A sample of the main library for the Digital Ghost Hunt Seek detector

seekv2sample.cpp

	/* Query the UWB for our current location, and nearby anchors */	
	//%
	int currentLoc(){
		if (mode == 0){
	    	uint8_t RXBuffer[BUFFLEN];
			uBit.serial.send((uint8_t *)GET_LOC, 2);
			uBit.sleep(200);		
			int waiting = -1;
			int bufferIndex = -1;		
			// How much is waiting in the RX buffer?
	    	waiting = uBit.serial.rxBufferedSize();
	    	if (waiting > BUFFLEN){
		    	uBit.panic(10);
		    }	    
	    	if (waiting > 0){     		
	    		uBit.serial.read((uint8_t *)RXBuffer,waiting,ASYNC);
	    		uBit.sleep(200);
	    		bufferIndex = 0;
	    		
	    		//Check the return byte and error code
	    		bufferIndex = parseDWMReturn(RXBuffer,bufferIndex);    		
	    		
	    		if (bufferIndex > 0){ // && waiting >= MIN_LOC_RETURN    			
	    			// Get the tag's location
	    			bufferIndex = parseLoc(pos,RXBuffer,bufferIndex);
	    			//uBit.display.scroll("PL");
	    			//uBit.display.scroll(bufferIndex,100);
	    			if (bufferIndex > 0){
	    				bufferIndex = parseAnchors(RXBuffer, bufferIndex);    				
	    			} else{
	    				uBit.display.scroll("ERROR DWMPARSELOC");
	    			}
	    		} else{
	    			uBit.display.scroll("ERROR DWMReturn");
	    		}
	    		
	    			
	    	} else {
	    		uBit.display.scroll("U12");
	    	}
	    	//int numAnchors = RXBuffer[bufferIndex+2];
	    	return bufferIndex;
	    } else if (mode ==1){
	    	//Set test data and return correct read
	    	pos[0] = 0;
	    	pos[1] = 0;
	    	pos[2] = 0;
	    	currentNumAnchors = 1;
	    	anchors[0][0] = 1234;
	    	anchors[0][1] = 3334;
	    	return 44;
	    }    	
	}	
}