Reorganize project structure

lib/UWBHelper/UWBHelper.h

@@ -12,6 +12,25 @@ struct DeviceData {
     bool active;
 };
 
+struct AnchorPosition {
+    int anchorId;
+    float x;
+    float y;
+    float confidence;
+    bool valid;
+};
+
+struct RangeResult {
+    int tagId;
+    int mask;
+    int sequence;
+    float ranges[8];
+    float rssi[8];
+    int anchorIds[8];
+    unsigned long timer;
+    unsigned long timerSys;
+};
+
 class UWBHelper {
 private:
     HardwareSerial* uwbSerial;
@@ -20,26 +39,68 @@ private:
 public:
     UWBHelper(HardwareSerial* serial, int reset);
     
-    // Initialization
+    // Basic Commands (3.2-3.6)
+    bool testConnection();                              // AT?
+    String getVersion();                                // AT+GETVER?
+    bool restart();                                     // AT+RESTART
+    bool restore();                                     // AT+RESTORE
+    bool save();                                        // AT+SAVE
+    
+    // Configuration Commands (3.7-3.8)
+    bool setConfig(int deviceId, int role, int dataRate = 1, int rangeFilter = 1);  // AT+SETCFG
+    String getConfig();                                 // AT+GETCFG?
+    
+    // Antenna Commands (3.9-3.10)
+    bool setAntennaDelay(int delay);                    // AT+SETANT
+    String getAntennaDelay();                           // AT+GETANT?
+    
+    // Capacity Commands (3.11-3.12)
+    bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 0);  // AT+SETCAP
+    String getCapacity();                               // AT+GETCAP?
+    
+    // Reporting Commands (3.13-3.14)
+    bool setReporting(bool enable);                     // AT+SETRPT
+    String getReporting();                              // AT+GETRPT?
+    
+    // Range Command (3.15)
+    bool parseRangeData(String data, DeviceData devices[], int maxDevices);
+    bool parseDetailedRangeData(String data, RangeResult* result);
+    
+    // Sleep Command (3.16)
+    bool setSleep(int sleepTime);                       // AT+SLEEP
+    
+    // Power Commands (3.17-3.18)
+    bool setPower(String powerValue = "FD");            // AT+SETPOW
+    String getPower();                                  // AT+GETPOW?
+    
+    // Data Commands (3.19-3.20)
+    bool sendData(int length, String data);             // AT+DATA
+    String receiveData();                               // AT+RDATA
+    
+    // Network Commands (3.21-3.22)
+    bool setNetwork(int networkId);                     // AT+SETPAN
+    String getNetwork();                                // AT+GETPAN?
+    
+    // Legacy wrapper functions for backward compatibility
     bool begin();
     void reset();
-    
-    // Configuration
     bool configureDevice(int deviceId, bool isAnchor, int dataRate = 1, int rangeFilter = 1);
-    bool setCapacity(int tagCount, int timeSlot = 10, int extMode = 1);
-    bool setNetwork(int networkId);
     bool enableReporting(bool enable);
     bool saveConfiguration();
     bool restartDevice();
     
     // Communication
     String sendCommand(String command, int timeout = 2000);
-    bool parseRangeData(String data, DeviceData devices[], int maxDevices);
+    
+    // Advanced parsing
+    bool requestAnchorPosition(int anchorId, AnchorPosition* position);
     
     // Utility
-    String getVersion();
     bool isResponseOK(String response);
     void printDiagnostics();
+    
+    // Position calculation helpers
+    bool calculatePosition(DeviceData devices[], int deviceCount, float* x, float* y);
 };
 
 // Data filtering class
@@ -57,4 +118,16 @@ public:
     void reset();
 };
 
+// Position calculation class
+class PositionCalculator {
+public:
+    static bool trilaterate(float x1, float y1, float r1,
+                           float x2, float y2, float r2,
+                           float x3, float y3, float r3,
+                           float* x, float* y);
+    
+    static bool multilaterate(AnchorPosition anchors[], float distances[], int count, float* x, float* y);
+    static float calculateDistance(float x1, float y1, float x2, float y2);
+};
+
 #endif // UWBHELPER_H