client

classdef robot_class
    %ROBOT_CLASS Summary of this class goes here
    %   Detailed explanation goes here

    properties
        socket = tcpip('192.168.2.100',50131,'NetworkRole','client','TransferDelay','off');
        com_status = robot_enum.error;
        detection_mode_MC = false;
        robots_max_quantity = 10;
        robots_control_quantity = 0;
        detect_list = struct('id',0,'detect',0,'x',0,'y',0,'ang',0);
        control_id;
        control_list;
    end

    methods
        function obj = robot_class(ip,port,max,caunt,mode) %konstruktor
            if nargin > 0
                obj.socket = tcpip(ip,uint16(port),'NetworkRole','client','TransferDelay','off');
                obj.robots_max_quantity = double(uint8(max));
                obj.robots_control_quantity = double(uint8(caunt));
                obj.detection_mode_MC = mode;
            end
        end

        function obj = disconnect(obj) %roz��czenie
            try
                fwrite(obj.socket,0,'uint8');
            catch
                obj.com_status = robot_enum.error;
            end
            obj.com_status = robot_enum.error;
            fclose(obj.socket);
        end

        function obj = connect(obj) %po��czenie
            try
                fopen(obj.socket);
                if obj.robots_control_quantity == 0
                    data = int8([1 2 0]);
                elseif obj.detection_mode_MC == true
                    data = int8([1 1 obj.robots_control_quantity]);
                else
                    data = int8([1 0 obj.robots_control_quantity]);
                end
                fwrite(obj.socket,data,'uint8');

                if fread(obj.socket,1,'uint8') == 2
                    temp_status = fread(obj.socket,1,'uint8');
                    switch temp_status
                        case 17 %monitor
                            if obj.robots_control_quantity == 0
                                obj.com_status = robot_enum.mode_M;
                                obj.control_id = 0;
                            else
                                obj.com_status = robot_enum.error;
                                obj.disconnect;
                            end
                        case 33 %sterowanie
                            if obj.robots_control_quantity == 0
                                obj.com_status = robot_enum.error;
                                obj.disconnect;
                            elseif obj.detection_mode_MC == true
                                obj.com_status = robot_enum.error;
                                obj.disconnect;
                            else
                                obj.com_status = robot_enum.mode_C;
                                data = fread(obj.socket,obj.robots_control_quantity,'uint8');
                                obj.control_id = data;
                            end
                        case 49 %monitor i sterowanie
                            if obj.robots_control_quantity == 0
                                obj.com_status = robot_enum.error;
                                obj.disconnect;
                            elseif obj.detection_mode_MC == true
                                obj.com_status = robot_enum.mode_MC;
                                data = fread(obj.socket,obj.robots_control_quantity,'uint8');
                                obj.control_id = data;
                            else
                                obj.com_status = robot_enum.error;
                                obj.disconnect;
                            end
                        otherwise
                            obj.com_status = robot_enum.error;
                            obj.disconnect;
                    end
                else
                    obj.com_status = robot_enum.error;
                    obj.disconnect;
                end
            catch
                obj.com_status = robot_enum.error;
                obj.disconnect;
            end
        end

        function obj = get_detect(obj) %pobranie po�o�enia robot�w
            try
                fwrite(obj.socket,3,'uint8');
                if fread(obj.socket,1,'uint8') == 4
                    switch obj.com_status
                        case {robot_enum.mode_M,robot_enum.mode_MC}
                            data = fread(obj.socket,obj.robots_max_quantity*14,'uint8');
                            for i=1:1:obj.robots_max_quantity
                                obj.detect_list(i).id = data(1+(i-1)*14);
                                obj.detect_list(i).detect = data(2+(i-1)*14);
                                obj.detect_list(i).x = double(typecast(uint8(data(3+(i-1)*14:6+(i-1)*14)),'single'));
                                obj.detect_list(i).y = double(typecast(uint8(data(7+(i-1)*14:10+(i-1)*14)),'single'));
                                obj.detect_list(i).ang = double(typecast(uint8(data(11+(i-1)*14:14+(i-1)*14)),'single'));
                            end
                        case robot_enum.mode_C
                            data = fread(obj.socket,obj.robots_control_quantity*14,'uint8');
                            for i=1:1:obj.robots_control_quantity
                                obj.detect_list(i).id = data(1+(i-1)*14);
                                obj.detect_list(i).detect = data(2+(i-1)*14);
                                obj.detect_list(i).x = double(typecast(uint8(data(3+(i-1)*14:6+(i-1)*14)),'single'));
                                obj.detect_list(i).y = double(typecast(uint8(data(7+(i-1)*14:10+(i-1)*14)),'single'));
                                obj.detect_list(i).ang = double(typecast(uint8(data(11+(i-1)*14:14+(i-1)*14)),'single'));
                            end
                    end
                else
                    obj.com_status = robot_enum.error;
                    obj.disconnect;
                end
            catch
                obj.com_status = robot_enum.error;
                obj.disconnect;
            end
        end

        function obj = set_motion(obj) %wys�anie sterowania
            try
                switch obj.com_status
                    case {robot_enum.mode_C,robot_enum.mode_MC}
                        temp1 = reshape(obj.control_list',1,[]);
                        temp2 = temp1(1:obj.robots_control_quantity*2);
                        data = [uint8(5) typecast(single(temp2),'uint8')];
                        fwrite(obj.socket,data,'uint8');
                        if fread(obj.socket,1,'uint8') ~= 6
                            obj.com_status = robot_enum.error;
                            obj.disconnect;
                        end
                end
            catch
                obj.com_status = robot_enum.error;
                obj.disconnect;
            end
        end
    end

end