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_blocked);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_blocked);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_blocked);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
- move_print_test (&move_fsm);
-
- return 0;
-}
-
-void
-asserv_goto (uint32_t x, uint32_t y)
-{
- printf ("x : %d\n", x);
- printf ("y : %d\n", y);
-}
-
-void
-asserv_get_position (asserv_position_t *pos)
-{
- pos->x = asserv_status.position.x;
- pos->y = asserv_status.position.y;
-}
-
diff --git a/digital/io/src/test/testgetsamples/Makefile b/digital/io/src/test/testgetsamples/Makefile
deleted file mode 100644
index bbe76734..00000000
--- a/digital/io/src/test/testgetsamples/Makefile
+++ /dev/null
@@ -1,15 +0,0 @@
-BASE= ../../../../avr
-HOST_PROGS = getsamples
-IOBASE = ../..
-getsamples_SOURCES = main.c ../common.host.c $(IOBASE)/fsm.c $(IOBASE)/getsamples.c \
- $(IOBASE)/getsamples_cb.c $(IOBASE)/getsamples_fsm.c \
- $(IOBASE)/top.c $(IOBASE)/top_cb.c $(IOBASE)/top_fsm.c \
- $(IOBASE)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \
- $(IOBASE)/simu.host.c
-MODULES =
-CONFIGFILE = $(IOBASE)/avrconfig.h
-# -O2 : speed
-# -Os : size
-OPTIMIZE = -O2
-
-include $(BASE)/make/Makefile.gen
diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c
deleted file mode 100644
index f083ec8d..00000000
--- a/digital/io/src/test/testgetsamples/main.c
+++ /dev/null
@@ -1,89 +0,0 @@
-/* main.c */
-/* {{{
- *
- * Copyright (C) 2008 Nélio Laranjeiro
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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.
- *
- * }}} */
-#include "common.h"
-
-#include "../../fsm.h"
-#include "../../getsamples.h"
-#include "../../playground.h"
-
-#include "modules/utils/utils.h"
-
-#include "io.h"
-
-#include <stdio.h>
-
-extern struct getsamples_data_t getsamples_data_;
-
-int
-main (void)
-{
- /* Configure the get sample FSM */
- /* Go to our distributor */
- int16_t approach_angle = PG_DISTRIBUTOR_SAMPLE_OUR_A;
- uint8_t sample_bitfield = 0;
- /* We want to put the sample into the 0, 2 and 4 box */
- sample_bitfield |= _BV(0);
- sample_bitfield |= _BV(2);
- sample_bitfield |= _BV(4);
-
- /* Print initial state */
- /* Configure and initialize the get sample FSM */
- getsamples_start (approach_angle, sample_bitfield);
- /* Print first state */
-
- /* We are facing the distributor */
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_bot_move_succeed);
-
- /* We have open the input hole */
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_arm_move_succeed);
-
- /* The bot is now in contact with to the distributor */
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_bot_move_succeed);
-
- /* Get the sample one by one */
- do
- {
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_arm_pass_noted_position);
- } while (getsamples_data_.sample_bitfield);
-
- /* We need to do it one time again to make the bot move away from the
- * distributor */
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_arm_pass_noted_position);
-
- /* We go away from the gutter */
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_bot_move_succeed);
-
- /* We close the input hole */
- fsm_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_arm_move_succeed);
-
- return 0;
-}