optim cobboard

[aversive.git] / projects / microb2010 / mainboard / commands_mainboard.c

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index e552583..ee0ffa4 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -730,9 +730,9 @@ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
        struct cmd_cobboard_setmode1_result *res = parsed_result;
 
        if (!strcmp_P(res->arg1, PSTR("init")))
-               i2c_cobboard_mode_init();
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
        else if (!strcmp_P(res->arg1, PSTR("eject")))
-               i2c_cobboard_mode_eject();
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 }
 
 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
@@ -763,7 +763,7 @@ struct cmd_cobboard_setmode2_result {
 };
 
 /* function called when cmd_cobboard_setmode2 is parsed successfully */
-static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
+static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 {
        struct cmd_cobboard_setmode2_result *res = parsed_result;
        uint8_t side = I2C_LEFT_SIDE;
@@ -773,12 +773,18 @@ static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
        else if (!strcmp_P(res->arg2, PSTR("right")))
                side = I2C_RIGHT_SIDE;
 
-       if (!strcmp_P(res->arg1, PSTR("deploy")))
-               i2c_cobboard_mode_deploy(side);
-       else if (!strcmp_P(res->arg1, PSTR("harvest")))
-               i2c_cobboard_mode_harvest(side);
-       else if (!strcmp_P(res->arg1, PSTR("pack")))
-               i2c_cobboard_mode_pack(side);
+       if (!strcmp_P(res->arg1, PSTR("deploy"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_deploy(side);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_autoharvest(side);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("pack"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_pack(side);
+       }
 }
 
 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
@@ -1117,6 +1123,47 @@ parse_pgm_inst_t cmd_clitoid = {
        },
 };
 
+/**********************************************************/
+/* Time_Monitor */
+
+/* this structure is filled when cmd_time_monitor is parsed successfully */
+struct cmd_time_monitor_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+};
+
+/* function called when cmd_time_monitor is parsed successfully */
+static void cmd_time_monitor_parsed(void *parsed_result, void *data)
+{
+#ifndef HOST_VERSION
+       struct cmd_time_monitor_result *res = parsed_result;
+       uint16_t seconds;
+
+       if (!strcmp_P(res->arg1, PSTR("reset"))) {
+               eeprom_write_word(EEPROM_TIME_ADDRESS, 0);
+       }
+       seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
+       printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
+#endif
+}
+
+prog_char str_time_monitor_arg0[] = "time_monitor";
+parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0);
+prog_char str_time_monitor_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1);
+
+prog_char help_time_monitor[] = "Show since how long we are running";
+parse_pgm_inst_t cmd_time_monitor = {
+       .f = cmd_time_monitor_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_time_monitor,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_time_monitor_arg0,
+               (prog_void *)&cmd_time_monitor_arg1,
+               NULL,
+       },
+};
+
 /**********************************************************/
 /* Test */