X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=13a327ae95ba9309d38daccf9be04e31ae81e82d;hp=e4eee5750221ae638cdf7cd3dbb58d9d2825c0b7;hb=38196781643cba8e1d681aafb28cdadc51fe20ec;hpb=4e7801883ed4076cb14b63a0571467747894c0f8

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index e4eee57..13a327a 100644
--- 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;
@@ -773,17 +773,31 @@ 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);
+	}
+	else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		i2c_cobboard_deploy_nomove(side);
+	}
+	else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		i2c_cobboard_autoharvest_nomove(side);
+	}
 }
 
 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
-prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
 prog_char str_cobboard_setmode2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
@@ -1117,6 +1131,85 @@ 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,
+	},
+};
+
+
+/**********************************************************/
+/* Strat_Event */
+
+/* this structure is filled when cmd_strat_event is parsed successfully */
+struct cmd_strat_event_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+};
+
+/* function called when cmd_strat_event is parsed successfully */
+static void cmd_strat_event_parsed(void *parsed_result, void *data)
+{
+	struct cmd_strat_event_result *res = parsed_result;
+
+	if (!strcmp_P(res->arg1, PSTR("on")))
+		strat_event_enable();
+	else
+		strat_event_disable();
+}
+
+prog_char str_strat_event_arg0[] = "strat_event";
+parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
+prog_char str_strat_event_arg1[] = "on#off";
+parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
+
+prog_char help_strat_event[] = "Enable/disable strat_event callback";
+parse_pgm_inst_t cmd_strat_event = {
+	.f = cmd_strat_event_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_strat_event,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_strat_event_arg0,
+		(prog_void *)&cmd_strat_event_arg1,
+		NULL,
+	},
+};
+
 /**********************************************************/
 /* Test */
 
@@ -1130,6 +1223,18 @@ struct cmd_test_result {
 /* function called when cmd_test is parsed successfully */
 static void cmd_test_parsed(void *parsed_result, void *data)
 {
+	strat_db.dump_enabled = 1;
+	strat_db_dump(__FUNCTION__);
+
+	corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
+	strat_db_dump(__FUNCTION__);
+
+	corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
+	strat_db_dump(__FUNCTION__);
+	corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
+	strat_db_dump(__FUNCTION__);
+	corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
+	strat_db_dump(__FUNCTION__);
 }
 
 prog_char str_test_arg0[] = "test";