From 984e917461abb7187622b183a64238711b3a1d10 Mon Sep 17 00:00:00 2001
From: VladislavOstapov <dwsbenz@gmail.com>
Date: Wed, 7 Dec 2022 12:57:42 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9C=D0=B5=D0=BB=D0=BA=D0=B8=D0=B5=20=D1=84?=
 =?UTF-8?q?=D0=B8=D0=BA=D1=81=D1=8B?=
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---
 scheduler.c | 24 ++++++++++--------------
 utils.h     |  5 -----
 2 files changed, 10 insertions(+), 19 deletions(-)

diff --git a/scheduler.c b/scheduler.c
index 5c87344..c42b341 100644
--- a/scheduler.c
+++ b/scheduler.c
@@ -228,12 +228,6 @@ short get_operation_priority(short barrel_id) {
         return 1;
     }
 
-//    task->priority = 0;
-//    switch (barrel_process) {
-//        case PROCESS_RETURN_2:
-//            break;
-//    }
-
     return 1; // 1 - нормальный приоритет
 }
 
@@ -334,20 +328,20 @@ short scheduler_find_task(struct scheduler_task* tasks, const short curr_pos) {
 }
 
 #ifdef EMULATOR
-void debug_print_robot1_code() {
+void debug_print_robot1_code(const struct robot_code* code, const short robot_id) {
 //    printf("INFO: code length is %d\n", cmd_index);
-    printf("Code for R0, B%d:\n", robot1_code.barrel_id);
+    printf("Code for R%d, B%d:\n", robot_id, code->barrel_id);
     for (int i = 0; i < 16; i++) {
-        const short cmd_arg = (short)(robot1_code.code[i] & (short)(~ROBOT_CMD_MASK));
+        const short cmd_arg = (short)(code->code[i] & (short)(~ROBOT_CMD_MASK));
 
-        printf("    %3d 0x%04X", i, robot1_code.code[i] & 0xFFFF);
+        printf("%5d 0x%04X", i, code->code[i] & 0xFFFF);
 
-        if ((robot1_code.code[i] & ROBOT_CMD_MASK) == ROBOT_CMD_END_code) {
+        if ((code->code[i] & ROBOT_CMD_MASK) == ROBOT_CMD_END_code) {
             printf("    END\n");
             break;
         }
 
-        switch ((short)(robot1_code.code[i] & (short)ROBOT_CMD_MASK)) {
+        switch ((short)(code->code[i] & (short)ROBOT_CMD_MASK)) {
             case ROBOT_CMD_MOVE_TO_ZONE_code:
                 printf("    move to zone %d (with barrel: %d)\n", cmd_arg & (~ROBOT_WITH_BARREL), (cmd_arg & ROBOT_WITH_BARREL) != 0);
                 break;
@@ -398,7 +392,7 @@ void debug_print_robot1_code() {
                 break;
 
             default:
-                printf("    UNKNOWN: 0x%04X\n", robot1_code.code[i] & 0xFFFF);
+                printf("    UNKNOWN: 0x%04X\n", code->code[i] & 0xFFFF);
         }
     }
 }
@@ -592,7 +586,7 @@ void schedule_robot_1() {
             create_operation(target_task, tasks, &robot1_code, robot1.dx.current_zone);
 
 #ifdef EMULATOR
-            debug_print_robot1_code();
+            debug_print_robot1_code(&robot1_code, 1);
 #endif
         }
     } else {
@@ -659,6 +653,8 @@ char scheduler_remove_barrel_from_zone(short zone) {
 void scheduler_main()
 #endif
 {
+    _scheduler_one_robot_mode = (char)(hla_robot1_en ^ hla_robot2_en);
+
     if (_scheduler_en) {
         // тут возможна только вставка барабанов
         if (button_load) {
diff --git a/utils.h b/utils.h
index 6c3ee0b..41630cd 100644
--- a/utils.h
+++ b/utils.h
@@ -169,11 +169,6 @@ extern struct robot_code robot2_code;
 #define robot2_code (*((struct robot_code*)_robot2_code_struct))
 #endif
 
-// почему-то компилер говорит что размер структуру сраный
-//extern struct robot robot1;
-//extern struct robot robot2;
-
-// появилась идея сделать пачку short-команд, то есть вставлять не полный код операции, а код 0x7000 | код операции 0x0X00
 
 #define ROBOT_CMD_MASK                 (short)0xF000
 #define ROBOT_CMD_END_code             (short)0x0000