/**
* @brief:farSignalProcess
*
* @note:
*/
void farSignalProcess(void)
{
gl_leftNumOrig = findLeftBlackNum();
gl_rightNumOrig = findRightBlackNum();
/* gl_leftValueOrig and gl_rightValueOrig are only for SD print. */
gl_leftValueOrig = getLeftValue(gl_leftNumOrig);
gl_rightValueOrig = getRightValue(gl_rightNumOrig);
// if(ReadSwitch(0X40))
// {
// //judgeStartline();
// }
/* judge if it is crossline, set gl_crossline, otherwise clear gl_crossline. */
judgeCrossline();
if(!gl_crossline)
{
farSignalFilter();
}
else
{
gl_leftBlackNum = -1;
gl_rightBlackNum = -1;
}
// farSignalFilter();
s_leftBlackNumLast = gl_leftBlackNum;
s_rightBlackNumLast = gl_rightBlackNum;
/* gl_leftValue and gl_rightValue are only for SD print. */
gl_leftValue = getLeftValue(gl_leftBlackNum);
gl_rightValue = getRightValue(gl_rightBlackNum);
gl_outType = judgeOutType();
getHistorySignal();
if(gl_crossline)
{
speaker_open(SPEAKER0);
//BUZZER_ON();
}
else
{
speaker_close(SPEAKER0);
//BUZZER_OFF();
}
}
void Drop::initPathValue()
{
for (auto point: _exitPoints) {
_map[point.x][point.y] = 1;
}
for (int i=0; i<xCount; i++) {
for (int j=0; j<yCount; j++) {
if (Map[i][j] == 0) {
_map[i][j] = UnReachable;
}
else if (_map[i][j] == 0)
{
auto value = getUpValue(i, j);
if (value == 1)
{
value = getLeftValue(i, j);
if (value == 1)
{
value = getRightValue(i, j);
}
}
_map[i][j] = value;
}
}
}
}
