better cobboard commands in strat_event

[aversive.git] / projects / microb2010 / cobboard / commands_cobboard.c

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index bea27e9..669c4c8 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -193,13 +193,17 @@ static void cmd_state1_parsed(void *parsed_result,
                state_init();
        else if (!strcmp_P(res->arg1, PSTR("eject")))
                state_set_mode(I2C_COBBOARD_MODE_EJECT);
+       else if (!strcmp_P(res->arg1, PSTR("ignore_i2c")))
+               state_set_i2c_ignore(1);
+       else if (!strcmp_P(res->arg1, PSTR("care_i2c")))
+               state_set_i2c_ignore(0);
 
        /* other commands */
 }
 
 prog_char str_state1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
-prog_char str_state1_arg1[] = "init#eject";
+prog_char str_state1_arg1[] = "init#eject#ignore_i2c#care_i2c";
 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 
 prog_char help_state1[] = "set cobboard mode";
@@ -229,43 +233,42 @@ static void cmd_state2_parsed(void *parsed_result,
                              __attribute__((unused)) void *data)
 {
        struct cmd_state2_result *res = parsed_result;
-       uint8_t side, mode = state_get_mode();
+       uint8_t side;
 
-       if (!strcmp_P(res->arg2, PSTR("left"))) {
+       if (!strcmp_P(res->arg2, PSTR("left")))
                side = I2C_LEFT_SIDE;
-               mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
-       }
-       else {
+       else
                side = I2C_RIGHT_SIDE;
-               mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
-       }
 
        if (!strcmp_P(res->arg1, PSTR("pack"))) {
-               /* nothing to do */
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, 0);
        }
        else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
-               if (side == I2C_LEFT_SIDE)
-                       mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-               else
-                       mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
        }
        else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
-               if (side == I2C_LEFT_SIDE) {
-                       mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-                       mode |= I2C_COBBOARD_MODE_L_HARVEST;
-               }
-               else {
-                       mode |= I2C_COBBOARD_MODE_R_DEPLOY;
-                       mode |= I2C_COBBOARD_MODE_R_HARVEST;
-               }
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                 I2C_COBBOARD_SPK_AUTOHARVEST);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                 I2C_COBBOARD_SPK_NO_MOVE);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                 I2C_COBBOARD_SPK_AUTOHARVEST |
+                                 I2C_COBBOARD_SPK_NO_MOVE);
        }
-
-       state_set_mode(mode);
 }
 
 prog_char str_state2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "harvest#deploy#pack";
+prog_char str_state2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 prog_char str_state2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);