all item finished

2021_Arduino_Demo.ino

@@ -1,14 +1,7 @@
-#include "AlarmTowerCommand.h"
-#include "VoiceRepotCommand.h"
-#include "GarageCommand.h"
-#include "LEDDisplayCommand.h"
-#include "CommandDecoder.h"
 #include "ZigBeeOperator.h"
-#include "BarrierCommand.h"
 #include "CommandEncoder.h"
-#include "ZigBeeOperator.h"
-#include "AccurateMotor.h"
 #include "CommandDecoder.h"
+#include "AccurateMotor.h"
 #include <Ultrasonic.h>
 #include <BKRC_Voice.h>
 #include "GlobalDatas.h"

2021_Arduino_Demo.vcxproj

@@ -76,7 +76,7 @@
       <PreprocessorDefinitions>__AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <LanguageStandard>stdcpp17</LanguageStandard>
       <LanguageStandard_C>stdc11</LanguageStandard_C>
-      <AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src\utility;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;$(ProjectDir)..\..\..\RACECA~1\SUBCAR~1\Arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
@@ -106,33 +106,51 @@
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="AccurateMotor.h" />
+    <ClInclude Include="AlarmTowerCommand.h" />
     <ClInclude Include="BarrierCommand.h" />
     <ClInclude Include="CommandDecoder.h" />
     <ClInclude Include="CommandEncoder.h" />
     <ClInclude Include="DebugOpt.h" />
+    <ClInclude Include="ETCCommand.h" />
     <ClInclude Include="GarageCommand.h" />
     <ClInclude Include="GlobalDatas.h" />
     <ClInclude Include="Handler.h" />
     <ClInclude Include="LEDDisplayCommand.h" />
     <ClInclude Include="OpenMVOpt.h" />
+    <ClInclude Include="RodeLightCommand.h" />
+    <ClInclude Include="SpecTerrainCommand.h" />
+    <ClInclude Include="TextEncoder.h" />
+    <ClInclude Include="TFTCommand.h" />
+    <ClInclude Include="TrafficLightCommand.h" />
     <ClInclude Include="VoiceRepotCommand.h" />
+    <ClInclude Include="WirelessChargerCommand.h" />
     <ClInclude Include="ZigBeeOperator.h" />
+    <ClInclude Include="3DDisplayCommand.h" />
     <ClInclude Include="__vm\.2021_Arduino_Demo.vsarduino.h" />
     <ClInclude Include="__vm\.Arduino.vsarduino.h" />
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="AccurateMotor.cpp" />
+    <ClCompile Include="AlarmTowerCommand.cpp" />
     <ClCompile Include="BarrierCommand.cpp" />
     <ClCompile Include="CommandDecoder.cpp" />
     <ClCompile Include="CommandEncoder.cpp" />
     <ClCompile Include="DebugOpt.cpp" />
+    <ClCompile Include="ETCCommand.cpp" />
     <ClCompile Include="GarageCommand.cpp" />
     <ClCompile Include="GlobalDatas.cpp" />
     <ClCompile Include="Handler.cpp" />
     <ClCompile Include="LEDDisplayCommand.cpp" />
     <ClCompile Include="OpenMVOpt.cpp" />
+    <ClCompile Include="RodeLightCommand.cpp" />
+    <ClCompile Include="SpecTerrainCommand.cpp" />
+    <ClCompile Include="TextEncoder.cpp" />
+    <ClCompile Include="TFTCommand.cpp" />
+    <ClCompile Include="TrafficLightCommand.cpp" />
     <ClCompile Include="VoiceRepotCommand.cpp" />
+    <ClCompile Include="WirelessChargerCommand.cpp" />
     <ClCompile Include="ZigBeeOperator.cpp" />
+    <ClCompile Include="3DDisplayCommand.cpp" />
   </ItemGroup>
   <PropertyGroup>
     <DebuggerFlavor>VisualMicroDebugger</DebuggerFlavor>

2021_Arduino_Demo.vcxproj.filters

@@ -60,6 +60,33 @@
     <ClInclude Include="VoiceRepotCommand.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="AlarmTowerCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="TFTCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RodeLightCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="WirelessChargerCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="ETCCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="TrafficLightCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="SpecTerrainCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="3DDisplayCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="TextEncoder.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="OpenMVOpt.cpp">
@@ -98,5 +125,32 @@
     <ClCompile Include="VoiceRepotCommand.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="AlarmTowerCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TFTCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RodeLightCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="WirelessChargerCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="ETCCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TrafficLightCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="SpecTerrainCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="3DDisplayCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TextEncoder.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>

3DDisplayCommand.cpp

@@ -0,0 +1,91 @@
+// 
+// ±êÖ¾ÎïͨÐÅ - Á¢ÌåÏÔʾ - ZigBee/IR
+// 
+
+#include "3DDisplayCommand.h"
+
+_3DDisplayCommand::_3DDisplayCommand()
+{
+	SetDevice(CommandData::Devices::_3D_Display);
+}
+
+byte* _3DDisplayCommand::CMD_IR_CarLicenseMode_1to4(byte d1, byte d2, byte d3, byte d4)
+{
+	SetCommand(0xFF, 0x20, d1, d2, d3, d4);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_CarLicenseMode_5to6_XY(byte d5, byte d6, byte x, byte y)
+{
+	SetCommand(0xFF, 0x10, d5, d6, x, y);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_DisplayDestence(byte dis)
+{
+	if (dis >= 99)
+		SetCommand(0xFF, 0x11, 0x09, 0x09, 0x00, 0x00);
+	else
+		SetCommand(0xFF, 0x11, (dis / 10), (dis % 10), 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_DisplayShape(Shape shape)
+{
+	SetCommand(0xFF, 0x12, (byte)shape, 0x00, 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_DisplayColor(Color color)
+{
+	SetCommand(0xFF, 0x13, (byte)color, 0x00, 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_DisplayAlarmSign(AlarmSign sign)
+{
+	SetCommand(0xFF, 0x14, (byte)sign, 0x00, 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_DisplayTrafficSign(TrafficSign sign)
+{
+	SetCommand(0xFF, 0x15, (byte)sign, 0x00, 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_DisplayDefaultInfo()
+{
+	SetCommand(0xFF, 0x16, 0x01, 0x00, 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_SetTextColor(byte r, byte g, byte b)
+{
+	SetCommand(0xFF, 0x17, 0x01, r, g, b);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_CustomTextAdd(byte text1, byte text2, bool last_char)
+{
+	SetCommand(0xFF, 0x31, text1, text2, (last_char ? 0x55 : 0x00), 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_IR_CustomTextStop(bool clear_display)
+{
+	SetCommand(0xFF, 0x32, (clear_display ? 0x02 : 0x01), 0x00, 0x00, 0x00);
+	return GetIRCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_ZIGBEE_CustomTextAdd(byte text1, byte text2, bool last_char)
+{
+	SetCommand(0x31, text1, text2, (last_char ? 0x55 : 0x00));
+	return GetCommandArray();
+}
+
+byte* _3DDisplayCommand::CMD_ZIGBEE_CustomTextStop(bool clear_display)
+{
+	SetCommand(0x32, (clear_display ? 0x02 : 0x01));
+	return GetCommandArray();
+}

3DDisplayCommand.h

@@ -0,0 +1,73 @@
+// 3DDisplayCommand.h
+
+#ifndef _3DDISPLAYCOMMAND_h
+#define _3DDISPLAYCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class _3DDisplayCommand : private CommandEncoder
+{
+public:
+	enum class Shape
+	{
+		Rectangle = 0x01,
+		Round = 0x02,
+		Triangle = 0x03,
+		Rhombus = 0x04,
+		Star = 0x05
+	};
+	enum class Color
+	{
+		Red = 0x01,
+		Green = 0x02,
+		Blue = 0x03,
+		Yellow = 0x04,
+		Pink = 0x05,
+		Cyan = 0x06,
+		Black = 0x07,
+		White = 0x08
+	};
+	enum class AlarmSign
+	{
+		School = 0x01,
+		UnderConstruction = 0x02,
+		RodeFallsDown = 0x03,
+		KeepDistence = 0x04,
+		NoDrinkDrive = 0x05,
+		NoThrowRubbish = 0x06
+	};
+	enum class TrafficSign
+	{
+		GoStraight = 0x01,
+		TurnLeft = 0x02,
+		TurnRight = 0x03,
+		TurnAround = 0x04,
+		NoStraight = 0x05,
+		DoNotEnter = 0x06
+	};
+public:
+	_3DDisplayCommand();
+public:
+	byte* CMD_IR_CarLicenseMode_1to4(byte d1, byte d2, byte d3, byte d4);
+	byte* CMD_IR_CarLicenseMode_5to6_XY(byte d5, byte d6, byte x, byte y);
+	byte* CMD_IR_DisplayDestence(byte dis);
+	byte* CMD_IR_DisplayShape(Shape shape);
+	byte* CMD_IR_DisplayColor(Color color);
+	byte* CMD_IR_DisplayAlarmSign(AlarmSign sign);
+	byte* CMD_IR_DisplayTrafficSign(TrafficSign sign);
+	byte* CMD_IR_DisplayDefaultInfo();
+	byte* CMD_IR_SetTextColor(byte r, byte g, byte b);
+	byte* CMD_IR_CustomTextAdd(byte text1, byte text2, bool last_char = false);
+	byte* CMD_IR_CustomTextStop(bool clear_display);
+	byte* CMD_ZIGBEE_CustomTextAdd(byte text1, byte text2, bool last_char = false);
+	byte* CMD_ZIGBEE_CustomTextStop(bool clear_display);
+};
+
+#endif
+

DebugOpt.h

@@ -1,14 +1,22 @@
 #ifndef __DEBUG_OPT__
 #define __DEBUG_OPT_
 
+#include "WirelessChargerCommand.h"
+#include "TrafficLightCommand.h"
+#include "SpecTerrainCommand.h"
 #include "VoiceRepotCommand.h"
 #include "LEDDisplayCommand.h"
 #include "AlarmTowerCommand.h"
+#include "3DDisplayCommand.h"
+#include "RodeLightCommand.h"
 #include "BarrierCommand.h"
 #include "ZigBeeOperator.h"
 #include "GarageCommand.h"
 #include "AccurateMotor.h"
+#include "TextEncoder.h"
 #include "GlobalDatas.h"
+#include "ETCCommand.h"
+#include "TFTCommand.h"
 #include <BKRC_Voice.h>
 #include "OpenMVOpt.h"
 #include <Infrare.h>

ETCCommand.cpp

@@ -0,0 +1,34 @@
+// 
+// ±êÖ¾ÎïͨÐÅ - ETC - ZigBee
+// 
+
+#include "ETCCommand.h"
+
+ETCCommand::ETCCommand()
+{
+	SetDevice(CommandData::Devices::ETC);
+}
+
+byte* ETCCommand::CMD_GateUp()
+{
+	SetCommand(0x08, 0x01, 0x01);
+	return GetCommandArray();
+}
+
+byte* ETCCommand::CMD_GateDown()
+{
+	SetCommand(0x08, 0x02, 0x02);
+	return GetCommandArray();
+}
+
+byte* ETCCommand::CMD_LeftUpRightDown()
+{
+	SetCommand(0x08, 0x01, 0x02);
+	return GetCommandArray();
+}
+
+byte* ETCCommand::CMD_LeftDownRightUp()
+{
+	SetCommand(0x08, 0x02, 0x01);
+	return GetCommandArray();
+}

ETCCommand.h

@@ -0,0 +1,26 @@
+// ETCCommand.h
+
+#ifndef _ETCCOMMAND_h
+#define _ETCCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class ETCCommand : private CommandEncoder
+{
+public:
+	ETCCommand();
+public:
+	byte* CMD_GateUp();
+	byte* CMD_GateDown();
+	byte* CMD_LeftUpRightDown();
+	byte* CMD_LeftDownRightUp();
+};
+
+#endif
+

GlobalDatas.cpp

@@ -19,17 +19,4 @@ unsigned long Tcount;
 uint8_t Data_Type;
 uint8_t Data_Flag;
 uint8_t Data_Length;
-uint8_t Data_OTABuf[40];
+uint8_t Data_OTABuf[40];
-
-void DataTool::PrintDataArray(uint8_t* arr, uint8_t len)
-{
-	Serial.println("------Data Array------");
-	for (uint8_t i = 0; i < len; i++)
-	{
-		Serial.print("arr[");
-		Serial.print(i);
-		Serial.print("] = 0x");
-		Serial.println(arr[i], HEX);
-	}
-	Serial.println("------Array End------");
-}

GlobalDatas.h

@@ -40,7 +40,18 @@ namespace CommandData
 
 namespace DataTool
 {
-	void PrintDataArray(uint8_t* arr, uint8_t len);
+	template<typename T = uint8_t> void PrintDataArray(T* arr, uint8_t len)
+	{
+		Serial.println("------Data Array------");
+		for (uint8_t i = 0; i < len; i++)
+		{
+			Serial.print("arr[");
+			Serial.print(i);
+			Serial.print("] = 0x");
+			Serial.println(arr[i], HEX);
+		}
+		Serial.println("------Array End------");
+	}
 };
 
 extern uint8_t ZigBee_back[16];

Handler.cpp

@@ -78,9 +78,38 @@ void Handler::ZigBeeRx_Handler(uint8_t* mar)
 	case CommandData::Devices::Garage_A:        //立体车库标志物A
 		break;
 	case CommandData::Devices::TrafficLight_A:        //交通灯标注物A 
+	{
+		TrafficLightCommand cmd;
+		if (cmd.ModeChangeSuccess(mar))
+			Serial.println("Enter Identify Mode");
+		else
+			Serial.println("Mode Change Failure");
 		break;
+	}
 	case CommandData::Devices::TrafficLight_B:        //交通灯标志物B
 		break;
+	case CommandData::Devices::SpecTerrain:
+	{
+		SpecTerrainCommand cmd;
+		if(cmd.IsSpecTerrainCommand(mar))
+		{
+			switch (cmd.ReadStatus(mar))
+			{
+			case SpecTerrainCommand::Status::Passed_AtoB:
+			case SpecTerrainCommand::Status::Passed_BtoA:
+				Serial.println("Passed");
+				break;
+			case SpecTerrainCommand::Status::NotPass:
+				Serial.println("Not Pass");
+				break;
+			default:
+				Serial.println("Data Invalidate");
+			}
+		}
+		else
+			Serial.println("Command Invalidate");
+		break;
+	}
 	default:
 		break;
 	}
@@ -207,28 +236,35 @@ void Handler::MainCarRx_Handler(uint8_t* com)
 
 void Handler::Key_0()
 {
-	AlarmTowerCommand cmd;
+	OpenMVOpt::Servo_Control(-60);
-	ZigBeeOperator.SendCommand(cmd.CMD_QueryRescuePosition());
+	OpenMVOpt::OpenMV_Track(1);
 }
 
 void Handler::Key_1()
 {
-	AlarmTowerCommand cmd;
+	_3DDisplayCommand cmd;
-	Infrare.Transmition(cmd.CMD_DefaultIRAlarm(), 6);
+	Infrare.Transmition(cmd.CMD_IR_DisplayAlarmSign(_3DDisplayCommand::AlarmSign::NoDrinkDrive), 6);
 }
 
 void Handler::Key_2()
 {
-	LEDDisplayCommand cmd;
+	_3DDisplayCommand cmd;
-	ZigBeeOperator.SendCommand(cmd.CMD_FirstLineDisplay(0x123456));
+	Infrare.Transmition(cmd.CMD_IR_SetTextColor(0x00, 0xFF, 0x00), 6);
-	delay(1000);
-	ZigBeeOperator.SendCommand(cmd.CMD_SecondLineDisplay(0x7890AB));
 }
 
 void Handler::Key_3()
 {
+	_3DDisplayCommand cmd;
+	TextEncoder encoder("主车不动安如山，从车乱飞墙撞翻。");
+	while(encoder.HasNextChar())
+	{
+		byte b1, b2;
+		encoder.GetNextChar(b1, b2);
+		ZigBeeOperator.SendCommand(cmd.CMD_ZIGBEE_CustomTextAdd(b1, b2, encoder.IsLastChar()));
+		delay(200);
+	}
 	/*OpenMVOpt::Servo_Control(-60);
-	OpenMVOpt::OpenMV_Track(10);*/
+	OpenMVOpt::OpenMV_Track(1);*/
 }
 
 void Handler::KEY_Handler(uint8_t k_value)

OpenMVOpt.cpp

@@ -105,7 +105,7 @@ void OpenMVOpt::OpenMVTrack_Disc_CloseUp()
 void OpenMVOpt::OpenMV_Track(uint8_t Car_Speed)
 {
 	uint32_t num = 0;
-	Car_Speed = 50;
+	//Car_Speed = 50;
 	// 清空串口缓存
 	while (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00)
 		ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OpenMVBuf, 1);

RodeLightCommand.cpp

@@ -0,0 +1,105 @@
+// 
+// ±êÖ¾ÎïͨÐÅ - ·µÆ - IR
+// 
+
+#include "RodeLightCommand.h"
+
+void RodeLightCommand::Swap(uint16_t& a, uint16_t& b)
+{
+	uint16_t c = a;
+	a = b;
+	b = c;
+}
+
+byte RodeLightCommand::CalcLevel(uint16_t* sorted_arr, uint16_t curr)
+{
+	if (curr >= sorted_arr[3])
+		return 4;
+	else if (curr >= sorted_arr[2])
+		return 3;
+	else if (curr >= sorted_arr[1])
+		return 2;
+	else
+		return 1;
+}
+
+RodeLightCommand::RodeLightCommand()
+{
+	ir_cmd[0] = 0x00;
+	ir_cmd[1] = 0xFF;
+	ir_cmd[2] = 0x00;
+	ir_cmd[3] = 0x00;
+}
+
+byte* RodeLightCommand::CMD_LightPlusOne()
+{
+	ir_cmd[2] = 0x0C;
+	ir_cmd[3] = 0xF3;
+	return ir_cmd;
+}
+
+byte* RodeLightCommand::CMD_LightPlusTwo()
+{
+	ir_cmd[2] = 0x18;
+	ir_cmd[3] = 0xE7;
+	return ir_cmd;
+}
+
+byte* RodeLightCommand::CMD_LightPlusThree()
+{
+	ir_cmd[2] = 0x5E;
+	ir_cmd[3] = 0xA1;
+	return ir_cmd;
+}
+
+byte RodeLightCommand::GetCurrentLevel()
+{
+	RodeLightCommand cmd;
+	uint16_t light_arr[4] = { 0 };
+	uint16_t current = BH1750.ReadLightLevel(), last = 0;
+	for (int i = 0; i < 4; i++)
+	{
+		Infrare.Transmition(cmd.CMD_LightPlusOne(), 4);
+		light_arr[i] = BH1750.ReadLightLevel(true);
+		while(abs(last - light_arr[i]) <= 200)
+		{
+			Infrare.Transmition(cmd.CMD_LightPlusOne(), 4);
+			light_arr[i] = BH1750.ReadLightLevel(true);
+			delay(1500);
+		}
+		last = light_arr[i];
+		delay(1500);
+	}
+	for (int i = 0; i < 4; i++)
+		for (int j = 0; j < 4; j++)
+			if (light_arr[i] < light_arr[j])
+				Swap(light_arr[i], light_arr[j]);
+	/*DataTool::PrintDataArray(light_arr, 4);
+	Serial.print("Current: ");
+	Serial.println(current, HEX);*/
+	return CalcLevel(light_arr, current);
+}
+
+void RodeLightCommand::SetToSpeclevel(byte target_lv, byte current_lv)
+{
+	uint8_t times = 0;
+	RodeLightCommand cmd;
+	if (target_lv > current_lv)
+		times = target_lv - current_lv;
+	else
+		times = 4 - (current_lv - target_lv);
+	switch (times)
+	{
+	case 1:
+		Infrare.Transmition(cmd.CMD_LightPlusOne(), 4);
+		break;
+	case 2:
+		Infrare.Transmition(cmd.CMD_LightPlusTwo(), 4);
+		break;
+	case 3:
+		Infrare.Transmition(cmd.CMD_LightPlusThree(), 4);
+		break;
+	default:
+		return;
+	}
+}

RodeLightCommand.h

@@ -0,0 +1,35 @@
+// RodeLightCommand.h
+
+#ifndef _RODELIGHTCOMMAND_h
+#define _RODELIGHTCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include <BH1750.h>
+#include <Infrare.h>
+#include "GlobalDatas.h"
+
+class RodeLightCommand
+{
+private:
+	byte ir_cmd[4];
+private:
+	static void Swap(uint16_t& a, uint16_t& b);
+	static byte CalcLevel(uint16_t* sorted_arr, uint16_t curr);
+public:
+	RodeLightCommand();
+public:
+	byte* CMD_LightPlusOne();
+	byte* CMD_LightPlusTwo();
+	byte* CMD_LightPlusThree();
+public:
+	static byte GetCurrentLevel();
+	static void SetToSpeclevel(byte target_lv, byte current_lv);
+};
+
+#endif
+

SpecTerrainCommand.cpp

@@ -0,0 +1,28 @@
+// 
+// ±êÖ¾ÎïͨÐÅ - ÌØÊâµØÐÎ - ZigBee
+// 
+
+#include "SpecTerrainCommand.h"
+
+SpecTerrainCommand::SpecTerrainCommand()
+{
+	SetDevice(CommandData::Devices::SpecTerrain);
+}
+
+byte* SpecTerrainCommand::CMD_QueryStatus()
+{
+	SetCommand(0x10, 0x01);
+	return GetCommandArray();
+}
+
+bool SpecTerrainCommand::IsSpecTerrainCommand(byte* cmd)
+{
+	return ((cmd[1] == CommandData::Devices::SpecTerrain) && (cmd[2] == 0x10) && (cmd[3] == 0x01));
+}
+
+SpecTerrainCommand::Status SpecTerrainCommand::ReadStatus(byte* cmd)
+{
+	if (!IsSpecTerrainCommand(cmd))
+		return Status::Unknown;
+	return ((Status)cmd[4]);
+}

SpecTerrainCommand.h

@@ -0,0 +1,34 @@
+// SpecTerrainCommand.h
+
+#ifndef _SPECTERRAINCOMMAND_h
+#define _SPECTERRAINCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class SpecTerrainCommand : private CommandEncoder
+{
+public:
+	enum class Status
+	{
+		Passed_AtoB = 0x31,
+		Passed_BtoA = 0x32,
+		NotPass = 0x33,
+		Unknown = 0xFF
+	};
+public:
+	SpecTerrainCommand();
+public:
+	byte* CMD_QueryStatus();
+public:
+	bool IsSpecTerrainCommand(byte* cmd);
+	Status ReadStatus(byte* cmd);
+};
+
+#endif
+

TFTCommand.cpp

@@ -4,4 +4,106 @@
 
 #include "TFTCommand.h"
 
+TFTCommand::TFTCommand()
+{
+	SetDevice(CommandData::Devices::TFT_A);
+}
 
+void TFTCommand::UsingA()
+{
+	SetDevice(CommandData::Devices::TFT_A);
+}
+
+void TFTCommand::UsingB()
+{
+	SetDevice(CommandData::Devices::TFT_B);
+}
+
+byte* TFTCommand::CMD_DisplaySpecPicture(byte no)
+{
+	SetCommand(0x10, 0x00, no);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_PageUp()
+{
+	SetCommand(0x10, 0x01);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_PageDown()
+{
+	SetCommand(0x10, 0x02);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_AutoPaging()
+{
+	SetCommand(0x10, 0x03);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_CarLicenseMode_1to3(byte d1, byte d2, byte d3)
+{
+	SetCommand(0x20, d1, d2, d3);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_CarLicenseMode_4to6(byte d4, byte d5, byte d6)
+{
+	SetCommand(0x21, d4, d5, d6);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_TimerOn()
+{
+	SetCommand(0x30, 0x01);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_TimerOff()
+{
+	SetCommand(0x30);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_TimerClear()
+{
+	SetCommand(0x30, 0x02);
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_DisplayHex(uint32_t hex)
+{
+	if (hex >= 0xFFFFFF)
+		SetCommand(0x40, 0xFF, 0xFF, 0xFF);
+	else
+	{
+		byte d1 = ((hex > 0xFFFF) ? (hex / 0x10000) : 0x00);
+		hex -= (d1 * 0x10000);
+		byte d2 = ((hex > 0xFF) ? (hex / 0x100) : 0x00);
+		byte d3 = hex % 0x100;
+		SetCommand(0x40, d1, d2, d3);
+	}
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_DisplayDistence(uint16_t dis)
+{
+	if (dis >= 0x999)
+		SetCommand(0x50, 0x00, 0x09, 0x99);
+	else
+	{
+		byte d1 = ((dis > 0x99) ? (dis / 0x100) : 0);
+		dis -= (d1 * 0x100);
+		byte d2 = dis % 0x100;
+		SetCommand(0x50, 0x00, d1, d2);
+	}
+	return GetCommandArray();
+}
+
+byte* TFTCommand::CMD_DisplayTrafficSign(TrafficSign sign)
+{
+	SetCommand(0x60, (byte)sign);
+	return GetCommandArray();
+}

TFTCommand.h

@@ -13,13 +13,40 @@
 
 class TFTCommand : private CommandEncoder
 {
+public:
+	enum class TrafficSign
+	{
+		GoStraight = 0x01,
+		TurnLeft = 0x02,
+		TurnRight = 0x03,
+		TurnAround = 0x04,
+		NoStraight = 0x05,
+		DoNotEnter = 0x06
+	};
 public:
 	TFTCommand();
 public:
 	void UsingA();
 	void UsingB();
 public:
-
+	//Picture Mode
+	byte* CMD_DisplaySpecPicture(byte no);	//Range: 0x01~0x20
+	byte* CMD_PageUp();
+	byte* CMD_PageDown();
+	byte* CMD_AutoPaging();
+	//Car License Mode
+	byte* CMD_CarLicenseMode_1to3(byte d1, byte d2, byte d3);
+	byte* CMD_CarLicenseMode_4to6(byte d4, byte d5, byte d6);
+	//Timer Mode
+	byte* CMD_TimerOn();
+	byte* CMD_TimerOff();
+	byte* CMD_TimerClear();
+	//HEX Mode
+	byte* CMD_DisplayHex(uint32_t hex);
+	//Distence Mode
+	byte* CMD_DisplayDistence(uint16_t dis);
+	//Traffic Sign Mode
+	byte* CMD_DisplayTrafficSign(TrafficSign sign);
 };
 
 #endif

TextEncoder.cpp

@@ -0,0 +1,70 @@
+// 
+// GBKÎı¾±àÂëÆ÷
+// 
+
+#include "TextEncoder.h"
+
+TextEncoder::TextEncoder()
+{
+	size = 0;
+	data = nullptr;
+	current_index = 0;
+}
+
+TextEncoder::TextEncoder(String text)
+{
+	current_index = 0;
+	size = text.length();
+	data = new byte[size];
+	for (int i = 0; i < size; i++)
+		data[i] = text[i];
+}
+
+TextEncoder::~TextEncoder()
+{
+	if (data != nullptr)
+	{
+		delete[] data;
+		data = nullptr;
+	}
+}
+
+void TextEncoder::EncodeText(String text)
+{
+	if (data != nullptr)
+	{
+		delete[] data;
+		data = nullptr;
+	}
+	current_index = 0;
+	size = text.length();
+	data = new byte[size];
+	for (int i = 0; i < size; i++)
+		data[i] = text[i];
+}
+
+bool TextEncoder::HasNextChar()
+{
+	return (current_index < size);
+}
+
+bool TextEncoder::IsLastChar()
+{
+	return ((current_index + 1) >= size);
+}
+
+void TextEncoder::GetNextChar(byte& bit1, byte& bit2)
+{
+	if (data[current_index] >= 0x7F)	//ÖÐÎÄ
+	{
+		bit1 = data[current_index];
+		bit2 = data[current_index + 1];
+		current_index += 2;
+	}
+	else
+	{
+		bit1 = data[current_index];
+		bit2 = 0x00;
+		current_index++;
+	}
+}

TextEncoder.h

@@ -0,0 +1,31 @@
+// TextEncoder.h
+
+#ifndef _TEXTENCODER_h
+#define _TEXTENCODER_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+class TextEncoder
+{
+private:
+	uint16_t size;
+	uint16_t current_index;
+	byte* data = nullptr;
+public:
+	TextEncoder();
+	TextEncoder(String text);
+	~TextEncoder();
+public:
+	void EncodeText(String text);
+public:
+	bool HasNextChar();
+	bool IsLastChar();
+	void GetNextChar(byte& bit1, byte& bit2);
+};
+
+#endif
+

TrafficLightCommand.cpp

@@ -0,0 +1,46 @@
+// 
+// ±êÖ¾ÎïͨÐÅ - ½»Í¨µÆ£¨A/B£© - ZigBee
+// 
+
+#include "TrafficLightCommand.h"
+
+TrafficLightCommand::TrafficLightCommand()
+{
+	SetDevice(CommandData::Devices::TrafficLight_A);
+}
+
+void TrafficLightCommand::UsingA()
+{
+	SetDevice(CommandData::Devices::TrafficLight_A);
+}
+
+void TrafficLightCommand::UsingB()
+{
+	SetDevice(CommandData::Devices::TrafficLight_B);
+}
+
+byte* TrafficLightCommand::CMD_EnterIdentifyMode()
+{
+	SetCommand(0x01);
+	return GetCommandArray();
+}
+
+byte* TrafficLightCommand::CMD_CheckResult(Color color)
+{
+	SetCommand(0x02, (byte)color);
+	return GetCommandArray();
+}
+
+bool TrafficLightCommand::IsTrafficLightCommand(byte* cmd)
+{
+	if ((cmd[1] == CommandData::Devices::TrafficLight_A) || (cmd[1] == CommandData::Devices::TrafficLight_B))
+		return (cmd[2] == 0x01);
+	return false;
+}
+
+bool TrafficLightCommand::ModeChangeSuccess(byte* cmd)
+{
+	if (!IsTrafficLightCommand(cmd))
+		return false;
+	return ((cmd[3] == 0x01) && (cmd[4] == 0x07));
+}

TrafficLightCommand.h

@@ -0,0 +1,37 @@
+// TrafficLightCommand.h
+
+#ifndef _TRAFFICLIGHTCOMMAND_h
+#define _TRAFFICLIGHTCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class TrafficLightCommand : private CommandEncoder
+{
+public:
+	enum class Color
+	{
+		Red = 0x01,
+		Green = 0x02,
+		Yellow = 0x03
+	};
+public:
+	TrafficLightCommand();
+public:
+	void UsingA();
+	void UsingB();
+public:
+	byte* CMD_EnterIdentifyMode();
+	byte* CMD_CheckResult(Color color);
+public:
+	bool IsTrafficLightCommand(byte* cmd);
+	bool ModeChangeSuccess(byte* cmd);
+};
+
+#endif
+

WirelessChargerCommand.cpp

@@ -0,0 +1,22 @@
+// 
+// 标志物通信 - 无线充电 - ZigBee
+// 
+
+#include "WirelessChargerCommand.h"
+
+WirelessChargerCommand::WirelessChargerCommand()
+{
+	SetDevice(CommandData::Devices::WirelessCharger);
+}
+
+byte* WirelessChargerCommand::CMD_TurnOn()
+{
+	SetCommand(0x01, 0x01);
+	return GetCommandArray();
+}
+
+byte* WirelessChargerCommand::CMD_TurnOff()
+{
+	SetCommand(0x01, 0x02);
+	return GetCommandArray();
+}

WirelessChargerCommand.h

@@ -0,0 +1,24 @@
+// WirelessChargerCommand.h
+
+#ifndef _WIRELESSCHARGERCOMMAND_h
+#define _WIRELESSCHARGERCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class WirelessChargerCommand : private CommandEncoder
+{
+public:
+	WirelessChargerCommand();
+public:
+	byte* CMD_TurnOn();
+	byte* CMD_TurnOff();
+};
+
+#endif
+