int cmd_reboot(int argc, char **argv)
{
printf("Rebooting...\n");
wdt_reboot();
while(1);
return 0;
}
int wdt_forced_reboot(uev_ctx_t *ctx, pid_t pid, char *label, int timeout)
{
wdog_reason_t reason;
memset(&reason, 0, sizeof(reason));
reason.cause = WDOG_FORCED_RESET;
strlcpy(reason.label, label, sizeof(reason.label));
return wdt_reboot(ctx, pid, &reason, timeout);
}
static void bluetooth_parse_command(uint8_t len)
{
uint8_t response = RESPONSE_OK;
sei();
if (len == 0) {
response = RESPONSE_NO_RESPONSE;
} else if (strncmp(rxbuff, BLUETOOTH_CMD_HELP, len) == 0) {
uint8_t i = 0;
for (i = 1; i < sizeof(commands) / sizeof(commands[0]); i ++) {
uart_puts(commands[i]);
if ((i % 3) == 0) {
uart_puts("\r\n");
} else {
uint8_t padding = 0, j = 0;
padding = 26 - strlen(commands[i]);
for (j = 0; j < padding; j++) {
uart_putc(' ');
}
}
}
if (((i - 1) % 3) != 0) {
uart_puts("\r\n");
}
response = RESPONSE_NO_RESPONSE;
} else if (strncmp(rxbuff, BLUETOOTH_CMD_BATTERY, len) == 0) {
uint8_t capacity = 0;
char resp[16];
capacity = battery_get_capacity();
itoa(capacity, resp, 10);
uart_puts(BLUETOOTH_CMD_BATTERY);
uart_puts(": ");
uart_puts(resp);
uart_puts("%\r\n");
response = RESPONSE_NO_RESPONSE;
} else if (strncmp(rxbuff, BLUETOOTH_CMD_ECHO, len) == 0) {
echo = TRUE;
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else if (strncmp(rxbuff, BLUETOOTH_CMD_EYES, strlen(BLUETOOTH_CMD_EYES)) == 0) {
char *param = rxbuff + strlen(BLUETOOTH_CMD_EYES) + 1;
if (len == strlen(BLUETOOTH_CMD_EYES) + strlen(BLUETOOTH_PARAM_ON) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_ON, strlen(BLUETOOTH_PARAM_ON)) == 0) {
power_on(EYES);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_EYES) + strlen(BLUETOOTH_PARAM_OFF) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_OFF, strlen(BLUETOOTH_PARAM_OFF)) == 0) {
power_off(EYES);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_EYES)) {
uint8_t state = power_state(EYES);
uart_puts(BLUETOOTH_CMD_EYES);
uart_puts(": ");
if (state == POWER_ON) {
uart_puts(BLUETOOTH_PARAM_ON);
} else {
uart_puts(BLUETOOTH_PARAM_OFF);
}
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_HELMET, strlen(BLUETOOTH_CMD_HELMET)) == 0) {
char *param = rxbuff + strlen(BLUETOOTH_CMD_HELMET) + 1;
if (len == strlen(BLUETOOTH_CMD_HELMET) + strlen(BLUETOOTH_PARAM_OPEN) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_OPEN, strlen(BLUETOOTH_PARAM_OPEN)) == 0) {
helmet_open();
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_HELMET) + strlen(BLUETOOTH_PARAM_CLOSE) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_CLOSE, strlen(BLUETOOTH_PARAM_CLOSE)) == 0) {
helmet_close();
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_HELMET)) {
uint8_t state = helmet_state();
uart_puts(BLUETOOTH_CMD_HELMET);
uart_puts(": ");
if (state == HELMET_OPEN) {
uart_puts(BLUETOOTH_PARAM_OPEN);
} else {
uart_puts(BLUETOOTH_PARAM_CLOSE);
}
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_INTENSITY, strlen(BLUETOOTH_CMD_INTENSITY)) == 0) {
uint8_t device = 0;
char *param = rxbuff + strlen(BLUETOOTH_CMD_INTENSITY) + 1;
if (strncmp(param, BLUETOOTH_CMD_EYES, strlen(BLUETOOTH_CMD_EYES)) == 0) {
if (len == strlen(BLUETOOTH_CMD_INTENSITY) + strlen(BLUETOOTH_CMD_EYES) + 3) {
device = EYES;
} else if (len == strlen(BLUETOOTH_CMD_INTENSITY) + strlen(BLUETOOTH_CMD_EYES) + 1) {
device = EYES;
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(param, BLUETOOTH_CMD_REPULSORS, strlen(BLUETOOTH_CMD_REPULSORS)) == 0) {
if (len == strlen(BLUETOOTH_CMD_INTENSITY) + strlen(BLUETOOTH_CMD_REPULSORS) + 3) {
device = REPULSORS_POWER;
} else if (len == strlen(BLUETOOTH_CMD_INTENSITY) + strlen(BLUETOOTH_CMD_REPULSORS) + 1) {
device = REPULSORS_POWER;
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(param, BLUETOOTH_CMD_UNIBEAM, strlen(BLUETOOTH_CMD_UNIBEAM)) == 0) {
if (len == strlen(BLUETOOTH_CMD_INTENSITY) + strlen(BLUETOOTH_CMD_UNIBEAM) + 3) {
device = UNIBEAM;
} else if (len == strlen(BLUETOOTH_CMD_INTENSITY) + strlen(BLUETOOTH_CMD_UNIBEAM) + 1) {
device = UNIBEAM;
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else {
response = RESPONSE_ERROR;
}
if (response == RESPONSE_OK) {
// convert number in ascii to integer
uint8_t intensity = rxbuff[len - 1] - '0';
if ((intensity >= 0) && (intensity <= 9)) {
power_set_intensity(device, intensity);
} else {
response = RESPONSE_ERROR;
}
} else if (response == RESPONSE_NO_RESPONSE) {
int8_t intensity = power_get_intensity(device);
uart_puts(BLUETOOTH_CMD_INTENSITY);
uart_puts(": ");
uart_putc('0' + intensity);
uart_puts("\r\n");
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_QUOTE, len) == 0) {
if (voice_is_playing()) {
voice_stop_playback();
} else {
voice_play_quote();
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_REBOOT, len) == 0) {
response = RESPONSE_NO_RESPONSE;
// stop reporting of battery status
battery_reporting_stop();
voice_play_sound(SOUND_SLEEP_0);
_delay_ms(1000);
voice_play_sound(SOUND_SLEEP_2);
voice_play_sound_no_wait(SOUND_POWER_DOWN);
// turn off all devices
power_off(ALL);
// restart mcu
wdt_reboot();
} else if (strncmp(rxbuff, BLUETOOTH_CMD_REPULSORS, strlen(BLUETOOTH_CMD_REPULSORS)) == 0) {
char *param = rxbuff + strlen(BLUETOOTH_CMD_REPULSORS) + 1;
if (len == strlen(BLUETOOTH_CMD_REPULSORS) + strlen(BLUETOOTH_PARAM_ON) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_ON, strlen(BLUETOOTH_PARAM_ON)) == 0) {
power_on(REPULSORS_POWER);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_REPULSORS) + strlen(BLUETOOTH_PARAM_OFF) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_OFF, strlen(BLUETOOTH_PARAM_OFF)) == 0) {
power_off(REPULSORS_POWER);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_REPULSORS)) {
uint8_t state = power_state(REPULSORS_POWER);
uart_puts(BLUETOOTH_CMD_REPULSORS);
uart_puts(": ");
if (state == POWER_ON) {
uart_puts(BLUETOOTH_PARAM_ON);
} else {
uart_puts(BLUETOOTH_PARAM_OFF);
}
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_REPULSOR, strlen(BLUETOOTH_CMD_REPULSOR)) == 0) {
char *param = rxbuff + strlen(BLUETOOTH_CMD_REPULSOR) + 1;
if (len == strlen(BLUETOOTH_CMD_REPULSOR) + strlen(BLUETOOTH_PARAM_LEFT) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_LEFT, strlen(BLUETOOTH_PARAM_LEFT)) == 0) {
power_blast(REPULSOR_LEFT);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_REPULSOR) + strlen(BLUETOOTH_PARAM_RIGHT) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_RIGHT, strlen(BLUETOOTH_PARAM_RIGHT)) == 0) {
power_blast(REPULSOR_RIGHT);
} else {
response = RESPONSE_ERROR;
}
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_UNIBEAM, strlen(BLUETOOTH_CMD_UNIBEAM)) == 0) {
char *param = rxbuff + strlen(BLUETOOTH_CMD_UNIBEAM) + 1;
if (len == strlen(BLUETOOTH_CMD_UNIBEAM) + strlen(BLUETOOTH_PARAM_ON) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_ON, strlen(BLUETOOTH_PARAM_ON)) == 0) {
power_on(UNIBEAM);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_UNIBEAM) + strlen(BLUETOOTH_PARAM_OFF) + 1) {
if (strncmp(param, BLUETOOTH_PARAM_OFF, strlen(BLUETOOTH_PARAM_OFF)) == 0) {
power_off(UNIBEAM);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_UNIBEAM)) {
uint8_t state = power_state(UNIBEAM);
uart_puts(BLUETOOTH_CMD_UNIBEAM);
uart_puts(": ");
if (state == POWER_ON) {
uart_puts(BLUETOOTH_PARAM_ON);
} else {
uart_puts(BLUETOOTH_PARAM_OFF);
}
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else if (strncmp(rxbuff, BLUETOOTH_CMD_VERSION, len) == 0) {
uart_puts(BLUETOOTH_RESPONSE_VERSION);
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else if (strncmp(rxbuff, BLUETOOTH_CMD_VOLUME, strlen(BLUETOOTH_CMD_VOLUME)) == 0) {
if (len == strlen(BLUETOOTH_CMD_VOLUME) + 2) {
// convert number in ascii to integer
uint8_t volume = rxbuff[len - 1] - '0';
if ((volume >= 0) && (volume <= 7)) {
voice_set_volume(SOUND_VOLUME_0 + volume);
} else {
response = RESPONSE_ERROR;
}
} else if (len == strlen(BLUETOOTH_CMD_VOLUME)) {
uint8_t volume = voice_get_volume() - SOUND_VOLUME_0;
uart_puts(BLUETOOTH_CMD_VOLUME);
uart_puts(": ");
uart_putc('0' + volume);
uart_puts("\r\n");
response = RESPONSE_NO_RESPONSE;
} else {
response = RESPONSE_ERROR;
}
} else {
response = RESPONSE_ERROR;
}
if (response == RESPONSE_OK) {
uart_puts(BLUETOOTH_RESPONSE_OK);
uart_puts("\r\n");
} else if (response == RESPONSE_ERROR) {
uart_puts(BLUETOOTH_RESPONSE_ERROR);
uart_puts("\r\n");
}
if (echo) {
uart_puts(BLUETOOTH_PROMPT);
}
}