Diff: com/com.cpp

Revision:

16:5f736b955d53

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/com/com.cpp	Thu Jun 06 00:18:29 2013 +0000
@@ -0,0 +1,106 @@
+/****************************** com.cpp **********************************/
+/* Version: 1.0                                                          */
+/* Last Updated: June 1, 2013                                            */
+/*************************************************************************/
+
+#include "mbed.h"
+#include "com.h"
+
+/*********************** com( PinName, PinName ) *************************/
+/*                                                                       */
+/*************************************************************************/
+
+com::com( PinName tx, PinName rx ) : xbee( tx, rx)
+{
+    bLength = 0;
+    xbee.attach( this, &com::callback );
+    readBuffer = new queue();
+}
+
+/************************* bool isData()  ********************************/
+/*                                                                       */
+/*************************************************************************/
+
+bool com::isData()
+{
+    if( readBuffer->isEmpty() )
+        return false;
+        
+    return true;
+}
+
+/************************ void write( char ) *****************************/
+/*                                                                       */
+/*************************************************************************/
+
+void com::write( char value )
+{
+
+}
+
+/*************************** char read()  ********************************/
+/*                                                                       */
+/*************************************************************************/
+
+char * com::read()
+{
+    // Are there commands in the readBuffer queue?    
+    if( !readBuffer->isEmpty())
+        return readBuffer->pop();
+        
+    return NULL;
+}
+
+/********************** void eventHandler() ******************************/
+/*                                                                       */
+/*************************************************************************/
+
+void com::callback()
+{   
+    while( xbee.readable() )
+    {
+        char data = xbee.getc();    
+        
+        if( bLength++ < 15 )
+            buffer[bLength] = data;      
+     
+        if( data == 255 )
+            packetBuilder();
+    }
+}
+
+/********************** void eventHandler() ******************************/
+/*                                                                       */
+/*************************************************************************/
+
+void com::packetBuilder()
+{
+    // As long as there is data in the buffer, we need to read it.
+    while( bLength > 0 )
+    {
+        // If the buffer has at least 3 chars and the 3rd one is 2555
+        //then we have a complete string, we must read it.
+        if( bLength > 2 && buffer[bLength] == 255 )
+        {
+            char * commandData = new char[2];
+            commandData[1] = buffer[--bLength];
+            commandData[0] = buffer[--bLength];
+            readBuffer->add( commandData );
+            --bLength;
+        }
+        // There must have been a read error, just flush the buffer.
+        else
+            bLength--;
+    }
+}
+
+
+
+
+
+
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+