Merge branch 'master' of gitlab.fing.edu.uy:robotito/firmware

source/autorun.lua

@@ -21,13 +21,14 @@ if runonce then
   dofile(runonce)
 else
   print ("No run-once program set.")
+
+  print("Looking for a main program into nvs('autorun', 'main')")
+  local main = nvs.read("autorun", "main", nil)
+  if main then 
+    print("Main program:", main)
+    dofile(main)
+  else
+    print ("No main program set.")
+  end
 end
 
-print("Looking for a main program into nvs('autorun', 'main')")
-local main = nvs.read("autorun", "main", nil)
-if main then 
-  print("Main program:", main)
-  dofile(main)
-else
-  print ("No main program set.")
-end
\ No newline at end of file

source/main_ahsm.lua

@@ -26,7 +26,7 @@ local hsm
 -- initialize debugging
 
 do
-  local debuggername = nvs.read("ahsm", "debugger", "debug_plain")
+  local debuggername = nvs.read("ahsm", "debugger", nil)
   print('main_ahsm debugger:', debuggername)
   if debuggername then
     local debugger = require( debuggername )

source/states/ciceaapp.lua

@@ -15,7 +15,7 @@ local onoff = require 'states.onoff'
 local remotecontrol = require 'states.remotecontrol'
 
 
-local behavior_name = nvs.read("ahsm", "behavior", nil) or nil
+local behavior_name = nvs.read("ciceaapp", "behavior", nil) or nil
 print('behavior loading:', behavior_name)
 
 local behavior = ahsm.state{

source/states/color.lua

@@ -95,7 +95,7 @@ local s_color = ahsm.state {
   exit = function ()
     ledr.clear()
     robot.omni.drive(0, 0, 0)
-    s_color.enable(false)
+    color.enable(false)
     color.color_cb.remove(produce_color_event)
   end,
 }

source/states/remotecontrol.lua

@@ -42,7 +42,16 @@ local t_command = ahsm.transition {
             robot.omni.drive(xdot,ydot,w)
         end
       end -- Mas comandos con else if
-    else
+        if data[1] == 'nvswrite' then
+          local namespace = data[2]
+          local variable = data[3]
+          local value = data[4]
+          local type = data[5]
+          if type=='number' then value=tonumber(value) end
+          if type=='nil' then value=nil end
+          nvs.write(namespace, variable, value)
+        end
+      else
       robot.hsm.queue_event(e_fin)
     end
   end

update.sh

@@ -30,6 +30,7 @@ $MODULES_DIR/proximity.lua
 $MODULES_DIR/robot.lua
 $MODULES_DIR/wifi_net.lua
 $TEST_DIR/states/test.lua
+$MODULES_AHSM_DIR/ciceaapp.lua
 $MODULES_AHSM_DIR/onoff.lua
 $MODULES_AHSM_DIR/colorway.lua
 $MODULES_AHSM_DIR/color.lua
@@ -63,6 +64,7 @@ proximity.lua
 robot.lua
 wifi_net.lua
 states/test.lua
+states/ciceaapp.lua
 states/onoff.lua
 states/colorway.lua
 states/color.lua