centi-bot.ino

#include <Bridge.h>
#include <YunClient.h>

#include "tentacle-build.h"


IPAddress server(192,168,1,69);
#define port 8111

static const char uuid[]  = "1335d63e-3494-45d7-9e0b-d08c42818c6d";
static const char token[] = "3dd5fe1764ab21ae07ea20f16c3b0e63fa30e6c8";

YunClient conn;

TentacleArduino tentacle;
Pseudopod pseudopod(conn, conn, tentacle);

void setup() {
  Serial.begin(9600);
  Serial.println(F("The Day of the Tentacle has begun!"));
  Bridge.begin();
  connectToServer();
}

void loop() {
  if (!conn.connected()) {
    conn.stop();
    connectToServer();
  }

  readData();

  if(pseudopod.shouldBroadcastPins() ) {
    delay(pseudopod.getBroadcastInterval());
    Serial.println(F("Sending pins"));
    pseudopod.sendConfiguredPins();
  }
}

void readData() {

  while (conn.available()) {
    Serial.println(F("Received message"));
    Serial.flush();

    if(pseudopod.readMessage() == TentacleMessageTopic_action) {
      pseudopod.sendPins();
    }
  }

}

void connectToServer() {
  Serial.println(F("Connecting to the server."));
  Serial.flush();

  while(!conn.connect(server, port)) {
    Serial.println(F("Can't connect to the server."));
    Serial.flush();
    conn.stop();
  }

  size_t authSize = pseudopod.authenticate(uuid, token);
  Serial.print(authSize);
  Serial.println(F(" bytes written for authentication"));

}