/*
Program ID  : RS485Comm-Main.nxc
Create date : 4-10-2011
Author      : CH, Chen (Taiwan)
Description :
Controlling side of NXT Hi-Speed communication(RS485) over NXTBee testing
*/
#define NXTLIGHT_PORT      S1    //Connect NXT Light sensor to this port

/* *******************************************************
 * Flashing the NXT Light sensor's light
 * ******************************************************* */
void FlashLight()
{
   for(short xii=0; xii<3; xii++)
   {
      SetSensorLight(NXTLIGHT_PORT);
      Wait(300);
      SetSensorType(NXTLIGHT_PORT, SENSOR_TYPE_LIGHT_INACTIVE);
      Wait(100);
   }
}

/* *******************************************************
 * Select command and send to client NXT
 * ******************************************************* */
void Go_Rtn()
{
   TextOut(0, LCD_LINE4, "   (R)Red       " );
   TextOut(0, LCD_LINE5, "   (G)Green     " );
   TextOut(0, LCD_LINE6, "   (B)Blue      " );
   
   short  menuIdx=0, remoteAction;
   long   chkTick;
   string strAction, strDone;
   while(TRUE)
   {
        TextOut(0, LCD_LINE8, "Up  Select  Down" );
        while(TRUE)
        {
             TextOut(0, (4-menuIdx)*8, ">> " );
             Wait(200);
             if ((ButtonPressed(BTNCENTER, TRUE))) break;
             if ((ButtonPressed(BTNLEFT,   TRUE)))
             {
                TextOut(0, (4-menuIdx)*8, "   " );
                menuIdx = ((menuIdx == 0)? 2: menuIdx-1);
             }
             else if ((ButtonPressed(BTNRIGHT, TRUE)))
                  {
                     TextOut(0, (4-menuIdx)*8, "   " );
                     menuIdx = ((menuIdx == 2)? 0: menuIdx+1);
                  }
        }
        strAction = SubStr("RGB" ,menuIdx, 1);

        TextOut(0, LCD_LINE8, " Sending ...    " );
        SendRS485String(strAction);
        while (RS485SendingData());

        TextOut(0, LCD_LINE8, " Waiting for ACK" );
        until(RS485DataAvailable()) Wait(50); // Adding delay is REQUIRED !
              
        strDone = "    " ;
        chkTick = CurrentTick();
        until ((strDone=="DONE" )||((CurrentTick()-chkTick)>10000)) RS485Read(strDone);
        FlashLight();
   }
}

/* *******************************************************
 * Initialization
 * ******************************************************* */
void Init_Rtn()
{
   UseRS485();
   RS485Control(HS_CTRL_INIT, HS_BAUD_9600, HS_MODE_8N1);
   RS485Uart(HS_BAUD_9600, HS_MODE_8N1);
}

/* *******************************************************
 * Main routine
 * ******************************************************* */
task main()
{
   ClearScreen();
   TextOut(0, LCD_LINE1, "RS485 over XBee " );
   TextOut(0, LCD_LINE2, " <<Main  Side>> " );
   TextOut(0, LCD_LINE8, "Initializing ..." );
   Init_Rtn();
   Go_Rtn();
}