Diff: Libs/Xbee/Xbee.cpp

Revision:

30:91af74a299e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/Xbee/Xbee.cpp	Thu Nov 13 10:53:10 2014 +0000
@@ -0,0 +1,57 @@
+#include "Xbee.h"
+
+Xbee::Xbee(PinName tx, PinName rx, int baudrate, int bufferSize, char _delim) : xbee(tx, rx, bufferSize) {
+    xbee.baud(baudrate);
+    charCounter = 0;
+    numMessagesIn = 0;
+    numMessagesOut = 0;
+    delim = _delim;
+    
+    // Attach callback when a new message delimiter character arrives
+    xbee.autoDetectChar(delim);
+    xbee.attach(this, &Xbee::newMsg, MODSERIAL::RxAutoDetect);
+}
+bool Xbee::send(CANMessage& msg) {
+    if (!xbee.writeable()) return false;  // Exit, txBuffer full
+    
+    // Format as string
+    char str[100];
+    
+    // Will it fit?
+    if (xbee.txBufferGetSize(0) - xbee.txBufferGetCount() > strlen(str)){
+        xbee.printf("%s\n", str);
+        numMessagesOut++;
+        return true;
+        
+    // Don't send
+    } else {
+        return false;
+    }
+}
+bool Xbee::receive(CANMessage& msg) {
+    char str[100];
+    unsigned int i = 0;
+
+    if (charCounter == 0) return false;     // No messages yet
+    else {
+        while (xbee.readable()) {           // Build string until buffer is empty or delimiter char is found
+            char c = xbee.getc();
+            str[i] = c;
+            i++;
+            if (c == delim) {
+                charCounter--;
+                str[i-1] = '\0';            // Null terminator in place of delimiter char
+                break;
+            }
+        }
+    }
+    
+    // Process string into CAN Message
+    int len = strlen(str);
+    
+    numMessagesIn++;
+    return true;
+}
+void Xbee::newMsg(MODSERIAL_IRQ_INFO *q) {
+    charCounter++;
+}
\ No newline at end of file