From c0a6cb5a529f2c5cfb9bec942e583f29f79cf5fe Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Mon, 5 Dec 2022 19:00:20 +0100
Subject: [PATCH] implemented function and shell command to set the mode

---
 ADIS_ESP32_Eclipse/main/challenge_app.c | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/ADIS_ESP32_Eclipse/main/challenge_app.c b/ADIS_ESP32_Eclipse/main/challenge_app.c
index 1fab1df..e43126f 100644
--- a/ADIS_ESP32_Eclipse/main/challenge_app.c
+++ b/ADIS_ESP32_Eclipse/main/challenge_app.c
@@ -14,11 +14,11 @@
 #include "wifi.h"
 
 /* LOCAL Var */
-// identifies robot Mode for the challenge: true = robot is stationary, false = robot is moveable
+/* identifies robot Mode for the challenge: true = robot is stationary, false = robot is moveable */
 static bool robotModeStationary = false;
-// task handle
-static TaskHandle_t appTaskHandle;
 
+static TaskHandle_t appTaskHandle;   /* task handle */
+#define TAG "CHALLENGE_APP" /* tag for logging with ESP_LOG */
 
 
 static void appTask(void *pv){
@@ -61,10 +61,15 @@ BaseType_t res;
 void Challenge_App_Init(void){
 	res = xTaskCreate(appTask, "ChallengeAppTask", 4096/sizeof(StackType_t), (void*)"ARG_0", tskIDLE_PRIORITY, &appTaskHandle);
 	if(res != pdPASS){
-		printf("creating appTask failed!\r\n");
+		ESP_LOGE(TAG, "Creating appTask failed");
 	}
 }
 
+static void Challenge_App_SetMode(bool modeStationary){
+	robotModeStationary = modeStationary;
+	ESP_LOGI(TAG, "Changed robot mode to %s", robotModeStationary?(unsigned char*)"stationary":(unsigned char*)"mobile");
+}
+
 /*********/
 /* SHELL */
 /*********/
@@ -89,13 +94,15 @@ uint8_t Challenge_ParseCommand(const unsigned char* cmd, bool *handled, const Mc
     *handled = TRUE;
     return PrintStatus(io);
   }
-  /*else if (McuUtility_strcmp((char*)cmd, (char*)"led suspend")==0) {
+  else if (McuUtility_strcmp((char*)cmd, (char*)"challenge setMode stationary")==0 ||
+		   McuUtility_strcmp((char*)cmd, (char*)"challenge setMode s")==0) {
     *handled = TRUE;
-    LED_Suspend();
-  } else if (McuUtility_strcmp((char*)cmd, (char*)"led resume")==0) {
+    Challenge_App_SetMode(true); // set stationary
+  } else if (McuUtility_strcmp((char*)cmd, (char*)"challenge setMode mobile")==0  ||
+		     McuUtility_strcmp((char*)cmd, (char*)"challenge setMode m")==0 ) {
     *handled = TRUE;
-    LED_Resume();
-  }*/
+    Challenge_App_SetMode(false);  // set mobile
+  }
   return ERR_OK;
 }
 #endif /* PL_CONFIG_USE_SHELL */