/*
Program ID  : RS485Comm-Slave.nxc
Create date : 4-8-2011
Author      : CH, Chen (Taiwan)
Description :
Slave side of NXT Hi-Speed communication(RS485) over NXTBee testing
*/

#define NXTLIGHT_PORT      S1    //Connect NXT Light sensor to this port
#define NXTCOLOR_PORT      S2    //Connect NXT Color sensor to this port

/* *******************************************************
 * Flashing the specified color of the NXT Color sensor
 * xcolor : NXT Color sensor type,
 *          SENSOR_TYPE_COLORFULL,  SENSOR_TYPE_COLORBLUE,
 *          SENSOR_TYPE_COLORGREEN, SENSOR_TYPE_COLORRED
 * ******************************************************* */
void FlashColor(const byte xcolor)
{
   for(short xii=0; xii<10; xii++)
   {
      SetSensorType(NXTCOLOR_PORT, xcolor);
      Wait(300);
      SetSensorColorNone(NXTCOLOR_PORT);
      Wait(100);
   }
}

/* *******************************************************
 * 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);
   }
}

/* *******************************************************
 * Execute command
 * ******************************************************* */
void ExecuteCommand(string strAction)
{
   TextOut(0, LCD_LINE8, "Executing ...   " );
   switch(strAction)
   {
     case "R" : FlashColor(SENSOR_TYPE_COLORRED);   break;
     case "G" : FlashColor(SENSOR_TYPE_COLORGREEN); break;
     case "B" : FlashColor(SENSOR_TYPE_COLORBLUE);  break;
   }
}

/* *******************************************************
 * Waiting for command
 * ******************************************************* */
void Go_Rtn()
{
   string strAction, strDone="DONE" ;
   TextOut(0, LCD_LINE4, "Command:        " );
   while(TRUE)
   {
        TextOut(54, LCD_LINE4, " " );
        TextOut( 0, LCD_LINE8, "Listening ...   " );
        until(RS485DataAvailable()) Wait(50);

        RS485Read(strAction);
        TextOut(54, LCD_LINE4, strAction);
        TextOut( 0, LCD_LINE8, "Command received" );
        FlashLight();

        ExecuteCommand(strAction);

        TextOut( 0, LCD_LINE8, "Reply JobIsDone " );
        SendRS485String(strDone);
        while (RS485SendingData());
   }
}

/* *******************************************************
 * Initialization
 * ******************************************************* */
void Init_Rtn()
{
   // Configure Hi-Speed port(port 4)
   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, " <<Slave Side>> " );
   TextOut(0, LCD_LINE4, " CH Lego (2011) " );
   
   Init_Rtn();
   Go_Rtn();
}