main.m

%% Setup Settings
% Load Modules
addpath('./Modules');
% Integrated Robot Controller System Connection Configuration:
setup = struct();
setup.IRC_IP_Address = 'localhost';   % IP Address of IRC
setup.IRC_IP_Port = 60451;            % Connection Port on IRC
setup.IRC_Packet_Terminator = 'CR';   % Carriage Return

%% Load the Finite State Machine
fsm = StateFlowChart();

%% Begin TCP Communication with the IRC
tcpConn = tcpip(setup.IRC_IP_Address,setup.IRC_IP_Port)
%tcpConn.ByteOrder = 'littleEndian';
fsm.dataStore.tcpConn = tcpConn;
fsm.dataStore.tcpSetup = setup;
tcpConn.BytesAvailableFcn = {@msgRcv,fsm};               % Edit the callback function here
tcpConn.BytesAvailableFcnMode = 'terminator';
tcpConn.Terminator = setup.IRC_Packet_Terminator;
 
fopen(tcpConn);

%% Use a timer to step the fsm
tmr = timer('ExecutionMode','fixedDelay');
tmr.TimerFcn = {@stepFSM,fsm};
tmr.start;

%% Callback Functions

function stepFSM(obj,event,fsm)
    fsm.step;
end

function msgRcv(obj,event,fsm)
% msgRcv: Event handler for receiving data from the robot

    if(obj.BytesAvailable > 0)
        % Read data from the buffer
        msgData = fread(obj,obj.BytesAvailable);
        % Pass the relevant bytes along (last byte is message terminator)
        msgHandler(msgData(1:end-1),fsm);
    end

end