#include "Handler.h" void Handler::ZigBeeRx_Handler(uint8_t* mar) { CommandDecoder decoder(mar); switch (decoder.GetDevice()) { case CommandData::Devices::MainCar: //主车 MainCarRx_Handler(mar); //主车命令相应函数 break; case CommandData::Devices::Barrier: //道闸标志物 DataTool::PrintDataArray(mar, 8); break; case CommandData::Devices::LED_Display: //LED显示标志物（暂无返回） break; case CommandData::Devices::Garage_B: //立体车库标志物B { GarageCommand cmd; if (cmd.IsPositionData(mar)) { Serial.print("Garage at: "); Serial.println(cmd.CurrentPos(mar)); } if (cmd.IsIRData(mar)) { Serial.print("Front IR: "); Serial.println(cmd.FrontIRTiggered(mar) ? "Triggered" : "Not Triggered"); Serial.print("Back IR: "); Serial.println(cmd.BackIRTiggered(mar) ? "Triggered" : "Not Triggered"); } break; } case CommandData::Devices::VoiceReport: //语音播报标志物 { VoiceReportCommand cmd; uint16_t y; byte m, d, h, mm, s; if (cmd.ReadRTCDate(mar, y, m, d)) { Serial.print(y); Serial.print("-"); Serial.print(m); Serial.print("-"); Serial.println(d); } else Serial.println("Invalidate Date"); if (cmd.ReadRTCTime(mar, h, mm, s)) { Serial.print(h); Serial.print(":"); Serial.print(mm); Serial.print(":"); Serial.println(s); } else Serial.println("Invalidate Time"); break; } case CommandData::Devices::AlarmTower: //红外报警标志物 { AlarmTowerCommand cmd; if (cmd.IsAlarmTowerCommand(mar)) { Serial.print("Rescue Position: "); Serial.println(cmd.ReadRescuePosition(mar), HEX); } break; } case CommandData::Devices::TFT_B: //TFT显示标志物B break; case CommandData::Devices::WirelessCharger: //磁悬浮无线充电标志物 break; case CommandData::Devices::TFT_A: //TFT显示标志物A break; case CommandData::Devices::ETC: //ETC系统标志物 break; 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; } } void Handler::OpenMVRx_Handler(uint8_t* mac) { switch (mac[2]) { case 0x91: //保留 break; case 0x92: //二维码识别 break; default: break; } } void Handler::MainCarRx_Handler(uint8_t* com) { switch (com[2]) { case 0x01: //停止 //DCMotor.Stop(); AccurateMotor.ForceStop(); break; case 0x02: //前进 //DCMotor.Go(com[3], (com[4] + (com[5] << 8))); AccurateMotor.RunForward((com[4] + (com[5] << 8))); ZigBee_back[2] = 0x03; break; case 0x03: //后退 //DCMotor.Back(com[3], (com[4] + (com[5] << 8))); AccurateMotor.RunBackward((com[4] + (com[5] << 8))); ZigBee_back[2] = 0x03; break; case 0x04: //左转 //DCMotor.TurnLeft(com[3]); AccurateMotor.TurnLeft(com[3]); ZigBee_back[2] = 0x02; break; case 0x05: //右转 //DCMotor.TurnRight(com[3]); AccurateMotor.TurnRight(com[3]); ZigBee_back[2] = 0x02; break; case 0x06: //循迹 //DCMotor.CarTrack(com[3]); ZigBee_back[2] = 0x00; break; case 0x07: //码盘清零 Command.Judgment(Command.command01); //计算校验和 ExtSRAMInterface.ExMem_Write_Bytes(Command.command01, 8); //码盘清零 break; case 0x10: //保存红外数据 infrare_com[0] = com[3]; infrare_com[1] = com[4]; infrare_com[2] = com[5]; break; case 0x11: //保存红外数据 infrare_com[3] = com[3]; infrare_com[4] = com[4]; infrare_com[5] = com[5]; break; case 0x12: //发送红外数据 Infrare.Transmition(infrare_com, 6); break; case 0x20: //左右转向灯 if (com[3] == 0x01) LED.LeftTurnOn(); else LED.LeftTurnOff(); if (com[4] == 0x01) LED.RightTurnOn(); else LED.RightTurnOff(); break; case 0x30: //蜂鸣器 if (com[3] == 0x01) BEEP.TurnOn(); else BEEP.TurnOff(); break; case 0x40: //保留 break; case 0x50: //LCD图片上翻页 Command.Judgment(Command.command13); ExtSRAMInterface.ExMem_Write_Bytes(Command.command13, 8); break; case 0x51: //LCD图片下翻页 Command.Judgment(Command.command14); ExtSRAMInterface.ExMem_Write_Bytes(Command.command14, 8); break; case 0x61: //光源加一档 Infrare.Transmition(Command.HW_Dimming1, 4); break; case 0x62: //光源加二挡 Infrare.Transmition(Command.HW_Dimming2, 4); break; case 0x63: //光源加三挡 Infrare.Transmition(Command.HW_Dimming3, 4); break; case 0x80: //从车返回数据切换 if (com[3] == 0x01) { sendflag = 0x01; //上传从车数据 } else { sendflag = 0x00; //关闭上从车数据 } case 0x91: if (com[3] == 0x03) //舵机控制 { //Servoangle_control(com[4]); } break; default: break; } } void Handler::Key_0() { OpenMVOpt::Servo_Control(-60); OpenMVOpt::OpenMV_Track(1); } void Handler::Key_1() { _3DDisplayCommand cmd; Infrare.Transmition(cmd.CMD_IR_DisplayAlarmSign(_3DDisplayCommand::AlarmSign::NoDrinkDrive), 6); } void Handler::Key_2() { _3DDisplayCommand cmd; Infrare.Transmition(cmd.CMD_IR_SetTextColor(0x00, 0xFF, 0x00), 6); } 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(1);*/ } void Handler::KEY_Handler(uint8_t k_value) { switch (k_value) { case 1: Key_0(); break; case 2: Key_1(); break; case 3: Key_2(); break; case 4: Key_3(); break; } }