Diff: Communication/Xbee.cpp

Revision:

23:5bb76b7c35da

Parent:

22:cccb77300fd5

Child:

24:1a16e7eabb0c

diff -r cccb77300fd5 -r 5bb76b7c35da Communication/Xbee.cpp
--- a/Communication/Xbee.cpp	Sun Mar 22 19:57:40 2015 +0000
+++ b/Communication/Xbee.cpp	Thu Mar 26 15:40:56 2015 +0000
@@ -1,4 +1,5 @@
 #include "Xbee.h"
+#define VALEURFLEX 0
 
 Serial x_pc(USBTX, USBRX);
 
@@ -31,15 +32,15 @@
 //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.
+    //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
@@ -48,24 +49,22 @@
     command[4] = 0x01; //frame ID
     sum += 0x10;
     sum += 0x01;
-    
+
     //Blank
-    for(int i = 5; i <= 12; i++)
-    {
+    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
-    {
+
+    for(int i = 17; i < size-1; i++) { //data
         command[i] = data[i-17]; //data
         sum += command[i]; //keep calculating for checksum
     }
@@ -75,42 +74,81 @@
     Envoyer(command, size); //send frame array to XBee
 }
 
+void Xbee::EnvoyerStructure(Mobile_Vers_Fixe mvf)
+{
+    char data[8];
+
+    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;
+
+    //Pas tres elegant, j'ai pas encore eu mon 2e cafe..
+    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);
+}
+
+//Le noeud mobile va recevoir certaines informations comme le type de jeux et les signaux de depart/fin de parties
 void Xbee::Recevoir()
 {
-    Mobile_Vers_Fixe receivedData;    
+    Mobile_Vers_Fixe receivedData;
+    int index = 0;
+    char buffer[8];
     while(true) {
         if (XbeePin->readable()) {
             //Start byte
             if (XbeePin->getc() == 0x7E) {
-                //Ici va falloir compter le nombre de byte de niaiseries qui se passent avant les datas
-                
-                //GantsID
-                receivedData.gants = XbeePin->getc();
-                
-                //AccelData                
-                receivedData.accelData.x = XbeePin->getc();
-                receivedData.accelData.y = XbeePin->getc();
-                receivedData.accelData.z = XbeePin->getc();
-                
-                //Should be the byte containing the states of the flexo
-                receivedData.flexSensor.index = XbeePin->getc();
-                receivedData.flexSensor.majeur = XbeePin->getc();
-                receivedData.flexSensor.annulaire = XbeePin->getc();
-                receivedData.flexSensor.indexU32 = XbeePin->getc();
-                receivedData.flexSensor.majeurU32 = XbeePin->getc();
-                receivedData.flexSensor.annulaireU32 = XbeePin->getc();
-                
-                //Validate end byte
-                if (XbeePin->getc() == 0x7E) {
-                    message *emile = Mailbox.alloc();
+                //Get length and frame type
+                while (index != 3) {
+                    buffer[index] = XbeePin->getc();
+                    index++;
+                }
+                index = 0;
+                //If frame is a receive packet
+                if (buffer[2] == 0x90) {
+                    //Ici va falloir compter le nombre de bytes de niaiseries
+                    //qui se passent avant les datas, 13 je crois
+                    do {
+                        char c = XbeePin->getc();
+                        index++;
+                    } while (index != 13);
+
+                    //GantsID
+                    receivedData.gants = XbeePin->getc();
+
+                    //AccelData
+                    receivedData.accelData.x = XbeePin->getc();
+                    receivedData.accelData.y = XbeePin->getc();
+                    receivedData.accelData.z = XbeePin->getc();
 
-                    // Verifier si mail pointe pas vers 0 [boite pleine]
-                    while (emile == 0) {
-                        wait_ms(25);
-                        emile = Mailbox.alloc();
+                    //Should be the byte containing the states of the flexo
+                    receivedData.flexSensor.index = XbeePin->getc();
+                    receivedData.flexSensor.majeur = XbeePin->getc();
+                    receivedData.flexSensor.annulaire = XbeePin->getc();
+#if VALEURFLEX
+                    receivedData.flexSensor.indexU32 = XbeePin->getc();
+                    receivedData.flexSensor.majeurU32 = XbeePin->getc();
+                    receivedData.flexSensor.annulaireU32 = XbeePin->getc();
+#endif
+
+                    //Validate end byte
+                    if (XbeePin->getc() == 0x7E) {
+                        message *emile = Mailbox.alloc();
+
+                        // Verifier si mail pointe pas vers 0 [boite pleine]
+                        while (emile == 0) {
+                            wait_ms(25);
+                            emile = Mailbox.alloc();
+                        }
+                        emile->donnees = receivedData;
+                        Mailbox.put(emile);
                     }
-                    emile->donnees = receivedData;
-                    Mailbox.put(emile);
                 }
             }
         }