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#include "mbed.h"
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#include <vector>
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#include <list>
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#include <algorithm>
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class NetworkNode{
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private:
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std::vector<uint8_t> addr; //16 bit network address vector
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std::vector<uint8_t> addr64; //64 bit network address vector
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int nodeNum; //index
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int x; //x coordinate
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int y; //y coordinate
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int heading; //heading
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public:
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NetworkNode(std::vector<uint8_t> & addrIn, int indexIn);
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//constructor
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NetworkNode(std::vector<uint8_t> & addrIn, std::vector<uint8_t> & addr64In,int indexIn);
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//constructor including 64 bit address
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std::vector<uint8_t> getAddr();
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//returns address
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std::vector<uint8_t> getAddr64();
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//returns 64 bit address
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int getIndex();
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//returns index
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int getX();
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//returns x coordinate
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int getY();
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//returns y coordinate
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int getHeading();
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//returns heading
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void setCoordinates(int x_in, int y_in, int heading_in);
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//sets coordinates
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void setAddr(std::vector<uint8_t> & addrIn);
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//sets address
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void setIndex(int indexIn);
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//sets index
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};
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class XBee_Robot {
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private:
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std::vector< vector <int> > obstacles; // 2D vector to hold positions of obstacles
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int currentIndex; //current index of NetworkNode for received packet, allows coordinates to be updated
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std::vector< NetworkNode > node_list; //list of network nodes
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Serial dataLink; //declare global serial
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int commandX; // x coordinate received as commanded by the coordinator
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int commandY; //y coordinate received as commanded by the coordinator
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int commandFlag; // flag that indicates if coordinates from the coordinator have been received
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int finishedFlag; // flag that indictates if the router robots have finished their journey (coordinator use only)
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public:
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XBee_Robot(PinName _txIn, PinName _rxIn);
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//constructor for XBee
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void Rx_interrupt();
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//ISR for receive pin
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void transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength);
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//assembles and sends transmission requests
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void ATQuery(uint8_t ATu, uint8_t ATl);
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//assembled and sends AT requests with no data byte in order to query the AT configuration of the XBee
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uint8_t calculateChecksum(std::vector<uint8_t> & packet);
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//calculates checksum for assembled packets
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void RxPacketControl(std::vector<uint8_t> & packet);
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//seperates packets depending on API command
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void checkSourceAddr(std::vector<uint8_t> & addr, std::vector<uint8_t> & addr64);
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//checks 16 bit source address of received packet against list of known addresses and adds new addresses (16 and 64 bit)
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void checkSourceAddr(std::vector<uint8_t> & addr);
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//checks 16 bit source address of received packet against list of known addresses and adds new addresses (16 bit only)
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void RxDataHandler(std::vector<uint8_t> & packet);
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//handles received data based on data command
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int getCommandX();
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//used by main program to extract received command coordinates
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int getCommandY();
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//used by main program to extract received command coordinates
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int getCommandFlag();
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//used by main program to poll command flag
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int getFinishedFlag();
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//used by main program to poll finished flag (coordinator use only)
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void resetFinishedFlag();
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//used by main program to reset finished flag (coordinator use only)
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void resetCommandFlag();
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//used by main program to reset command flag
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int checkObstacle(int x_in, int y_in);
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//used by main program to check if an obstacle exists at given coordinates (coordinator use only)
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int convSigned(int int_in);
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//used to convert unsigned 8 bit integers to signed integers
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};
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