changed LED behavior of the ESP32, to distiguish between stationary and mobile mode,

disabled WiFi state LED,
added reboot esp32 command

ADIS_ESP32_Eclipse/main/challenge_app.c

@@ -17,7 +17,7 @@
 #include "McuUtility.h"
 #include "challenge_com.h"
 #include "challenge_nvs.h"
-
+#include "led.h"
 
 /* LOCAL Var */
 /* identifies robot Mode for the challenge: true = robot is stationary, false = robot is moveable */
@@ -28,7 +28,7 @@ static TaskHandle_t appTaskHandle;   /* task handle */
 
 /* local function declarations */
 static void Challenge_App_SetRobotMode(bool modeStationary, bool storeToNvs);
-
+static void Challenge_App_RebootEsp32(void);
 
 static void appTask(void *pv){
 	/*Task argument not used
@@ -76,7 +76,9 @@ BaseType_t res;
 void Challenge_App_Init(void){
 	Challenge_Nvs_Init();
 
-	Challenge_Nvs_GetRobotModeFromNVS(&_robotModeStationary);
+	bool retrievedMode = false;
+	Challenge_Nvs_GetRobotModeFromNVS(&retrievedMode);
+	Challenge_App_SetRobotMode(retrievedMode, false);  // do not store to NVS, not required
 
 	res = xTaskCreate(appTask, "ChallengeAppTask", 4096/sizeof(StackType_t), (void*)"ARG_0", tskIDLE_PRIORITY, &appTaskHandle);
 	if(res != pdPASS){
@@ -91,11 +93,23 @@ bool Challenge_App_GetRobotMode(void){
 static void Challenge_App_SetRobotMode(bool modeStationary, bool storeToNvs){
 	_robotModeStationary = modeStationary;
 	ESP_LOGI(TAG, "Changed robot mode to %s", _robotModeStationary?(unsigned char*)"stationary":(unsigned char*)"mobile");
+	// update led behavior to be able to differentiate the robots
+	if(modeStationary){
+		LED_SetOnOffTime(5000, 1000);
+	} else{
+		LED_SetOnOffTime(500, 500);
+	}
+
 	if(storeToNvs){
 		Challenge_Nvs_StoreRobotModeToNVS(modeStationary);
 	}
 }
 
+static void Challenge_App_RebootEsp32(void){
+    fflush(stdout);
+    esp_restart();
+}
+
 /*********/
 /* SHELL */
 /*********/
@@ -111,6 +125,7 @@ static uint8_t PrintHelp(const McuShell_StdIOType *io) {
   McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows Challenge help or status\r\n", io->stdOut);
   McuShell_SendHelpStr((unsigned char*)"  setMode s(tationary)", (unsigned char*)"Sets the mode of this robot to stationary\r\n", io->stdOut);
   McuShell_SendHelpStr((unsigned char*)"  setMode m(mobile)", (unsigned char*)"Sets the mode of this robot to mobile\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  reboot", (unsigned char*)"Reboots the ESP32\r\n", io->stdOut);
   return ERR_OK;
 }
 
@@ -129,7 +144,10 @@ uint8_t Challenge_ParseShellCommand(const unsigned char* cmd, bool *handled, con
 		     McuUtility_strcmp((char*)cmd, (char*)"challenge setMode m")==0 ) {
     *handled = TRUE;
     Challenge_App_SetRobotMode(false, true);  // set mobile
-  }
+  }else if (McuUtility_strcmp((char*)cmd, (char*)"challenge reboot")==0) {
+      *handled = TRUE;
+      Challenge_App_RebootEsp32();
+    }
   return ERR_OK;
 }
 #endif /* PL_CONFIG_USE_SHELL */

ADIS_ESP32_Eclipse/main/challenge_nvs.c

@@ -156,6 +156,7 @@ bool Challenge_Nvs_GetRobotModeFromNVS(bool *mode){
 
 		if(notInitialized){
 			success = Challenge_Nvs_StoreRobotModeToNVS(false);  // initialize to false
+			*mode = false;  // set out variable to false too
 		}
 
 		Challenge_Nvs_ReleaseMutex();

ADIS_ESP32_Eclipse/main/led.c

@@ -22,7 +22,7 @@ static McuLED_Handle_t ledHandle;
 
 static TaskHandle_t taskHandle;
 static bool blinkyIsRunning = false;
-#define LED_OFF_TIME_MS    1000
+static uint32_t offTimeMs = 1000;  /* default off time of LED */
 static uint32_t onTimeMs = 10; /* default on time of LED */
 
 /* red led on the shield is on IO10, LOW active */
@@ -32,6 +32,13 @@ static uint32_t onTimeMs = 10; /* default on time of LED */
 void LED_SetOnTime(uint32_t ms) {
   onTimeMs = ms;
 }
+void LED_SetOffTime(uint32_t ms) {
+  offTimeMs = ms;
+}
+void LED_SetOnOffTime(uint32_t onMs, uint32_t offMs){
+	onTimeMs = onMs;
+	offTimeMs = offMs;
+}
 
 void LED_On(void) {
   McuLED_On(ledHandle);
@@ -88,7 +95,7 @@ static void blinkyTask(void *pv) {
     LED_On();
     vTaskDelay(pdMS_TO_TICKS(onTimeMs));
     LED_Off();
-    vTaskDelay(pdMS_TO_TICKS(LED_OFF_TIME_MS));
+    vTaskDelay(pdMS_TO_TICKS(offTimeMs));
   }
 }
 

ADIS_ESP32_Eclipse/main/led.h

@@ -15,6 +15,8 @@ extern "C" {
 #endif
 
 void LED_SetOnTime(uint32_t ms);
+void LED_SetOffTime(uint32_t ms);
+void LED_SetOnOffTime(uint32_t onMs, uint32_t offMs);
 void LED_Suspend(void);
 void LED_Resume(void);
 void LED_GetStatus(unsigned char *buf, size_t bufSize);

ADIS_ESP32_Eclipse/main/wifi.c

@@ -258,15 +258,15 @@ static void WiFiTask(void *pv) {
 
   McuLog_info("Initialize WiFi");
   initialise_wifi();
-#if PL_CONFIG_USE_BLINKY
-  LED_SetOnTime(LED_ON_TIME_MS_DISCONNECTED);
-#endif
+//#if PL_CONFIG_USE_BLINKY
+//  LED_SetOnTime(LED_ON_TIME_MS_DISCONNECTED);
+//#endif
   for(;;) {
     vTaskDelay(pdMS_TO_TICKS(5000));
     isConnected = xEventGroupGetBits(s_wifi_event_group)&WIFI_CONNECTED_BIT;
-    #if PL_CONFIG_USE_BLINKY
-      LED_SetOnTime(isConnected?LED_ON_TIME_MS_CONNECTED:LED_ON_TIME_MS_DISCONNECTED);
-    #endif
+//    #if PL_CONFIG_USE_BLINKY
+//      LED_SetOnTime(isConnected?LED_ON_TIME_MS_CONNECTED:LED_ON_TIME_MS_DISCONNECTED);
+//    #endif
     if (state == WIFI_STATE_INIT && isConnected) { /* first connection */
       state = WIFI_STATE_CONNECTED;
       ESP_LOGI(TAG, "WiFi is connected.");