📄 main1_1013.c.bak
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// VOLTAGE=0;
// AVC=0;
// decrease=0;
// rot_front=0;
// rot_reverse=0;
// wire_add=0;
// wire_dec=0;
// osc_l=0;
// osc_r=0;
// avc_up=0;
// avc_down=0;
temp_motor_stop=0;
// motor_stop=0;
new_switch1=0;
new_switch2=0;
new_switch3=0;
// start_again=0;
need_para=0;
p_changed=0;
edited=0;
POINTER0=0;
SSUM=0;
S_ANSW=0;
POINTER1=0;
RSUM=0;
ans=0;
R_ANSW=0;
r_byte_nums=4;
noans_ok=1;
overtime=0;
s_p=0; //1,发送参数
need_finish=0;
pc_operate=0;
// rc_forbided=1;
while(start==0||pc_ok==0)
{
if(connect==1)
{
ini_sbuf(M_PC,answer,OK,0,0);
s_byte_nums=4;
TR_noans();
pc_ok=1;
connect=0;
}
if(break_connect==1)
{
ini_sbuf(M_PC,answer,OK,0,0);
s_byte_nums=4;
TR_noans();
pc_ok=0;
break_connect=0;
}
/*
if(p_forbid==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
p_forbided=1;
p_actived=0;
p_forbid=0;
}
if(rc_forbid==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
rc_forbided=1;
rc_actived=0;
rc_forbid=0;
}
*/
if(temp_motor_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
motor_stop=1;
temp_motor_stop=0;
}
if(editing==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
while(p_received==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
if(resend==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
p_received=0;
resend=0;
}
}
point=&pp.pn;
delt=0;
for(i=2;i<55;i++)
{
*(point+i-2)=rbuffer[i+delt]*256+rbuffer[i+delt+1];
delt++;
}
p_received=0;
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
while(p_received==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
if(resend==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
p_received=0;
resend=0;
}
}
point=&pp.k2;
delt=0;
for(i=2;i<51;i++)
{
*(point+i-2)=rbuffer[i+delt]*256+rbuffer[i+delt+1];
delt++;
}
p_received=0;
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
while(p_received==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
if(resend==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
p_received=0;
resend=0;
}
}
point=&pp.k4;
delt=0;
for(i=2;i<53;i++)
{
*(point+i-2)=rbuffer[i+delt]*256+rbuffer[i+delt+1];
delt++;
}
pp.sec_num=rbuffer[52];
p_received=0;
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
if(pp.sec_num>0)
{
for(j=0;j<pp.sec_num;j++)
{
while(p_received==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
if(resend==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
resend=0;
p_received=0;
}
}
p_received=0;
nonce_sec=rbuffer[2];
point=&pp.x[nonce_sec][0];
i=3;
for(delt=0;delt<30;delt++)
{
*(point+delt)=rbuffer[i]*256+rbuffer[i+1];
i=i+2;
}
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
}
}
while(edit_finish==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
}
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
edit_finish=0;
pc_edit=1;
}
if(need_para==1||edited==1||p_changed==1)
{
if(edited==1||p_changed==1)
{
ini_sbuf(M_PC,command,com_receive_p,0,0);
s_byte_nums=4;
TR_ans();
}
// delay(50);
ini_sbuf(M_PC,program,0,0,0);
sbuffer[2]=pp.pn%256;
s_byte_nums=4;
TR_ans();
// delay(100);
send_param();
need_para=0;
edited=0;
p_changed=0;
}
/*
if(p_active==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
p_forbided=0;
p_actived=1;
p_active=0;
}
if(rc_active==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
rc_forbided=0;
rc_actived=1;
rc_active=0;
}
*/
if(new_switch1==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
new_switch11=1;
new_switch1=0;
}
if(new_switch2==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
new_switch22=1;
new_switch2=0;
}
if(new_switch3==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
delt_switch=1;
new_switch3=0;
}
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
}
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
s_p=0;
while(decrease==0)
{
if(need_finish==1)
{
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=FINISH/256;
sbuffer[3]=FINISH%256;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
}
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
if(pc_operate==1)
{
while(need_finish==0);
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=0xFE;
sbuffer[3]=0;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
}
}
if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
// stop=0;
// delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
if(temp_motor_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
motor_stop=1;
temp_motor_stop=0;
}
}
s_p=0;
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
while(decrease_ok==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
if(pc_operate==1)
{
while(need_finish==0);
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=0xFE;
sbuffer[3]=0;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
}
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
if(need_finish==1)
{
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=FINISH/256;
sbuffer[3]=FINISH%256;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
}
}
if(pc_operate==1)
{
while(need_finish==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
while(need_finish==0);
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=0xFE;
sbuffer[3]=0;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
}
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=FINISH/256;
sbuffer[3]=FINISH%256;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
FINISH=0;
while(need_finish==0)
{
if(urgent_stop==1)
{
if(pc_stop==0)
{
while(err_ok==0);
// ini_sbuf(M_PC,err_infor,0,err,0);
// s_byte_nums=5;
// TR_noans();
while(need_finish==0);
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=0xFE;
sbuffer[3]=0;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_finish=0;
}
else if(pc_stop==1)
{
ini_sbuf(M_PC,answer,S_ANSW,0,0);
s_byte_nums=4;
TR_noans();
stop=0;
delay(5);
stop=1;
while(err_ok==0);
}
goto BEGIN;
}
}
sbuffer[0]=M_PC;
sbuffer[1]=parameter1;
sbuffer[2]=0xFF;
sbuffer[3]=0;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
}
else
FINISH=0;
goto BEGIN;
}
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