Enhance IR control functionality and configuration

- Updated angle_minus value in config.json for switch calibration.
- Added support for seminsu devices in load_seminsus function.
- Implemented polling logic for seminsu devices in main.py.
- Adjusted switch position representation from "-" and "+" to "1" and "0".
- Introduced IRRxTxPollPair class for IR communication in ir_pair.py.
- Created ir_test.py for testing IR functionality with configurable parameters.

main.py

@@ -2,8 +2,11 @@ import sys
 from switch import Switch
 import select
 from machine import Pin
+from time import sleep_ms
+from ir_pair import IRRxTxPollPair
 
 
+SEMINSU = dict()
 SWITCHES = dict()
 LED = Pin("LED", Pin.OUT)  # "LED" — специальное имя для встроенного индикатора
 
@@ -21,7 +24,28 @@ def load_switches():
                 angle_plus=sw_cfg["angle_plus"]
             )
             SWITCHES[sw.id] = sw
-    # print(f"Loaded {len(SWITCHES)} switch{'es' if len(SWITCHES) > 1 else ''}.")
+
+
+def load_seminsus():
+    with open("config.json", "r") as file:
+        import json
+        config = json.load(file)
+        for sem_cfg in config["seminsus"]:
+            seminsu = IRRxTxPollPair(
+                rx_pin=sem_cfg["pin_rx"],
+                tx_pin=sem_cfg["pin_tx"],
+                poll_period_ms=200,
+                tx_on_ms=10,
+                blinks_per_poll=10,
+                blink_off_ms=5,
+                freq_hz=38_000,
+                duty_percent=33,
+                min_edges=10,
+                count_rising=False,
+                count_falling=True,
+            )
+            SEMINSU[sem_cfg["id"]] = seminsu
+        
 
 
 def resolve_command(command: str):
@@ -33,14 +57,14 @@ def resolve_command(command: str):
             return "ERROR Invalid ID"
 
         direction = parts[3]
-        if direction not in ("+", "-"):
+        if direction not in ("1", "0"):
             return "ERROR Invalid direction"
 
         if sw_id not in SWITCHES:
             return f"ERROR Switch {sw_id} not found"
 
         # Выполняем действие
-        if direction == "+":
+        if direction == "0":
             SWITCHES[sw_id].set_plus()
         else:
             SWITCHES[sw_id].set_minus()
@@ -51,15 +75,70 @@ def resolve_command(command: str):
         evts = []
         for id, sw in SWITCHES.items():
             evts.append(f"EVENT SWITCH {id} {sw.pos}")
+        for id, seminsu in SEMINSU.items():
+            evts.append(f"EVENT IK_MODULE {id} {seminsu.last_state}")
         return "\n".join(evts)
 
 
+_seminsu_ids = []
+_seminsu_idx = 0
+_active_seminsu_id = None
+
+
+def _next_seminsu_id():
+    global _seminsu_idx
+    if not _seminsu_ids:
+        return None
+    sid = _seminsu_ids[_seminsu_idx]
+    _seminsu_idx = (_seminsu_idx + 1) % len(_seminsu_ids)
+    return sid
+
+
+def poll_seminsus_step():
+    """Неблокирующий шаг опроса seminsu.
+
+    В каждый момент времени опрашивается только ОДНА пара.
+    """
+    global _active_seminsu_id
+
+    if not SEMINSU:
+        return
+
+    if _active_seminsu_id is None:
+        _active_seminsu_id = _next_seminsu_id()
+        if _active_seminsu_id is None:
+            return
+        SEMINSU[_active_seminsu_id].start_poll()
+
+    seminsu = SEMINSU[_active_seminsu_id]
+    done = seminsu.update()
+    if not done:
+        return
+
+    # Цикл завершён — печатаем при изменении состояния.
+    if seminsu.prev_state is not None and seminsu.last_state is not None:
+        if seminsu.prev_state != seminsu.last_state:
+            # state: 1 = перекрыт, 0 = не перекрыт
+            print(f"EVENT IK_MODULE {_active_seminsu_id} {seminsu.last_state}")
+
+    _active_seminsu_id = None
+
+
 def work():
     poll = select.poll()
     poll.register(sys.stdin, select.POLLIN)
 
+    # Готовим список id seminsu для round-robin.
+    global _seminsu_ids, _seminsu_idx, _active_seminsu_id
+    _seminsu_ids = list(SEMINSU.keys())
+    _seminsu_idx = 0
+    _active_seminsu_id = None
+
     while True:
-        events = poll.poll()
+        LED.toggle()
+
+        # 1) Обработка stdin НЕ блокирует цикл seminsu.
+        events = poll.poll(0)
         for fd, event in events:
             if event & select.POLLIN:
                 try:
@@ -67,16 +146,20 @@ def work():
                     if not line:
                         continue
 
-                    parts = line.split()
                     result = resolve_command(line)
                     if result:
                         print(result)
 
                 except Exception as e:
-                    # Любая неожиданная ошибка — тоже одна строка
                     print(f"ERROR {e}")
 
+        # 2) Один неблокирующий шаг опроса seminsu.
+        poll_seminsus_step()
+
+        # Небольшая пауза, чтобы не крутить CPU на 100%.
+        sleep_ms(1)
+
 if __name__ == "__main__":
-    LED.on()
     load_switches()
+    load_seminsus()
     work()