diff options
| -rw-r--r-- | client/commands.c | 21 | ||||
| -rw-r--r-- | client/i18n/en_us.h | 12 | ||||
| -rw-r--r-- | client/ui.c | 4 | ||||
| -rw-r--r-- | client/ui_modes.c | 11 | ||||
| -rw-r--r-- | robot/mode_halt.c | 5 | ||||
| -rw-r--r-- | robot/modes.c | 2 |
6 files changed, 47 insertions, 8 deletions
diff --git a/client/commands.c b/client/commands.c index 778e9c1..05b92d9 100644 --- a/client/commands.c +++ b/client/commands.c @@ -46,10 +46,21 @@ void w2_send_ping() { } void w2_send_mode(w2_e_mode mode) { - W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin); - msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX; - msg->mode = mode; + if (mode == W2_M_PREV) { + W2_CREATE_MSG_BIN(w2_s_cmd_sres_rx, msg, msg_bin); - w2_send_bin(msg_bin); - free(msg_bin); + msg->opcode = W2_CMD_SRES | W2_CMDDIR_RX; + msg->type = W2_CMD_SRES_RX_TYPE_PREVMODE; + + w2_send_bin(msg_bin); + free(msg_bin); + } else { + W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin); + + msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX; + msg->mode = mode; + + w2_send_bin(msg_bin); + free(msg_bin); + } } diff --git a/client/i18n/en_us.h b/client/i18n/en_us.h index ceca215..d198296 100644 --- a/client/i18n/en_us.h +++ b/client/i18n/en_us.h @@ -101,3 +101,15 @@ #define W2_UI_ORDER_MSG_ORDER_DONE_ERR "no order active\n\n" #define W2_UI_ORDER_MSG_ORDER_SENT "order sent to robot\n\n" +#define W2_UI_MODES_INFO \ + "press keys (0-9) for:\n" \ + "\n" \ + "1 - set to maze mode\n" \ + "2 - set to grid mode\n" \ + "3 - halt (emergency stop)\n" \ + "4 - set to charging station mode\n" \ + "5 - set to spinning mode (wet floor simulation)\n" \ + "6 - calibrate sensors\n" \ + "\n" \ + "0 - previous\n" \ + diff --git a/client/ui.c b/client/ui.c index 13bcfb2..cdf2f3b 100644 --- a/client/ui.c +++ b/client/ui.c @@ -75,6 +75,10 @@ void w2_ui_paint() { void w2_ui_paint_statusbar() { char temp[g_w2_ui_width]; + for (int i = 0; i < g_w2_ui_width; i++) temp[i] = ' '; + w2_wmvaddnstr(g_w2_ui_pad_statusbar, 0, 0, temp, g_w2_ui_width); + w2_wmvaddnstr(g_w2_ui_pad_statusbar, 1, 0, temp, g_w2_ui_width); + g_w2_state.connected ? sprintf(temp, W2_UI_CONN_STAT_CONNECTED ", %ims %s", g_w2_state.ping, W2_UI_CONN_STAT_PING) : sprintf(temp, W2_UI_CONN_STAT_DISCONNECTED); diff --git a/client/ui_modes.c b/client/ui_modes.c index 933f47b..829f807 100644 --- a/client/ui_modes.c +++ b/client/ui_modes.c @@ -1,10 +1,19 @@ +#include "commands.h" #include "ui.h" +#include "i18n.h" void w2_ui_onkey_modes(int ch) { + if (ch == '1') w2_send_mode(W2_M_MAZE); + if (ch == '2') w2_send_mode(W2_M_GRID); + if (ch == '3') w2_send_mode(W2_M_HALT); + if (ch == '4') w2_send_mode(W2_M_CHRG); + if (ch == '5') w2_send_mode(W2_M_SPIN); + if (ch == '6') w2_send_mode(W2_M_SCAL); + if (ch == '0') w2_send_mode(W2_M_PREV); } void w2_ui_tab_modes(bool first) { - + w2_wmvaddstr(g_w2_ui_pad_body, 0, 0, W2_UI_MODES_INFO); } diff --git a/robot/mode_halt.c b/robot/mode_halt.c index 88d6183..bc501a2 100644 --- a/robot/mode_halt.c +++ b/robot/mode_halt.c @@ -1,3 +1,6 @@ #include "mode_halt.h" +#include "orangutan_shim.h" -void w2_mode_halt() { return; } +void w2_mode_halt() { + set_motors(0, 0); +} diff --git a/robot/modes.c b/robot/modes.c index 600c9a1..4995d6f 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -46,7 +46,7 @@ void w2_modes_switch(w2_e_mode new_mode, bool replace) { // forward mode change to sercomm W2_CREATE_MSG_BIN(w2_s_cmd_mode_tx, msg, msg_bin); msg->opcode = W2_CMD_MODE | W2_CMDDIR_TX; - msg->mode = new_mode; + msg->mode = g_w2_mode_history[g_w2_mode_history_index]; w2_sercomm_append_msg(msg_bin); free(msg_bin); |