From db3528f5024063ea8b5a7deaaf5bfde34b46c356 Mon Sep 17 00:00:00 2001
From: DashyFox <DashyFox@yandex.ru>
Date: Sun, 1 Sep 2024 22:16:38 +0300
Subject: [PATCH] Testing IR input

---
 Core/Src/IR_CMD_HandlerLogic.c | 159 ++++++++++++++++++++++++++++-----
 1 file changed, 138 insertions(+), 21 deletions(-)

diff --git a/Core/Src/IR_CMD_HandlerLogic.c b/Core/Src/IR_CMD_HandlerLogic.c
index b9b4443..2cedad9 100644
--- a/Core/Src/IR_CMD_HandlerLogic.c
+++ b/Core/Src/IR_CMD_HandlerLogic.c
@@ -7,6 +7,7 @@
 #include "IR_CMD_Handler.h"
 #include "IR.h"
 #include "ShiftReg.h"
+#include "RobotFunctions.h"
 
 #include "Print.h"
 
@@ -31,12 +32,21 @@ extern IRData data;
 extern void NullFunc(); 					// null func for paramEnter(NullFunc);
 extern void paramEnter(void(*onEnter_)());	// setParamFunc for enter
 
-uint8_t testData;
-void selectShot(){
-	testData = inputParam;
+void IR_ShotPrepared();
+
+void onSelectShot(){
+	if(prepareShot(inputParam)){
+		InputHandler = IR_ShotPrepared;
+	} else {
+		paramEnter(onSelectShot);
+		print("Shot not found\n");
+		// Shot not found
+	}
 }
 
 
+
+
 unsigned char b1 = 1;
 unsigned char b2 = 1;
 unsigned char b3 = 1;
@@ -45,36 +55,143 @@ void IR_Home_Process() {
 	SetShiftReg_inline(0xff, 0, 0);
 	switch (data.command) {
 	case IR_FONT_RIGHT:
-
-		paramEnter(selectShot);
+	case IR_SHOT:
+		paramEnter(onSelectShot);
+		break;
+
+	case IR_PROG:
+//		paramEnter(onSelectShot);
 		break;
 
-//	case IR_FONT_RIGHT:
-//		//		        	if(!(b1>64 || b2> 64|| b3>64)) b1 = 64;
-//		//		        	else
-//		//		        	{
-//		//		        		b1 = b1>>1;
-//		//		        		b2 = b2<<1;
-//		//		        		b3 = b3<<1;
-//		//		        	}
-//		SetShiftReg_inline(b1, b2, b3);
-//		break;
 	case IR_FRONT_MID:
 		SetShiftReg_inline(0, 0, 0);
 		b1 = b2 = b3 = 0;
 		break;
 	case IR_FRONT_LEFT:
-		//					if(!b3)
-		//						b3 = 128;
-		//					b3 = b3>>1;
-		//					if(!b3)
-		//						b2 = 64;
-
 		SetShiftReg_inline(++b1, ++b2, ++b3);
 		break;
 
+	case IR_F_BTN:
+		{
+		  Shot testShot = GetShot(3);
+		  if(!testShot.isExist){
+			  testShot.countRepeatShot		= 1;
+			  testShot.speedRollerTop		= 200;
+			  testShot.speedRollerBottom	= 200;
+			  testShot.speedScrew 			= 100;
+			  testShot.rotationAxial		= 90;
+			  testShot.rotationHorizontal	= 90;
+			  testShot.rotationVertical		= 90;
+
+			  SaveShot(3, &testShot);
+			  doShot(&testShot);
+		  }
+		}
+		break;
+
+	case IR_PAUSE:
+		{
+			uint8_t buf[256];
+
+			uint16_t blockAddr16 = 0;
+			uint8_t  blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
+
+			HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2, 10);
+			HAL_Delay(1);
+			HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1), buf, sizeof(buf), 10);
+			HAL_Delay(1);
+
+			for (int i = 0; i < sizeof(buf); ++i) {
+				if(!(i % 8)) print(" ");
+				if(!(i % 32)) print("\n");
+				char buffer[BUFFER_SIZE];
+				int_to_str(buf[i], buffer, 16);
+				CDC_Transmit_FS((uint8_t*)buffer, strlen(buffer));
+				HAL_Delay(1);
+				print(" ");
+			}
+		  }
+		break;
+
+	case IR_NUM_1:
+//		SetServo(0, 90+25);
+		setRollersSpeed(200,200);
+		break;
+	case IR_NUM_2:
+		setRollersSpeed(0,0);
+//		SetServo(1, 90+25);
+		break;
+	case IR_NUM_3:
+		setScrewkSpeed(100);
+//		SetServo(3, 90+25);
+		break;
+
+	case IR_NUM_7:
+//		SetServo(0, 90-25);
+
+	{
+		uint16_t blockAddr16 = 0;
+		uint8_t  blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
+
+	  unsigned char Buf[2+2];
+	  memset(Buf, 0x00, sizeof(Buf));
+		Buf[0] = blockAddr[0];
+		Buf[1] = blockAddr[1];
+
+		uint8_t data[2] = {0xAB,0xCD};
+
+		for( unsigned char i = 0; i < (sizeof(data)); i++ ) Buf[i+2] = (data)[i];
+
+		HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (sizeof(data) + 2), 10);
+		HAL_Delay(1);
+	}
+		break;
+	case IR_NUM_8:
+//		SetServo(1, 90-25);
+	{
+
+		uint16_t blockAddr16 = 0;
+		uint8_t  blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
+
+	  unsigned char Buf[2+2];
+	  memset(Buf, 0x00, sizeof(Buf));
+		Buf[0] = blockAddr[0];
+		Buf[1] = blockAddr[1];
+
+		uint16_t data = 0;
+
+		for( unsigned char i = 0; i < (sizeof(data)); i++ ) Buf[i+2] = (&data)[i];
+
+		HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (sizeof(data) + 2), 10);
+		HAL_Delay(1);
+	}
+		break;
+	case IR_NUM_9:
+//		SetServo(3, 90-25);
+		break;
+
+	case IR_NUM_5:
+		setRollersSpeed(100,100);
+		break;
+
+	case IR_STOP:
+		stopShooting();
+		break;
+
 	default:
 		break;
 	}
 
 }
+
+void IR_ShotPrepared(){
+	InputHandler = IR_ShotPrepared;
+	switch (data.command) {
+		case IR_START:
+			startShooting();
+			break;
+		default:
+			InputHandler();
+			break;
+	}
+}