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#include "Handler.h"
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void Handler::ZigBeeRx_Handler(uint8_t* mar)
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{
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CommandDecoder decoder(mar);
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switch (decoder.GetDevice())
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{
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case CommandData::Devices::MainCar: //主车
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MainCarRx_Handler(mar); //主车命令相应函数
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break;
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case CommandData::Devices::Barrier: //道闸标志物
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DataTool::PrintDataArray(mar, 8);
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break;
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case CommandData::Devices::LED_Display: //LED显示标志物（暂无返回）
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break;
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case CommandData::Devices::Garage_B: //立体车库标志物B
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{
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GarageCommand cmd;
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if (cmd.IsPositionData(mar))
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{
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Serial.print("Garage at: ");
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Serial.println(cmd.CurrentPos(mar));
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}
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if (cmd.IsIRData(mar))
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{
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Serial.print("Front IR: ");
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Serial.println(cmd.FrontIRTiggered(mar) ? "Triggered" : "Not Triggered");
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Serial.print("Back IR: ");
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Serial.println(cmd.BackIRTiggered(mar) ? "Triggered" : "Not Triggered");
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}
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break;
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}
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case CommandData::Devices::VoiceReport: //语音播报标志物
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{
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VoiceReportCommand cmd;
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uint16_t y;
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byte m, d, h, mm, s;
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if (cmd.ReadRTCDate(mar, y, m, d))
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{
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Serial.print(y);
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Serial.print("-");
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Serial.print(m);
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Serial.print("-");
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Serial.println(d);
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}
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else
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Serial.println("Invalidate Date");
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if (cmd.ReadRTCTime(mar, h, mm, s))
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{
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Serial.print(h);
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Serial.print(":");
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Serial.print(mm);
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Serial.print(":");
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Serial.println(s);
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}
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else
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Serial.println("Invalidate Time");
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break;
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}
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case CommandData::Devices::AlarmTower: //红外报警标志物
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{
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AlarmTowerCommand cmd;
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if (cmd.IsAlarmTowerCommand(mar))
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{
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Serial.print("Rescue Position: ");
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Serial.println(cmd.ReadRescuePosition(mar), HEX);
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}
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break;
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}
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case CommandData::Devices::TFT_B: //TFT显示标志物B
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break;
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case CommandData::Devices::WirelessCharger: //磁悬浮无线充电标志物
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break;
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case CommandData::Devices::TFT_A: //TFT显示标志物A
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break;
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case CommandData::Devices::ETC: //ETC系统标志物
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break;
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case CommandData::Devices::Garage_A: //立体车库标志物A
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break;
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case CommandData::Devices::TrafficLight_A: //交通灯标注物A
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{
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TrafficLightCommand cmd;
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if (cmd.ModeChangeSuccess(mar))
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Serial.println("Enter Identify Mode");
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else
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Serial.println("Mode Change Failure");
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break;
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}
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case CommandData::Devices::TrafficLight_B: //交通灯标志物B
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break;
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case CommandData::Devices::SpecTerrain:
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{
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SpecTerrainCommand cmd;
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if(cmd.IsSpecTerrainCommand(mar))
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{
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switch (cmd.ReadStatus(mar))
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{
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case SpecTerrainCommand::Status::Passed_AtoB:
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case SpecTerrainCommand::Status::Passed_BtoA:
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Serial.println("Passed");
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break;
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case SpecTerrainCommand::Status::NotPass:
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Serial.println("Not Pass");
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break;
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default:
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Serial.println("Data Invalidate");
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}
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}
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else
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Serial.println("Command Invalidate");
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break;
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}
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default:
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break;
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}
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}
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void Handler::OpenMVRx_Handler(uint8_t* mac)
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{
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switch (mac[2])
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{
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case 0x91: //保留
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break;
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case 0x92: //二维码识别
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break;
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default:
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break;
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}
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}
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void Handler::MainCarRx_Handler(uint8_t* com)
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{
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switch (com[2])
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{
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case 0x01: //停止
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//DCMotor.Stop();
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AccurateMotor.ForceStop();
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break;
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case 0x02: //前进
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//DCMotor.Go(com[3], (com[4] + (com[5] << 8)));
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AccurateMotor.RunForward((com[4] + (com[5] << 8)));
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ZigBee_back[2] = 0x03;
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break;
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case 0x03: //后退
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//DCMotor.Back(com[3], (com[4] + (com[5] << 8)));
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AccurateMotor.RunBackward((com[4] + (com[5] << 8)));
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ZigBee_back[2] = 0x03;
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break;
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case 0x04: //左转
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//DCMotor.TurnLeft(com[3]);
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AccurateMotor.TurnLeft(com[3]);
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ZigBee_back[2] = 0x02;
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break;
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case 0x05: //右转
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//DCMotor.TurnRight(com[3]);
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AccurateMotor.TurnRight(com[3]);
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ZigBee_back[2] = 0x02;
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break;
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case 0x06: //循迹
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//DCMotor.CarTrack(com[3]);
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ZigBee_back[2] = 0x00;
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break;
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case 0x07: //码盘清零
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Command.Judgment(Command.command01); //计算校验和
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ExtSRAMInterface.ExMem_Write_Bytes(Command.command01, 8); //码盘清零
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break;
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case 0x10: //保存红外数据
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infrare_com[0] = com[3];
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infrare_com[1] = com[4];
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infrare_com[2] = com[5];
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break;
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case 0x11: //保存红外数据
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infrare_com[3] = com[3];
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infrare_com[4] = com[4];
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infrare_com[5] = com[5];
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break;
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case 0x12: //发送红外数据
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Infrare.Transmition(infrare_com, 6);
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break;
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case 0x20: //左右转向灯
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if (com[3] == 0x01)
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LED.LeftTurnOn();
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else
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LED.LeftTurnOff();
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if (com[4] == 0x01)
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LED.RightTurnOn();
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else
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LED.RightTurnOff();
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break;
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case 0x30: //蜂鸣器
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if (com[3] == 0x01)
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BEEP.TurnOn();
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else
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BEEP.TurnOff();
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break;
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case 0x40: //保留
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break;
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case 0x50: //LCD图片上翻页
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Command.Judgment(Command.command13);
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ExtSRAMInterface.ExMem_Write_Bytes(Command.command13, 8);
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break;
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case 0x51: //LCD图片下翻页
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Command.Judgment(Command.command14);
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ExtSRAMInterface.ExMem_Write_Bytes(Command.command14, 8);
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break;
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case 0x61: //光源加一档
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Infrare.Transmition(Command.HW_Dimming1, 4);
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break;
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case 0x62: //光源加二挡
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Infrare.Transmition(Command.HW_Dimming2, 4);
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break;
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case 0x63: //光源加三挡
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Infrare.Transmition(Command.HW_Dimming3, 4);
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break;
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case 0x80: //从车返回数据切换
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if (com[3] == 0x01)
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{
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sendflag = 0x01; //上传从车数据
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}
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else
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{
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sendflag = 0x00; //关闭上从车数据
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}
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case 0x91:
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if (com[3] == 0x03) //舵机控制
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{
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//Servoangle_control(com[4]);
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}
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break;
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default:
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break;
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}
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}
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void Handler::Key_0()
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{
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OpenMVOpt::Servo_Control(-60);
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OpenMVOpt::OpenMV_Track(1);
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}
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void Handler::Key_1()
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{
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_3DDisplayCommand cmd;
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Infrare.Transmition(cmd.CMD_IR_DisplayAlarmSign(_3DDisplayCommand::AlarmSign::NoDrinkDrive), 6);
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}
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void Handler::Key_2()
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{
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_3DDisplayCommand cmd;
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Infrare.Transmition(cmd.CMD_IR_SetTextColor(0x00, 0xFF, 0x00), 6);
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}
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void Handler::Key_3()
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{
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_3DDisplayCommand cmd;
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TextEncoder encoder("主车不动安如山，从车乱飞墙撞翻。");
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while(encoder.HasNextChar())
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{
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byte b1, b2;
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encoder.GetNextChar(b1, b2);
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ZigBeeOperator.SendCommand(cmd.CMD_ZIGBEE_CustomTextAdd(b1, b2, encoder.IsLastChar()));
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delay(200);
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}
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/*OpenMVOpt::Servo_Control(-60);
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OpenMVOpt::OpenMV_Track(1);*/
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}
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void Handler::KEY_Handler(uint8_t k_value)
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{
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switch (k_value)
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{
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case 1:
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Key_0();
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break;
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case 2:
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Key_1();
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break;
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case 3:
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Key_2();
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break;
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case 4:
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Key_3();
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break;
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}
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}
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