Diff: Communication/Xbee.cpp

Revision:

56:6af8f2c9ddbe

Parent:

55:adde1b6081b8

Child:

57:ce80fbd67161

--- a/Communication/Xbee.cpp	Sun Apr 12 00:39:07 2015 +0000
+++ b/Communication/Xbee.cpp	Sun Apr 12 02:06:58 2015 +0000
@@ -3,6 +3,9 @@
 
 Serial x_pc(USBTX, USBRX);
 
+inline void PrintChar(char c);
+inline void PrintEndline();
+
 Xbee::Xbee()
 {
     //PanId = 0x1337;
@@ -14,108 +17,31 @@
     this->XbeePin = new Serial(pinTx, pinRx);
     PanId = panId;
     SetPanId(PanId);
-    frameID=0;
 }
 
 Xbee::~Xbee()
 {
+    delete XbeePin;
 }
 
 //send frames to XBee (to set PanID and do the WR)
-void Xbee::Envoyer(char array[], int size)
+void Xbee::SendXBee(char array[], int size)//SendXbee
 {
     for(int i = 0; i < size; i++) {
         XbeePin->putc(array[i]);
-        x_pc.printf("Send array: %X \r\n", array[i]);
-        
     }
-    x_pc.printf("Send Complete! \r\n");
-}
-
-//function that generates the Transmit Request frame
-//and the data[] parameter is only the data we want to send
-void Xbee::EnvoyerDonnees(char data[], int messageSize)
-{
-    //Si possible le messageSize sera une constante en fonction de la struc qu'on envoie a chaque fois (18 + data)
-    int size = 18 + messageSize; //18 bytes + message
-    int dataSize = 14 + messageSize; //14 bytes + message
-
-    char length1 = dataSize >> 8; //get length char 1
-    char length2 = dataSize; //get length char 2
-
-    char sum = 0x00; //to calculate the checksum char
-
-    char command[size];
-    command[0] = 0x7E; //start delimiter
-    command[1] = length1; //length first char
-    command[2] = length2; //length second char
-    command[3] = 0x10; //frame type - Send Request
-    command[4] = 0x01; //frame ID
-    sum += 0x10;
-    sum += 0x01;
-
-    //Blank
-    for(int i = 5; i <= 12; i++) {
-        command[i] = 0x00; //64 bit address
-    }
-
-    //Broadcast address
-    command[13] = 0xFF; //16 bit address
-    command[14] = 0xFE; //16 bit address
-    sum += 0xFF;
-    sum += 0xFE;
-
-    command[15] = 0x00; //broadcast radius
-    command[16] = 0x00; //options
-
-    for(int i = 17; i < size-1; i++) { //data
-        command[i] = data[i-17]; //data
-         x_pc.printf("Send : %d \r\n", data[i-17]);
-        sum += command[i]; //keep calculating for checksum
-    }
-
-    command[size-1] = 0xFF - sum; //checksum
-    Envoyer(command, size);       //send frame array to XBee
-    frameID++;
 }
 
 void Xbee::EnvoyerStructure(Mobile_Vers_Fixe mvf)
 {
-    char data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
-
+    char data[2] = {0x00, 0x00};
+    //x_pc.printf(" \r\n Gants id %c", mvf->gants);
     data[0] = mvf.gants;
-    data[1] = mvf.accelData.x >> 8;
-    data[2] = mvf.accelData.x & 0x00FF;
-    data[3] = mvf.accelData.y >> 8;
-    data[4] = mvf.accelData.y & 0x00FF;
-    data[5] = mvf.accelData.z >> 8;
-    data[6] = mvf.accelData.z & 0x00FF;
-    x_pc.printf("Class Accel x: %d \r\n", mvf.accelData.x);
-    mvf.flexSensor.index == 1 ? data[7] = 0x04 : data[7] = 0;
-    mvf.flexSensor.majeur == 1 ? data[7] += 0x02 : data[7] += 0;
-    mvf.flexSensor.annulaire == 1 ? data[7] += 0x01 : data[7] += 0;
-    
-    EnvoyerDonnees(data, 8);
-}
+    mvf.flexSensor.index == 1 ? data[1] = 0x04 : data[1] = 0;
+    mvf.flexSensor.majeur == 1 ? data[1] += 0x02 : data[1] += 0;
+    mvf.flexSensor.annulaire == 1 ? data[1] += 0x01 : data[1] += 0;
 
-void Xbee::EnvoyerStructure(Mobile_Vers_Fixe* mvf)
-{
-    char data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
-    //x_pc.printf(" \r\n Gants id %c", mvf->gants);
-    data[0] = mvf->gants;
-    data[1] = mvf->accelData.x >> 8;
-    data[2] = mvf->accelData.x & 0x00FF;
-    data[3] = mvf->accelData.y >> 8;
-    data[4] = mvf->accelData.y & 0x00FF;
-    data[5] = mvf->accelData.z >> 8;
-    data[6] = mvf->accelData.z & 0x00FF;
-    x_pc.printf("\r\nPointer Accel x: %d", mvf->accelData.x);
-
-    mvf->flexSensor.index == 1 ? data[7] = 0x04 : data[7] = 0;
-    mvf->flexSensor.majeur == 1 ? data[7] += 0x02 : data[7] += 0;
-    mvf->flexSensor.annulaire == 1 ? data[7] += 0x01 : data[7] += 0;
-
-    EnvoyerDonnees(data, 8);
+    SendData(data, 2);
 }
 
 //Le noeud mobile va recevoir certaines informations comme le type de jeux et les signaux de depart/fin de parties
@@ -186,9 +112,206 @@
     char array[] = {0x7E, 0x00, 0x06, 0x08, 0x01, 0x49, 0x44, c1, c2, checksum};
     char wr[] = {0x7E, 0x00, 0x04, 0x08, 0x01, 0x57, 0x52, 0x4D};
 
-    x_pc.printf("SetPanID \r\n");
-    Envoyer(array, sizeof(array)); //send ID AT Command frame
-    x_pc.printf("ID AT cmd \r\n");
-    Envoyer(wr, sizeof(wr)); //send WR AT Command frame
-    x_pc.printf("WR AR cmd \r\n");
+    SendXBee(array, sizeof(array)); //send ID AT Command frame
+    SendXBee(wr, sizeof(wr)); //send WR AT Command frame
+}
+
+//Patate
+
+//function to set the PAN ID
+
+
+
+
+//initialise HexToAscii table for correct output on Websocket Server
+void Xbee::BuildHexToAsciiTable()
+{
+    HexToAscii[0x0] = '0';
+    HexToAscii[0x1] = '1';
+    HexToAscii[0x2] = '2';
+    HexToAscii[0x3] = '3';
+    HexToAscii[0x4] = '4';
+    HexToAscii[0x5] = '5';
+    HexToAscii[0x6] = '6';
+    HexToAscii[0x7] = '7';
+    HexToAscii[0x8] = '8';
+    HexToAscii[0x9] = '9';
+    HexToAscii[0xa] = 'A';
+    HexToAscii[0xb] = 'B';
+    HexToAscii[0xc] = 'C';
+    HexToAscii[0xd] = 'D';
+    HexToAscii[0xe] = 'E';
+    HexToAscii[0xf] = 'F';
+}
+
+//get data from xbee thread
+void Xbee::GetData()
+{
+    data* input;
+    while(true) {
+        if(XbeePin->readable()) { //gets 1 full frame and store in mailbox
+            input = mailbox.alloc(); //alloc in mailbox
+
+            if(input != NULL) { //if alloc was successful
+                char c = XbeePin->getc(); //start delimiter
+                char c1 = XbeePin->getc(); //length byte 1
+                char c2 = XbeePin->getc(); //length byte 2
+                short length = c1 << 8 | c2; //calculate length
+                input->size = length + 4; //length = dataLength + start delimiter + length (2) + checksum
+                input->array[0] = c;
+                input->array[1] = c1;
+                input->array[2] = c2;
+                short pos = 3;
+                while(length+1 > 0) { //include checksum
+                    c = XbeePin->getc(); //get char
+                    input->array[pos] = c; //store data
+                    pos++; //current position
+                    length--; //length left until the end of frame
+                }
+
+                mailbox.put(input); //put data in mailbox
+            } else { //if mailbox is full
+                x_pc.printf("Mailbox is full!\r\n");
+            }
+        }
+    }
+}
+
+//output data on PC terminal thread
+void Xbee::OutputData()
+{
+    osEvent event;
+    data* mail;
+    while(true) {
+        event = mailbox.get(); //get data from mailbox  blocking function
+        mail = (data*)event.value.p; //this mail is of type data*, our own struct defined at the top
+        if (event.status == osEventMail) { //if Event
+            if(mail->array[0] != 0x7e) { //verify header is correct
+                x_pc.printf("Header error! ");
+            }
+
+            char sum = 0x00; //to calculate checksum
+            PrintChar(mail->array[0]); //print start delimiter
+            PrintChar(mail->array[1]); //print length byte 1
+            PrintChar(mail->array[2]); //print length byte 2
+            for(int i = 3; i < mail->size-1; i++) { //data
+                PrintChar(mail->array[i]); //print data
+                sum+= mail->array[i]; //calculate checksum
+            }
+            PrintChar(mail->array[(mail->size)-1]); //print checksum
+            char expected = 0xFF - sum; //expected checksum
+            if(mail->array[mail->size-1] != expected) { //verify checksum is OK
+                x_pc.printf(" Checksum Error! expected: %x, received: %x", expected, mail->array[mail->size-1]);
+            }
+        } else { //not an event mail
+            x_pc.printf("Status != osEventMail\r\n");
+        }
+
+        //POINTER based on the FRAME TYPE (4th byte of the trame)
+        ReceivePacket(mail);
+
+        mailbox.free(mail); //free the space in the mailbox
+        PrintEndline();
+    }
+}
+
+//function that generates the Transmit Request frame
+//and the data[] parameter is only the data we want to send
+void Xbee::SendData(char data[], int messageSize)
+{
+    int size = 18 + messageSize; //18 bytes + message
+    int dataSize = 14 + messageSize; //14 bytes + message
+        
+    char length1 = dataSize >> 8; //get length char 1
+    char length2 = dataSize; //get length char 2
+    
+    char sum = 0x00; //to calculate the checksum char
+    
+    char command[size];
+    command[0] = 0x7E; //start delimiter
+    command[1] = length1; //length first char
+    command[2] = length2; //length second char
+    command[3] = 0x10; //frame type
+    command[4] = 0x01; //frame ID
+    sum += 0x10;
+    sum += 0x01;
+    
+    for(int i = 5; i <= 12; i++)
+    {
+        command[i] = 0x00; //64 bit address
+    }
+    
+    command[13] = 0xFF; //16 bit address
+    command[14] = 0xFE; //16 bit address
+    sum += 0xFF;
+    sum += 0xFE;
+    
+    command[15] = 0x00; //broadcast radius
+    command[16] = 0x00; //options
+    
+    for(int i = 17; i < size-1; i++) //data
+    {
+        command[i] = data[i-17]; //data
+        sum += command[i]; //keep calculating for checksum
+        x_pc.printf("");
+    }
+
+    command[size-1] = 0xFF - sum; //checksum
+
+    SendXBee(command, size); //send frame array to XBee
+}
+
+//receive packet frame
+//this function analyses it and puts in wsMailbox to send to websocket
+void Xbee::ReceivePacket(data* trame)
+{
+    Mobile_Vers_Fixe* mvf = mvf_mailbox.alloc(); //alloc in mailbox
+
+    if(mvf != NULL) { //if alloc was successful
+        x_pc.printf("Receive Packet Info");
+
+        switch(trame->array[14]) { //print receive option
+            case 0x01:
+                x_pc.printf("\r\nPacket acknowledged");
+                break;
+            case 0x02:
+                x_pc.printf("\r\nPacket was a broadcast packet");
+                break;
+            case 0x20:
+                x_pc.printf("\r\nPacket encrypted with APS encryption");
+                break;
+            case 0x40:
+                x_pc.printf("\r\nPacket was sent from an end device");
+                break;
+            default:
+                x_pc.printf("\r\nUnknown option: %x", trame->array[14]);
+                break;
+        }
+        // Data aquisition
+        mvf->gants = trame->array[15];
+        
+        mvf->flexSensor.index = trame->array[19]  & 0x04;
+        mvf->flexSensor.majeur = trame->array[19] & 0x02;
+        mvf->flexSensor.annulaire = trame->array[19] & 0x01;
+
+        mvf_mailbox.put(mvf); //put data in mailbox
+    } else {
+        x_pc.printf("Mobile Vers Fixe mailbox is full!\r\n");
+    }
+}
+
+//utility function for proper output on PC Terminal
+inline void PrintChar(char c)
+{
+    if(c < 0x10) { //if char is between 0 and F, put a 0 before
+        x_pc.printf("0%x ", c);
+    } else {
+        x_pc.printf("%x ", c);
+    }
+}
+
+//utility function to print an endline
+inline void PrintEndline()
+{
+    x_pc.printf("\r\n");
 }
\ No newline at end of file