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/****************************************************************************
* calibration.c
*
* Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
* Authors: Nils Wenzler <wenzlern@ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "calibration.h"
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int calibrate_help(int argc, char *argv[]);
static int calibrate_all(int argc, char *argv[]);
__EXPORT int calibration_main(int argc, char *argv[]);
/****************************************************************************
* Private Data
****************************************************************************/
struct {
const char *name;
int (* fn)(int argc, char *argv[]);
unsigned options;
#define OPT_NOHELP (1<<0)
#define OPT_NOALLTEST (1<<1)
} calibrates[] = {
{"range", range_cal, 0},
{"servo", servo_cal, 0},
{"all", calibrate_all, OPT_NOALLTEST},
{"help", calibrate_help, OPT_NOALLTEST | OPT_NOHELP},
{NULL, NULL}
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static int
calibrate_help(int argc, char *argv[])
{
unsigned i;
printf("Available calibration routines:\n");
for (i = 0; calibrates[i].name; i++)
printf(" %s\n", calibrates[i].name);
return 0;
}
static int
calibrate_all(int argc, char *argv[])
{
unsigned i;
char *args[2] = {"all", NULL};
printf("Running all calibration routines...\n\n");
for (i = 0; calibrates[i].name; i++) {
printf(" %s:\n", calibrates[i].name);
if (calibrates[i].fn(1, args)) {
printf(" FAIL\n");
} else {
printf(" DONE\n");
}
}
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
void press_enter(void)
{
int c;
printf("Press CTRL+ENTER to continue... \n");
fflush(stdout);
do c = getchar(); while ((c != '\n') && (c != EOF));
}
/****************************************************************************
* Name: calibrate_main
****************************************************************************/
int calibration_main(int argc, char *argv[])
{
unsigned i;
if (argc < 2) {
printf("calibration: missing name - 'calibration help' for a list of routines\n");
return 1;
}
for (i = 0; calibrates[i].name; i++) {
if (!strcmp(calibrates[i].name, argv[1]))
return calibrates[i].fn(argc - 1, argv + 1);
}
printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
return 1;
}
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