// ============================================================
// Proxi \u2014 Hardware-Extension
//
// FREMDER CODE. Unveraendert uebernommen bis auf diesen Kopf.
// Hier bitte nichts aendern: solange das die Original-Funktionen sind,
// verhaelt sich diese Firmware bei den Motoren exakt wie die Programme,
// die Kosmos mitliefert \u2014 inklusive der P8-Pruefung, deren genaue
// Bedeutung nicht dokumentiert ist (siehe docs/HARDWARE.md).
//
// Herkunft: aus der .hex von Kosmos' Beispielprogrammen extrahiert
//           (dort als custom.ts), siehe tools/hex_source.py.
//           Eingedeutschte Fassung der Extension "TobbieII" von kaku111,
//           https://github.com/kaku111/20190209 \u2014 MIT.
// Lizenz:   MIT, siehe docs/LICENSES.md
// ============================================================

//% weight=0 color=#0033E6 icon="\uf1b9" block="KOSMOS - Proxi"
//uf1b9
namespace Proxi {
    let ADL_R: number = 0;
    let ADH_R: number = 0;
    let ADL_L: number = 0;
    let ADH_L: number = 0;
    let Read_LIR: number = 0;
    let Read_RIR: number = 0;
    let event_src_ir = 12;
    let event_ir_sensor = 1;
    let Motor_R: boolean = false;
    let Motor_L: boolean = false;
    let PX: number = 0;
    let PY: number = 0;
    let Force: number = 10;

    function IR_sensorL(irdataL: number) {   //此為中斷觸發方塊
        control.inBackground(() => {
            let flag = false
            let last_flag = false
            while (true) {
                let ob: boolean = LBlock();
                if (ob) { flag = true } else { flag = false }
                if (flag != last_flag) {
                    if (flag) {
                        control.raiseEvent(event_src_ir, event_ir_sensor)
                        basic.pause(300) //300ms
                    }
                    last_flag = flag
                }
                basic.pause(1)

            }

        }
        )

    }
    //    
    //    背景執行紅外線測距
    //    @param irdata_Set ; eg: 512
    //    
    //    //% blockId="IR_EVENTL" block="ON obstacles on the left: |%irdata_Set"
    //    //% irdata_Set.min=0 irdata_Set.max=1023
    //    //% blockGap=10 weight=99   //代表其重要性，越重放越高
    //    export function onIRL(irdata_Set: number = 512, handler: Action) {
    //       IR_sensorL(irdata_Set);
    //        control.onEvent(event_src_ir, event_ir_sensor, handler); 

    //   }
    //    function IR_sensorR(irdata: number) { 
    //        control.inBackground(() => {
    //           let flag = false
    //            let last_flag = false
    //            while (true) {
    //                let ob: boolean = LBlock();
    //                if(ob){flag=true}else{flag=false}
    //                if (flag != last_flag) {
    //                    if (flag) { 
    //                        control.raiseEvent(event_src_ir, event_ir_sensor)
    //                        basic.pause(3)
    //                    }
    //                    last_flag = flag
    //                }
    //                basic.pause(1)
    //            }   
    //        }      
    //        )
    //    }

    /** Read the value sensed by the right side of the infrared sensor.
    */
    //% blockId="Lese_RBlock" block="Lese rechten IR-Wert aus (Ergebnis 0 - 1024)"
    //% blockGap=5 weight=65                 //與下一個方塊的間隙及排重
    export function Lese_RBlock(): number {
        ADL_R = pins.analogReadPin(AnalogPin.P2)
        pins.digitalWritePin(DigitalPin.P12, 1)
        control.waitMicros(250)
        ADH_R = pins.analogReadPin(AnalogPin.P2)
        pins.digitalWritePin(DigitalPin.P12, 0)
        if (pins.digitalReadPin(DigitalPin.P8) == 1) Read_RIR = ADH_R - ADL_R;
        return (Read_RIR)
    }
    /** Read the value sensed by the left side of the infrared sensor.
    */
    //% blockId="Lese_LBlock" block="Lese linken IR-Wert aus (Ergebnis 0 - 1024)"
    //% blockGap=15 weight=60                 //與下一個方塊的間隙及排重
    export function Lese_LBlock(): number {
        ADL_L = pins.analogReadPin(AnalogPin.P1)
        pins.digitalWritePin(DigitalPin.P12, 1)
        control.waitMicros(250)
        ADH_L = pins.analogReadPin(AnalogPin.P1)
        pins.digitalWritePin(DigitalPin.P12, 0)

        Read_LIR = ADH_L - ADL_L;
        return (Read_LIR)
    }
    /**
        *Determine if there are obstacles on the right side.
        *@param thresholdR ; eg: 512
        */
    //% blockId="RBlock" block="wenn der rechte IR-Wert über %thresholdR liegt"
    //% thresholdR.min=0 thresholdR.max=1023
    //% blockGap=5 weight=58
    export function RBlock(thresholdR: number = 512): boolean {
        ADL_R = pins.analogReadPin(AnalogPin.P2)
        pins.digitalWritePin(DigitalPin.P12, 1)
        control.waitMicros(250)
        ADH_R = pins.analogReadPin(AnalogPin.P2)
        pins.digitalWritePin(DigitalPin.P12, 0)

        if (((ADH_R - ADL_R) > thresholdR) && (pins.digitalReadPin(DigitalPin.P8) == 1)) {
            //basic.showIcon(IconNames.House)
            return (true)
        } else {
            //basic.showIcon(IconNames.Cow)
            return (false)
        }
    }
    /**
    *Determine if there are obstacles on the left side.
    *@param thresholdL ; eg: 512
    */
    //% blockId="LBlock" block="wenn der linke IR-Wert über %thresholdL liegt"
    //% thresholdL.min=0 thresholdL.max=1023
    //% blockGap=10 weight=57
    export function LBlock(thresholdL: number = 512): boolean {
        ADL_L = pins.analogReadPin(AnalogPin.P1)
        pins.digitalWritePin(DigitalPin.P12, 1)
        control.waitMicros(250)
        ADH_L = 0
        if (pins.digitalReadPin(DigitalPin.P8) == 1) {
            ADH_L = pins.analogReadPin(AnalogPin.P1)
            pins.digitalWritePin(DigitalPin.P12, 0)
        }

        if ((ADH_L - ADL_L) > thresholdL) {//512) { 
            //basic.showIcon(IconNames.House)
            return (true)
        } else {
            //basic.showIcon(IconNames.Cow)
            return (false)
        }
    }


    //輸出脈波
    //% blockId="IRbolck" block="Out pulse & show-04"
    //% blockGap=10 weight=55
    //export function IRblock() {
    //    ADL_L = pins.analogReadPin(AnalogPin.P1)
    //    ADL_R = pins.analogReadPin(AnalogPin.P2)
    //    pins.digitalWritePin(DigitalPin.P12, 1)
    //    control.waitMicros(250)
    //    ADH_L = pins.analogReadPin(AnalogPin.P1)
    //    ADH_R = pins.analogReadPin(AnalogPin.P2)
    //    pins.digitalWritePin(DigitalPin.P12, 0)

    //    if ((ADH_L-ADL_L) > 512) { 
    //basic.showIcon(IconNames.House)
    //        led.plot(0, 0)
    //        led.unplot(0,4)
    //    } else {
    //basic.showIcon(IconNames.Cow)
    //        led.plot(0, 4)
    //        led.unplot(0,0)
    //    }

    //    if ((ADH_R-ADL_R) > 512) { 
    //basic.showIcon(IconNames.House)
    //        led.plot(4, 0)
    //        led.unplot(4, 4)
    //   } else {
    //basic.showIcon(IconNames.Cow)
    //        led.plot(4, 4)
    //        led.unplot(4,0)
    //       }

    //return(true)       
    //}
    /**
    *Proxi läuft vorwaerts.
    */
    //% blockId="vorwärts" block="Proxi läuft vorwärts"
    //% blockGap=3 weight=35
    export function vorwärts() {
        if (pins.digitalReadPin(DigitalPin.P8) == 1) {
            pins.digitalWritePin(DigitalPin.P13, 1)
            pins.digitalWritePin(DigitalPin.P14, 0)
        }
    }
    /**
    *Proxi läuft rückwärts.
    */
    //% blockId="rückwärts" block="Proxi läuft rückwärts"
    //% blockGap=3  weight=34
    export function rückwärts() {
        if (Force != 0) {
            pins.digitalWritePin(DigitalPin.P13, 0)
            pins.digitalWritePin(DigitalPin.P14, 1)
            Force = Force - 1;
        }
        if (pins.digitalReadPin(DigitalPin.P8) == 1) { Force = 10 }

    }
    /**
    *Proxi bleibt stehen.
    */
    //% blockId="stehenbleiben" block="Proxi bleibt stehen"
    //% blockGap=10 weight=33
    export function stehenbleiben() {
        pins.digitalWritePin(DigitalPin.P13, 0)
        pins.digitalWritePin(DigitalPin.P14, 0)
    }
    /**
    *Proxi Rechtsdrehung.
    */
    //% blockId="rechtsdrehung" block="Proxi Rechtsdrehung"
    //% blockGap=3  weight=32
    export function rechtsdrehung() {
        pins.digitalWritePin(DigitalPin.P15, 0)
        pins.digitalWritePin(DigitalPin.P16, 1)
        Motor_L = false
        Motor_R = true
    }
    /**
    *Proxi Linksdrehung.
    */
    //% blockId="linksdrehung" block="Proxi Linksdrehung"
    //% blockGap=3  weight=31
    export function linksdrehung() {
        pins.digitalWritePin(DigitalPin.P15, 1)
        pins.digitalWritePin(DigitalPin.P16, 0)
        Motor_L = true
        Motor_R = false
    }
    /**
    *Proxi stoppt Drehung
    */
    //% blockId="drehungstopp" block="Proxi stoppt Drehung"
    //% blockGap=10 weight=30
    export function drehungsstopp() {
        if (Motor_L || Motor_R) {
            if (Motor_R) {
                pins.digitalWritePin(DigitalPin.P15, 1)
                pins.digitalWritePin(DigitalPin.P16, 0)
            } else {
                pins.digitalWritePin(DigitalPin.P15, 0)
                pins.digitalWritePin(DigitalPin.P16, 1)
            }
            basic.pause(50)
        }
        if (pins.digitalReadPin(DigitalPin.P8) == 1) {
            pins.digitalWritePin(DigitalPin.P15, 0)
            pins.digitalWritePin(DigitalPin.P16, 0)
            Motor_L = false
            Motor_R = false
        }
    }

    /**
       *Proxi stampft eine bestimmte Anzahl auf.
       *@param time describe parameter here, eg:5
       */
    //% blockId="stampfen" block="Proxi stampft %time mal auf"
    //% time.min=1 time.max=100
    //% blockGap=5 weight=25
    //% advanced=true
    export function stampfen(time: number): void {
        for (let i = 0; i < time; i++) {
            pins.digitalWritePin(DigitalPin.P13, 1)  //向前
            pins.digitalWritePin(DigitalPin.P14, 0)
            basic.pause(150)
            pins.digitalWritePin(DigitalPin.P13, 0)  //向後
            pins.digitalWritePin(DigitalPin.P14, 1)
            basic.pause(150)
        }
        pins.digitalWritePin(DigitalPin.P13, 0)      //停止
        pins.digitalWritePin(DigitalPin.P14, 0)
    }
    /**
       *Proxi schüttelt seinen Kopf eine bestimmte Anzahl.
       *@param time describe parameter here, eg:5
       */
    //% blockId="kopf_schuetteln" block="Proxi %time mal Kopfschütteln"
    //% time.min=1 time.max=100
    //% blockGap=5 weight=26
    //% advanced=true
    export function kopf_schuetteln(time: number): void {
        for (let i = 0; i < time; i++) {
            pins.digitalWritePin(DigitalPin.P15, 1)  //左轉
            pins.digitalWritePin(DigitalPin.P16, 0)
            basic.pause(250)
            pins.digitalWritePin(DigitalPin.P15, 0)  //右轉
            pins.digitalWritePin(DigitalPin.P16, 1)
            basic.pause(250)
        }
        pins.digitalWritePin(DigitalPin.P15, 0)      //停止行走
        pins.digitalWritePin(DigitalPin.P16, 0)
    }
    /**
        *Proxi tanzt eine bestimmte Anzahl.
        *@param time describe parameter here, eg:5
        */
    //% blockId="tanz" block="Proxi tanzt %time mal"
    //% time.min=1 time.max=100
    //% blockGap=5 weight=24
    //% advanced=true
    export function tanz(time: number): void {
        for (let i = 0; i < time; i++) {
            pins.digitalWritePin(DigitalPin.P13, 0)  //向後
            pins.digitalWritePin(DigitalPin.P14, 1)
            pins.digitalWritePin(DigitalPin.P15, 0)  //右轉
            pins.digitalWritePin(DigitalPin.P16, 1)
            basic.pause(250)
            pins.digitalWritePin(DigitalPin.P13, 1)  //向前
            pins.digitalWritePin(DigitalPin.P14, 0)
            pins.digitalWritePin(DigitalPin.P15, 1)  //左轉
            pins.digitalWritePin(DigitalPin.P16, 0)
            basic.pause(250)
        }
        pins.digitalWritePin(DigitalPin.P13, 0)
        pins.digitalWritePin(DigitalPin.P14, 0)
        pins.digitalWritePin(DigitalPin.P15, 0)
        pins.digitalWritePin(DigitalPin.P16, 0)
    }
    /**
        *Proxi zeigt Stimmung auf Gesicht an (nur APP).
        *@param RX_Data describe parameter here
        */
    //% blockId="BLE_DOT" block="Proxi zeigt Stimmung auf Gesicht an (nur APP) %RX_Data"
    //% blockGap=5 weight=23
    //% advanced=true
    export function zeige_Gesicht(RX_Data: string): void {
        basic.clearScreen()
        for (let PY = 0; PY <= 4; PY++) {
            let PLOT_DATA: number = parseInt(RX_Data.substr(PY * 2 + 1, 2))
            for (let PX = 0; PX <= 4; PX++) {
                if (PLOT_DATA % 2 == 1) {
                    led.plot(PX, PY)
                    PLOT_DATA = PLOT_DATA - 1
                }
                PLOT_DATA = PLOT_DATA / 2
            }
        }
    }
}