EZB.h

#ifndef _EZ_CONN_H
#define _EZ_CONN_H

#include <stdlib.h>
#include <stdio.h>

#include <stdexcept>
#include <errno.h>
#ifdef _WINDOWS
#include "windows_ports.h"
#else
#include <unistd.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
#include <sys/socket.h>
#include <pthread.h>

#endif
#include "ADC.h"
#include "Configuration.h"
#include "Digital.h"
#include "HC_SR04.h"
#include "I2C.h"
#include "Movement.h"
#include "PWM.h"
#include "Servo.h"
#include "SureDualAxisCompass.h"
#include "Tone.h"
#include "Uart.h"

#define KEEP_ALIVE_INTERVAL 2000

class EZB{

private:

  long m_socket;
  bool m_exit;
  bool m_connected;
  bool m_verbose;

  double m_firmware;
  char m_firmware_str[20];

  char* m_mac_address;
  

  unsigned char m_keepalive[1];

#ifdef _WINDOWS
  _SOCKADDR_BTH m_addr;
  CRITICAL_SECTION m_send_mutex;
  HANDLE m_keepalive_thread;
#else
  struct sockaddr_rc m_addr;
  pthread_t m_keepalive_thread;
  pthread_mutex_t m_send_mutex;
#endif

  long m_lastcommand_time;

  void CreateObjects();
  bool KeepAlive();

public:

  enum CommandEnum{
    Unknown = 0,
    ReleaseAllServos = 1,
    SetSerialMacro = 2,
    SetI2CMacro = 3,
    WriteConfiguration = 4,
    ReadConfiguration = 5,
    StatusLED = 6,
    I2CStart = 7,
    I2CRestart = 8,
    I2CStop = 9,
    I2CWrite = 10,
    I2CRead = 11,
    I2CReadAutoAck = 12,
    I2CPoll = 13,
    BootLoader = 14,
    SetPWMSpeed = 15,
    BV4113_Cmd = 35,
    SetServoSpeed = 40,
    Ping = 85,
    SetDigitalPortOn = 100,
    SetDigitalPortOff = 120,
    GetDigitalPort = 140,
    SetServoPosition = 160,
    GetADCValue = 180,
    SendSerial = 190,
    HC_SR04 = 210,
    PlayNote = 230,
  };

  ADCClass* ADC;
  ConfigurationClass* Configuration;
  DigitalClass* Digital;
  HC_SR04Class* HCSR04;
  I2CClass* I2C;
  MovementClass* Movement;
  PWMClass* PWM;
  ServoClass* Servo;
  SureDualAxisCompassClass* SureDualAxisCompass;
  ToneClass* Tone;
  UartClass* Uart;

  EZB();
  ~EZB();
  void Connect(char* mac_address);
  void Disconnect();
  bool IsConnected();
  void SetVerboseLogging(bool verbose);
  time_t LastCommandTime();
  void SendCommand(unsigned char command);
  void SendCommand(unsigned char command, unsigned char* args, int num_args);
  unsigned char* SendCommand(unsigned char command, unsigned char* args, int num_args, int expected_ret_bytes);
  unsigned char* SendCommand(unsigned char command, int expected_ret_bytes);
  void SetLEDStatus(bool status);
  char* GetFirmwareVersion();
  double GetFirmwareVersionRaw();
  void ConnectionCheck();
  static const char* VersionNumber();
};

void* ConnectionCheckStub(void* lParam);

#ifdef _WINDOWS
int str2ba(const char* straddr, BTH_ADDR* btaddr);
#endif


#endif