| User | Revision | Line number | New contents of line |
|---|
| etherealflaim |
0:86ff0a55c978
|
1
|
#ifndef XBEE_HPP
|
| etherealflaim |
0:86ff0a55c978
|
2
|
#define XBEE_HPP
|
| etherealflaim |
0:86ff0a55c978
|
3
|
|
| etherealflaim |
0:86ff0a55c978
|
4
|
#include <queue>
|
| etherealflaim |
0:86ff0a55c978
|
5
|
#include <cctype>
|
| etherealflaim |
0:86ff0a55c978
|
6
|
#include <string>
|
| etherealflaim |
0:86ff0a55c978
|
7
|
#include <vector>
|
| etherealflaim |
0:86ff0a55c978
|
8
|
#include <cstring>
|
| etherealflaim |
0:86ff0a55c978
|
9
|
|
| etherealflaim |
0:86ff0a55c978
|
10
|
#include "mbed.h"
|
| etherealflaim |
0:86ff0a55c978
|
11
|
#include "handler.hpp"
|
| etherealflaim |
0:86ff0a55c978
|
12
|
|
| etherealflaim |
0:86ff0a55c978
|
13
|
#define PRINT(c) ((isprint(c))?(c):('.'))
|
| etherealflaim |
0:86ff0a55c978
|
14
|
|
| etherealflaim |
0:86ff0a55c978
|
15
|
/** This class encapsulates a simplistic XBee packet.
|
| etherealflaim |
0:86ff0a55c978
|
16
|
* 1. The packet is 0x01 delimited.
|
| etherealflaim |
0:86ff0a55c978
|
17
|
* 2. The packet has a source and destination, which are (nominally) 8-byte identifiers
|
| etherealflaim |
0:86ff0a55c978
|
18
|
*/
|
| etherealflaim |
0:86ff0a55c978
|
19
|
class XBeePacket
|
| etherealflaim |
0:86ff0a55c978
|
20
|
{
|
| etherealflaim |
0:86ff0a55c978
|
21
|
private:
|
| etherealflaim |
0:86ff0a55c978
|
22
|
string m_data;
|
| etherealflaim |
0:86ff0a55c978
|
23
|
int m_data_len;
|
| etherealflaim |
0:86ff0a55c978
|
24
|
string m_source;
|
| etherealflaim |
0:86ff0a55c978
|
25
|
string m_dest;
|
| etherealflaim |
0:86ff0a55c978
|
26
|
bool m_packed;
|
| etherealflaim |
0:86ff0a55c978
|
27
|
|
| etherealflaim |
0:86ff0a55c978
|
28
|
public:
|
| etherealflaim |
0:86ff0a55c978
|
29
|
/// Construct an empty (invalid) XBeePacket
|
| etherealflaim |
0:86ff0a55c978
|
30
|
inline XBeePacket()
|
| etherealflaim |
0:86ff0a55c978
|
31
|
: m_data(""), m_data_len(0), m_source("_INVALID"), m_dest("********"), m_packed(false)
|
| etherealflaim |
0:86ff0a55c978
|
32
|
{
|
| etherealflaim |
0:86ff0a55c978
|
33
|
}
|
| etherealflaim |
0:86ff0a55c978
|
34
|
|
| etherealflaim |
0:86ff0a55c978
|
35
|
/// Create an XBeePacket with the given data
|
| etherealflaim |
0:86ff0a55c978
|
36
|
inline XBeePacket(const string data)
|
| etherealflaim |
0:86ff0a55c978
|
37
|
: m_data(data), m_data_len(data.length()), m_source("_INVALID"), m_dest("********"), m_packed(false)
|
| etherealflaim |
0:86ff0a55c978
|
38
|
{
|
| etherealflaim |
0:86ff0a55c978
|
39
|
}
|
| etherealflaim |
0:86ff0a55c978
|
40
|
|
| etherealflaim |
0:86ff0a55c978
|
41
|
/// Create an XBeePacket with the given source and data
|
| etherealflaim |
0:86ff0a55c978
|
42
|
inline XBeePacket(const string src, const string data)
|
| etherealflaim |
0:86ff0a55c978
|
43
|
: m_data(data), m_data_len(data.length()), m_source(src), m_dest("********"), m_packed(false)
|
| etherealflaim |
0:86ff0a55c978
|
44
|
{
|
| etherealflaim |
0:86ff0a55c978
|
45
|
}
|
| etherealflaim |
0:86ff0a55c978
|
46
|
|
| etherealflaim |
0:86ff0a55c978
|
47
|
/// Create an XBeePacket with the given source, destination, and data
|
| etherealflaim |
0:86ff0a55c978
|
48
|
inline XBeePacket(const string src, const string dst, const string data)
|
| etherealflaim |
0:86ff0a55c978
|
49
|
: m_data(data), m_data_len(data.length()), m_source(src), m_dest(dst), m_packed(false)
|
| etherealflaim |
0:86ff0a55c978
|
50
|
{
|
| etherealflaim |
0:86ff0a55c978
|
51
|
}
|
| etherealflaim |
0:86ff0a55c978
|
52
|
|
| etherealflaim |
0:86ff0a55c978
|
53
|
/// Append the given data to the packet
|
| etherealflaim |
0:86ff0a55c978
|
54
|
inline void append(const string data)
|
| etherealflaim |
0:86ff0a55c978
|
55
|
{
|
| etherealflaim |
0:86ff0a55c978
|
56
|
m_data += data;
|
| etherealflaim |
0:86ff0a55c978
|
57
|
m_data_len += data.length();
|
| etherealflaim |
0:86ff0a55c978
|
58
|
}
|
| etherealflaim |
0:86ff0a55c978
|
59
|
|
| etherealflaim |
0:86ff0a55c978
|
60
|
/// Get the packet source (if set or unpacked)
|
| etherealflaim |
0:86ff0a55c978
|
61
|
inline string source() { return m_source; }
|
| etherealflaim |
0:86ff0a55c978
|
62
|
|
| etherealflaim |
0:86ff0a55c978
|
63
|
/// Set the packet source (before packing)
|
| etherealflaim |
0:86ff0a55c978
|
64
|
inline void source(string src) { m_source = src; }
|
| etherealflaim |
0:86ff0a55c978
|
65
|
|
| etherealflaim |
0:86ff0a55c978
|
66
|
/// Get the packet destination (if set or unpacked)
|
| etherealflaim |
0:86ff0a55c978
|
67
|
inline string dest() { return m_dest; }
|
| etherealflaim |
0:86ff0a55c978
|
68
|
|
| etherealflaim |
0:86ff0a55c978
|
69
|
/// Set the packet destination (before packing)
|
| etherealflaim |
0:86ff0a55c978
|
70
|
inline void dest(string dst) { m_dest = dst; }
|
| etherealflaim |
0:86ff0a55c978
|
71
|
|
| etherealflaim |
0:86ff0a55c978
|
72
|
/// Get the packet data (if set or unpacked)
|
| etherealflaim |
0:86ff0a55c978
|
73
|
inline string data() { return m_data; }
|
| etherealflaim |
0:86ff0a55c978
|
74
|
|
| etherealflaim |
0:86ff0a55c978
|
75
|
/// Set the packet data (before packing)
|
| etherealflaim |
0:86ff0a55c978
|
76
|
inline void data(string dat) { m_data = dat; }
|
| etherealflaim |
0:86ff0a55c978
|
77
|
|
| etherealflaim |
0:86ff0a55c978
|
78
|
/// Get a vector of the 0x01-delimited pieces of the data (after unpacking)
|
| etherealflaim |
0:86ff0a55c978
|
79
|
inline vector<string> split_data()
|
| etherealflaim |
0:86ff0a55c978
|
80
|
{
|
| etherealflaim |
0:86ff0a55c978
|
81
|
vector<string> pieces;
|
| etherealflaim |
0:86ff0a55c978
|
82
|
int begin = 0;
|
| etherealflaim |
0:86ff0a55c978
|
83
|
int end = 0;
|
| etherealflaim |
0:86ff0a55c978
|
84
|
while (end < m_data_len && (end = m_data.find(0x01, begin)) != string::npos)
|
| etherealflaim |
0:86ff0a55c978
|
85
|
{
|
| etherealflaim |
0:86ff0a55c978
|
86
|
pieces.push_back( m_data.substr(begin, end-begin) );
|
| etherealflaim |
0:86ff0a55c978
|
87
|
begin = end+1;
|
| etherealflaim |
0:86ff0a55c978
|
88
|
}
|
| etherealflaim |
0:86ff0a55c978
|
89
|
pieces.push_back( m_data.substr(begin) );
|
| etherealflaim |
0:86ff0a55c978
|
90
|
return pieces;
|
| etherealflaim |
0:86ff0a55c978
|
91
|
}
|
| etherealflaim |
0:86ff0a55c978
|
92
|
|
| etherealflaim |
0:86ff0a55c978
|
93
|
/// Clear the packet (zero the length, and reset the source and destination)
|
| etherealflaim |
0:86ff0a55c978
|
94
|
inline void clear()
|
| etherealflaim |
0:86ff0a55c978
|
95
|
{
|
| etherealflaim |
0:86ff0a55c978
|
96
|
m_data = "";
|
| etherealflaim |
0:86ff0a55c978
|
97
|
m_data_len = 0;
|
| etherealflaim |
0:86ff0a55c978
|
98
|
m_source = "_CLEARED";
|
| etherealflaim |
0:86ff0a55c978
|
99
|
m_dest = "********";
|
| etherealflaim |
0:86ff0a55c978
|
100
|
}
|
| etherealflaim |
0:86ff0a55c978
|
101
|
|
| etherealflaim |
0:86ff0a55c978
|
102
|
/** Pack the packet with header, etc.
|
| etherealflaim |
0:86ff0a55c978
|
103
|
* This function can be called separately to include the headers in, e.g., a dump()
|
| etherealflaim |
0:86ff0a55c978
|
104
|
*/
|
| etherealflaim |
0:86ff0a55c978
|
105
|
inline void pack()
|
| etherealflaim |
0:86ff0a55c978
|
106
|
{
|
| etherealflaim |
0:86ff0a55c978
|
107
|
string header = "iHvZ\001" + m_source + "\001" + m_dest + "\001";
|
| etherealflaim |
0:86ff0a55c978
|
108
|
m_data = header + m_data;
|
| etherealflaim |
0:86ff0a55c978
|
109
|
m_data_len += header.length();
|
| etherealflaim |
0:86ff0a55c978
|
110
|
m_packed = true;
|
| etherealflaim |
0:86ff0a55c978
|
111
|
}
|
| etherealflaim |
0:86ff0a55c978
|
112
|
|
| etherealflaim |
0:86ff0a55c978
|
113
|
/** Unpack the packet header
|
| etherealflaim |
0:86ff0a55c978
|
114
|
* This function should be called with received packets to extract the header
|
| etherealflaim |
0:86ff0a55c978
|
115
|
*/
|
| etherealflaim |
0:86ff0a55c978
|
116
|
inline bool unpack()
|
| etherealflaim |
0:86ff0a55c978
|
117
|
{
|
| etherealflaim |
0:86ff0a55c978
|
118
|
if (m_data.substr(0, 5) != "iHvZ\001") return false;
|
| etherealflaim |
0:86ff0a55c978
|
119
|
int source_idx = m_data.find(0x01, 0) + 1;
|
| etherealflaim |
0:86ff0a55c978
|
120
|
int dest_idx = m_data.find(0x01, source_idx) + 1;
|
| etherealflaim |
0:86ff0a55c978
|
121
|
int data_idx = m_data.find(0x01, dest_idx) + 1;
|
| etherealflaim |
0:86ff0a55c978
|
122
|
if (source_idx == string::npos ||
|
| etherealflaim |
0:86ff0a55c978
|
123
|
dest_idx == string::npos ||
|
| etherealflaim |
0:86ff0a55c978
|
124
|
data_idx == string::npos) return false;
|
| etherealflaim |
1:eefaa22e4b2c
|
125
|
|
| etherealflaim |
1:eefaa22e4b2c
|
126
|
#if _XBEE_DEBUG > 1
|
| etherealflaim |
1:eefaa22e4b2c
|
127
|
Serial usb(USBTX,USBRX);
|
| etherealflaim |
1:eefaa22e4b2c
|
128
|
usb.printf("-- UNPACK:\r\n");
|
| etherealflaim |
1:eefaa22e4b2c
|
129
|
usb.printf("-- FULL = %s\r\n", m_data.c_str());
|
| etherealflaim |
1:eefaa22e4b2c
|
130
|
usb.printf("-- INDICES = src %d / dst %d / dat %d\r\n", source_idx, dest_idx, data_idx);
|
| etherealflaim |
1:eefaa22e4b2c
|
131
|
usb.printf("-- SPLIT = %s / %s / %s\r\n",
|
| etherealflaim |
1:eefaa22e4b2c
|
132
|
m_data.substr(source_idx, dest_idx - source_idx - 1).c_str(),
|
| etherealflaim |
1:eefaa22e4b2c
|
133
|
m_data.substr(dest_idx, data_idx - dest_idx - 1).c_str(),
|
| etherealflaim |
1:eefaa22e4b2c
|
134
|
m_data.substr(data_idx));
|
| etherealflaim |
1:eefaa22e4b2c
|
135
|
#endif
|
| etherealflaim |
1:eefaa22e4b2c
|
136
|
|
| etherealflaim |
0:86ff0a55c978
|
137
|
m_source = m_data.substr(source_idx, dest_idx - source_idx - 1);
|
| etherealflaim |
0:86ff0a55c978
|
138
|
m_dest = m_data.substr(dest_idx, data_idx - dest_idx - 1);
|
| etherealflaim |
0:86ff0a55c978
|
139
|
m_data = m_data.substr(data_idx);
|
| etherealflaim |
0:86ff0a55c978
|
140
|
m_data_len = m_data.length();
|
| etherealflaim |
0:86ff0a55c978
|
141
|
return true;
|
| etherealflaim |
0:86ff0a55c978
|
142
|
}
|
| etherealflaim |
0:86ff0a55c978
|
143
|
|
| etherealflaim |
0:86ff0a55c978
|
144
|
/// Send the packet on the given Serial port (automatically packs if unpacked)
|
| etherealflaim |
0:86ff0a55c978
|
145
|
inline void send(Serial &out)
|
| etherealflaim |
0:86ff0a55c978
|
146
|
{
|
| etherealflaim |
0:86ff0a55c978
|
147
|
if (!m_packed) pack();
|
| etherealflaim |
0:86ff0a55c978
|
148
|
|
| etherealflaim |
0:86ff0a55c978
|
149
|
out.puts(m_data.c_str());
|
| etherealflaim |
0:86ff0a55c978
|
150
|
out.putc('\n');
|
| etherealflaim |
0:86ff0a55c978
|
151
|
}
|
| etherealflaim |
0:86ff0a55c978
|
152
|
|
| etherealflaim |
0:86ff0a55c978
|
153
|
/// Dump a text version (call before packing) of the packet to the serial port
|
| etherealflaim |
0:86ff0a55c978
|
154
|
inline void dump(Serial &out)
|
| etherealflaim |
0:86ff0a55c978
|
155
|
{
|
| etherealflaim |
0:86ff0a55c978
|
156
|
out.printf("[%s] -> [%s] : [", m_source.c_str(), m_dest.c_str());
|
| etherealflaim |
0:86ff0a55c978
|
157
|
for (int i = 0; i < m_data_len; ++i)
|
| etherealflaim |
0:86ff0a55c978
|
158
|
{
|
| etherealflaim |
0:86ff0a55c978
|
159
|
char c = m_dest[i];
|
| etherealflaim |
0:86ff0a55c978
|
160
|
if (isprint(c))
|
| etherealflaim |
0:86ff0a55c978
|
161
|
out.putc(c);
|
| etherealflaim |
0:86ff0a55c978
|
162
|
else
|
| etherealflaim |
0:86ff0a55c978
|
163
|
out.printf("\\x%02X", c);
|
| etherealflaim |
0:86ff0a55c978
|
164
|
}
|
| etherealflaim |
0:86ff0a55c978
|
165
|
out.printf("] %d bytes\r\n", m_data_len);
|
| etherealflaim |
0:86ff0a55c978
|
166
|
}
|
| etherealflaim |
0:86ff0a55c978
|
167
|
|
| etherealflaim |
0:86ff0a55c978
|
168
|
/// If it is a broadcast packet (destionation ********) return true
|
| etherealflaim |
0:86ff0a55c978
|
169
|
inline bool is_broadcast() { return m_dest == "********"; }
|
| etherealflaim |
0:86ff0a55c978
|
170
|
};
|
| etherealflaim |
0:86ff0a55c978
|
171
|
|
| etherealflaim |
0:86ff0a55c978
|
172
|
/** Manage the pins connected to an XBee chip in transparent (broadcast) mode.
|
| etherealflaim |
0:86ff0a55c978
|
173
|
* This is an interface for communicating XBeePackets across the XBee chip in transparent mode.
|
| etherealflaim |
0:86ff0a55c978
|
174
|
* Receipt of a new packet can be either polled or notified via the attach() functions.
|
| etherealflaim |
0:86ff0a55c978
|
175
|
*/
|
| etherealflaim |
0:86ff0a55c978
|
176
|
class XBee
|
| etherealflaim |
0:86ff0a55c978
|
177
|
{
|
| etherealflaim |
0:86ff0a55c978
|
178
|
private:
|
| etherealflaim |
0:86ff0a55c978
|
179
|
/* Unit ID */
|
| etherealflaim |
0:86ff0a55c978
|
180
|
string m_uid;
|
| etherealflaim |
0:86ff0a55c978
|
181
|
|
| etherealflaim |
0:86ff0a55c978
|
182
|
/* Pins */
|
| etherealflaim |
0:86ff0a55c978
|
183
|
PinName m_xout, m_xin, m_xrstn, m_xassoc, m_xon;
|
| etherealflaim |
0:86ff0a55c978
|
184
|
|
| etherealflaim |
0:86ff0a55c978
|
185
|
/* Pin handlers */
|
| etherealflaim |
0:86ff0a55c978
|
186
|
DigitalOut m_resetn;
|
| etherealflaim |
0:86ff0a55c978
|
187
|
DigitalIn m_ison;
|
| etherealflaim |
0:86ff0a55c978
|
188
|
Serial m_comm;
|
| etherealflaim |
0:86ff0a55c978
|
189
|
|
| etherealflaim |
0:86ff0a55c978
|
190
|
/* USB logging */
|
| etherealflaim |
0:86ff0a55c978
|
191
|
Serial m_usb;
|
| etherealflaim |
0:86ff0a55c978
|
192
|
|
| etherealflaim |
0:86ff0a55c978
|
193
|
/* Tickers and Timers */
|
| etherealflaim |
0:86ff0a55c978
|
194
|
Timeout m_timeout;
|
| etherealflaim |
0:86ff0a55c978
|
195
|
|
| etherealflaim |
0:86ff0a55c978
|
196
|
/* Packet incoming queue */
|
| etherealflaim |
0:86ff0a55c978
|
197
|
queue<XBeePacket> m_queue;
|
| etherealflaim |
0:86ff0a55c978
|
198
|
handler<void> *m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
199
|
|
| etherealflaim |
0:86ff0a55c978
|
200
|
public:
|
| etherealflaim |
0:86ff0a55c978
|
201
|
/** Create an XBee chip connect
|
| etherealflaim |
0:86ff0a55c978
|
202
|
* uid - The unit ID of the XBee chip (used in all outgoing XBeePackets)
|
| etherealflaim |
0:86ff0a55c978
|
203
|
* xbee_din - The MBED pin connected to the XBEE DIN pin
|
| etherealflaim |
0:86ff0a55c978
|
204
|
* xbee_dout - The MBED pin connected to the XBEE DOUT pin
|
| etherealflaim |
0:86ff0a55c978
|
205
|
* xbee_rst - The MBED pin connected to the XBEE nRST pin
|
| etherealflaim |
0:86ff0a55c978
|
206
|
* xbee_on - The MBED pin connected to the XBEE ON/nSLEEP pin
|
| etherealflaim |
0:86ff0a55c978
|
207
|
*/
|
| etherealflaim |
0:86ff0a55c978
|
208
|
inline XBee(string uid, PinName xbee_din, PinName xbee_dout, PinName xbee_rst, PinName xbee_on)
|
| etherealflaim |
0:86ff0a55c978
|
209
|
: m_uid(uid), m_xout(xbee_din), m_xin(xbee_dout), m_xrstn(xbee_rst), m_xon(xbee_on),
|
| etherealflaim |
0:86ff0a55c978
|
210
|
m_resetn(xbee_rst), m_ison(xbee_on), m_comm(xbee_din, xbee_dout),
|
| etherealflaim |
0:86ff0a55c978
|
211
|
m_usb(USBTX, USBRX), m_read_handler(NULL)
|
| etherealflaim |
0:86ff0a55c978
|
212
|
{
|
| etherealflaim |
1:eefaa22e4b2c
|
213
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
214
|
m_usb.printf("Resetting XBee...\r\n");
|
| etherealflaim |
1:eefaa22e4b2c
|
215
|
#endif
|
| etherealflaim |
1:eefaa22e4b2c
|
216
|
|
| etherealflaim |
0:86ff0a55c978
|
217
|
// Reset the XBEE module
|
| etherealflaim |
0:86ff0a55c978
|
218
|
m_resetn = 0;
|
| etherealflaim |
0:86ff0a55c978
|
219
|
wait(.1);
|
| etherealflaim |
0:86ff0a55c978
|
220
|
m_resetn = 1;
|
| etherealflaim |
0:86ff0a55c978
|
221
|
wait(1);
|
| etherealflaim |
0:86ff0a55c978
|
222
|
|
| etherealflaim |
0:86ff0a55c978
|
223
|
// Set up serial communications (9600 baud by default)
|
| etherealflaim |
0:86ff0a55c978
|
224
|
m_comm.baud(9600);
|
| etherealflaim |
0:86ff0a55c978
|
225
|
|
| etherealflaim |
0:86ff0a55c978
|
226
|
// Set up a handler for serial communications
|
| etherealflaim |
0:86ff0a55c978
|
227
|
m_comm.attach(this, &XBee::rxirq);
|
| etherealflaim |
0:86ff0a55c978
|
228
|
|
| etherealflaim |
0:86ff0a55c978
|
229
|
// Check sleep status
|
| etherealflaim |
1:eefaa22e4b2c
|
230
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
231
|
m_usb.printf("XBee is %s\r\n", (m_ison)?"ON":"SLEEP");
|
| etherealflaim |
1:eefaa22e4b2c
|
232
|
#endif
|
| etherealflaim |
0:86ff0a55c978
|
233
|
|
| etherealflaim |
0:86ff0a55c978
|
234
|
setup();
|
| etherealflaim |
0:86ff0a55c978
|
235
|
}
|
| etherealflaim |
0:86ff0a55c978
|
236
|
|
| etherealflaim |
0:86ff0a55c978
|
237
|
inline void broadcast(string data)
|
| etherealflaim |
0:86ff0a55c978
|
238
|
{
|
| etherealflaim |
0:86ff0a55c978
|
239
|
XBeePacket pkt(data);
|
| etherealflaim |
0:86ff0a55c978
|
240
|
pkt.source(m_uid);
|
| etherealflaim |
0:86ff0a55c978
|
241
|
pkt.send(m_comm);
|
| etherealflaim |
0:86ff0a55c978
|
242
|
}
|
| etherealflaim |
0:86ff0a55c978
|
243
|
|
| etherealflaim |
0:86ff0a55c978
|
244
|
inline void send(string to, string data)
|
| etherealflaim |
0:86ff0a55c978
|
245
|
{
|
| etherealflaim |
0:86ff0a55c978
|
246
|
XBeePacket pkt(data);
|
| etherealflaim |
0:86ff0a55c978
|
247
|
pkt.source(m_uid);
|
| etherealflaim |
0:86ff0a55c978
|
248
|
pkt.dest(to);
|
| etherealflaim |
0:86ff0a55c978
|
249
|
pkt.send(m_comm);
|
| etherealflaim |
0:86ff0a55c978
|
250
|
}
|
| etherealflaim |
0:86ff0a55c978
|
251
|
|
| etherealflaim |
0:86ff0a55c978
|
252
|
private:
|
| etherealflaim |
0:86ff0a55c978
|
253
|
|
| etherealflaim |
0:86ff0a55c978
|
254
|
inline void setup()
|
| etherealflaim |
0:86ff0a55c978
|
255
|
{
|
| etherealflaim |
0:86ff0a55c978
|
256
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
257
|
m_usb.printf("Setting up XBee...\r\n");
|
| etherealflaim |
0:86ff0a55c978
|
258
|
#endif
|
| etherealflaim |
0:86ff0a55c978
|
259
|
|
| etherealflaim |
0:86ff0a55c978
|
260
|
// Turns out, we can only really use this in broadcast mode.
|
| etherealflaim |
0:86ff0a55c978
|
261
|
//commandMode();
|
| etherealflaim |
0:86ff0a55c978
|
262
|
//command("VR");
|
| etherealflaim |
0:86ff0a55c978
|
263
|
//command("AP", 1);
|
| etherealflaim |
0:86ff0a55c978
|
264
|
//command("CN");
|
| etherealflaim |
0:86ff0a55c978
|
265
|
//wait(1);
|
| etherealflaim |
0:86ff0a55c978
|
266
|
//m_usb.printf("Setup Complete.\r\n");
|
| etherealflaim |
0:86ff0a55c978
|
267
|
|
| etherealflaim |
0:86ff0a55c978
|
268
|
m_timeout.attach(this, &XBee::tickirq, .1);
|
| etherealflaim |
0:86ff0a55c978
|
269
|
}
|
| etherealflaim |
0:86ff0a55c978
|
270
|
|
| etherealflaim |
0:86ff0a55c978
|
271
|
/** Enter command mode. Send command("CN") to exit command mode. */
|
| etherealflaim |
0:86ff0a55c978
|
272
|
inline void commandMode()
|
| etherealflaim |
0:86ff0a55c978
|
273
|
{
|
| etherealflaim |
0:86ff0a55c978
|
274
|
wait(1.1);
|
| etherealflaim |
0:86ff0a55c978
|
275
|
m_comm.printf("+++");
|
| etherealflaim |
0:86ff0a55c978
|
276
|
wait(1.1);
|
| etherealflaim |
0:86ff0a55c978
|
277
|
}
|
| etherealflaim |
0:86ff0a55c978
|
278
|
|
| etherealflaim |
0:86ff0a55c978
|
279
|
inline void command(const char *cmd)
|
| etherealflaim |
0:86ff0a55c978
|
280
|
{
|
| etherealflaim |
0:86ff0a55c978
|
281
|
m_comm.printf("AT%s\r", cmd);
|
| etherealflaim |
0:86ff0a55c978
|
282
|
wait(.001);
|
| etherealflaim |
0:86ff0a55c978
|
283
|
}
|
| etherealflaim |
0:86ff0a55c978
|
284
|
|
| etherealflaim |
0:86ff0a55c978
|
285
|
inline void command(const char *cmd, int arg)
|
| etherealflaim |
0:86ff0a55c978
|
286
|
{
|
| etherealflaim |
0:86ff0a55c978
|
287
|
m_comm.printf("AT%s%X\r", cmd, arg);
|
| etherealflaim |
0:86ff0a55c978
|
288
|
wait(.001);
|
| etherealflaim |
0:86ff0a55c978
|
289
|
}
|
| etherealflaim |
0:86ff0a55c978
|
290
|
|
| etherealflaim |
0:86ff0a55c978
|
291
|
inline void rxirq()
|
| etherealflaim |
0:86ff0a55c978
|
292
|
{
|
| etherealflaim |
0:86ff0a55c978
|
293
|
static XBeePacket nextPacket;
|
| etherealflaim |
0:86ff0a55c978
|
294
|
static char buffer[256];
|
| etherealflaim |
0:86ff0a55c978
|
295
|
char *p = buffer;
|
| etherealflaim |
0:86ff0a55c978
|
296
|
bool finished = false;
|
| etherealflaim |
0:86ff0a55c978
|
297
|
|
| etherealflaim |
0:86ff0a55c978
|
298
|
// Receive all characters in buffer
|
| etherealflaim |
0:86ff0a55c978
|
299
|
do
|
| etherealflaim |
0:86ff0a55c978
|
300
|
{
|
| etherealflaim |
0:86ff0a55c978
|
301
|
// Receive character
|
| etherealflaim |
0:86ff0a55c978
|
302
|
*p = m_comm.getc();
|
| etherealflaim |
0:86ff0a55c978
|
303
|
|
| etherealflaim |
0:86ff0a55c978
|
304
|
// Check if it's end-of-packet
|
| etherealflaim |
0:86ff0a55c978
|
305
|
if (*p == '\n') {
|
| etherealflaim |
0:86ff0a55c978
|
306
|
finished = true;
|
| etherealflaim |
0:86ff0a55c978
|
307
|
break;
|
| etherealflaim |
0:86ff0a55c978
|
308
|
}
|
| etherealflaim |
0:86ff0a55c978
|
309
|
|
| etherealflaim |
0:86ff0a55c978
|
310
|
// Move on to the next character
|
| etherealflaim |
0:86ff0a55c978
|
311
|
++p;
|
| etherealflaim |
0:86ff0a55c978
|
312
|
} while (m_comm.readable() && p-buffer < 255);
|
| etherealflaim |
0:86ff0a55c978
|
313
|
|
| etherealflaim |
0:86ff0a55c978
|
314
|
// Null terminate
|
| etherealflaim |
0:86ff0a55c978
|
315
|
*p = '\0';
|
| etherealflaim |
0:86ff0a55c978
|
316
|
|
| etherealflaim |
0:86ff0a55c978
|
317
|
// Append the characters to the packet
|
| etherealflaim |
0:86ff0a55c978
|
318
|
nextPacket.append(buffer);
|
| etherealflaim |
0:86ff0a55c978
|
319
|
|
| etherealflaim |
0:86ff0a55c978
|
320
|
if (finished)
|
| etherealflaim |
0:86ff0a55c978
|
321
|
{
|
| etherealflaim |
0:86ff0a55c978
|
322
|
// Unpack the headers
|
| etherealflaim |
0:86ff0a55c978
|
323
|
if (!nextPacket.unpack()) {
|
| etherealflaim |
0:86ff0a55c978
|
324
|
m_usb.printf("Received garbled packet; dropping.");
|
| etherealflaim |
0:86ff0a55c978
|
325
|
return;
|
| etherealflaim |
0:86ff0a55c978
|
326
|
}
|
| etherealflaim |
0:86ff0a55c978
|
327
|
|
| etherealflaim |
0:86ff0a55c978
|
328
|
if (nextPacket.is_broadcast() || nextPacket.dest() == m_uid)
|
| etherealflaim |
0:86ff0a55c978
|
329
|
{
|
| etherealflaim |
0:86ff0a55c978
|
330
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
331
|
// Print the packet
|
| etherealflaim |
0:86ff0a55c978
|
332
|
m_usb.printf("Received: ");
|
| etherealflaim |
0:86ff0a55c978
|
333
|
nextPacket.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
334
|
#endif
|
| etherealflaim |
0:86ff0a55c978
|
335
|
|
| etherealflaim |
0:86ff0a55c978
|
336
|
// Add it to the queue
|
| etherealflaim |
0:86ff0a55c978
|
337
|
m_queue.push(nextPacket);
|
| etherealflaim |
0:86ff0a55c978
|
338
|
}
|
| etherealflaim |
0:86ff0a55c978
|
339
|
else
|
| etherealflaim |
0:86ff0a55c978
|
340
|
{
|
| etherealflaim |
0:86ff0a55c978
|
341
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
342
|
m_usb.printf("Dropping: ");
|
| etherealflaim |
0:86ff0a55c978
|
343
|
nextPacket.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
344
|
#endif
|
| etherealflaim |
0:86ff0a55c978
|
345
|
}
|
| etherealflaim |
0:86ff0a55c978
|
346
|
|
| etherealflaim |
0:86ff0a55c978
|
347
|
// Clear the packet
|
| etherealflaim |
0:86ff0a55c978
|
348
|
nextPacket = XBeePacket();
|
| etherealflaim |
0:86ff0a55c978
|
349
|
}
|
| etherealflaim |
0:86ff0a55c978
|
350
|
}
|
| etherealflaim |
0:86ff0a55c978
|
351
|
|
| etherealflaim |
0:86ff0a55c978
|
352
|
inline void tickirq()
|
| etherealflaim |
0:86ff0a55c978
|
353
|
{
|
| etherealflaim |
0:86ff0a55c978
|
354
|
//m_usb.printf("Scanning...\r\n");
|
| etherealflaim |
0:86ff0a55c978
|
355
|
//XBeePacket pkt = XBeePacket::Command("ND");
|
| etherealflaim |
0:86ff0a55c978
|
356
|
//XBeePacket pkt = XBeePacket::Broadcast("Test");
|
| etherealflaim |
0:86ff0a55c978
|
357
|
//pkt.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
358
|
//pkt.send(m_comm);
|
| etherealflaim |
0:86ff0a55c978
|
359
|
//m_comm.printf("TEST\r");
|
| etherealflaim |
0:86ff0a55c978
|
360
|
//XBeePacket pkt("TestPacket");
|
| etherealflaim |
0:86ff0a55c978
|
361
|
//m_usb.printf("Sending: ");
|
| etherealflaim |
0:86ff0a55c978
|
362
|
//pkt.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
363
|
//pkt.send(m_comm);
|
| etherealflaim |
0:86ff0a55c978
|
364
|
|
| etherealflaim |
0:86ff0a55c978
|
365
|
while (!m_queue.empty() && m_read_handler)
|
| etherealflaim |
0:86ff0a55c978
|
366
|
(*m_read_handler)();
|
| etherealflaim |
0:86ff0a55c978
|
367
|
|
| etherealflaim |
0:86ff0a55c978
|
368
|
// Set the timeout again (we aren't going to use a ticker just in case the read handlers take awhile)
|
| etherealflaim |
0:86ff0a55c978
|
369
|
m_timeout.attach(this, &XBee::tickirq, 0.1);
|
| etherealflaim |
0:86ff0a55c978
|
370
|
}
|
| etherealflaim |
0:86ff0a55c978
|
371
|
|
| etherealflaim |
0:86ff0a55c978
|
372
|
|
| etherealflaim |
0:86ff0a55c978
|
373
|
public:
|
| etherealflaim |
0:86ff0a55c978
|
374
|
|
| etherealflaim |
0:86ff0a55c978
|
375
|
/// Return whether or not another XBeePacket is ready
|
| etherealflaim |
0:86ff0a55c978
|
376
|
inline bool readable()
|
| etherealflaim |
0:86ff0a55c978
|
377
|
{
|
| etherealflaim |
0:86ff0a55c978
|
378
|
return !m_queue.empty();
|
| etherealflaim |
0:86ff0a55c978
|
379
|
}
|
| etherealflaim |
0:86ff0a55c978
|
380
|
|
| etherealflaim |
0:86ff0a55c978
|
381
|
/// Get the next XBeePacket in line (make sure it's readable()!)
|
| etherealflaim |
0:86ff0a55c978
|
382
|
inline XBeePacket read()
|
| etherealflaim |
0:86ff0a55c978
|
383
|
{
|
| etherealflaim |
0:86ff0a55c978
|
384
|
XBeePacket pkt = m_queue.front();
|
| etherealflaim |
0:86ff0a55c978
|
385
|
m_queue.pop();
|
| etherealflaim |
0:86ff0a55c978
|
386
|
return pkt;
|
| etherealflaim |
0:86ff0a55c978
|
387
|
}
|
| etherealflaim |
0:86ff0a55c978
|
388
|
|
| etherealflaim |
0:86ff0a55c978
|
389
|
/// Set the Unit ID
|
| etherealflaim |
0:86ff0a55c978
|
390
|
inline string uid() { return m_uid; }
|
| etherealflaim |
0:86ff0a55c978
|
391
|
|
| etherealflaim |
0:86ff0a55c978
|
392
|
/// Get the Unit ID
|
| etherealflaim |
0:86ff0a55c978
|
393
|
inline void uid(string uid) { m_uid = uid; }
|
| etherealflaim |
0:86ff0a55c978
|
394
|
|
| etherealflaim |
0:86ff0a55c978
|
395
|
/// Attach a member function to be called on all TCP packets
|
| etherealflaim |
0:86ff0a55c978
|
396
|
template <class T>
|
| etherealflaim |
0:86ff0a55c978
|
397
|
inline void attach(T *inst, void (T::*func)())
|
| etherealflaim |
0:86ff0a55c978
|
398
|
{
|
| etherealflaim |
0:86ff0a55c978
|
399
|
delete m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
400
|
m_read_handler = new member_handler<T,void>(inst, func);
|
| etherealflaim |
0:86ff0a55c978
|
401
|
}
|
| etherealflaim |
0:86ff0a55c978
|
402
|
|
| etherealflaim |
0:86ff0a55c978
|
403
|
/// Attach a non-member function to be called on all TCP packets
|
| etherealflaim |
0:86ff0a55c978
|
404
|
inline void attach(void (*func)())
|
| etherealflaim |
0:86ff0a55c978
|
405
|
{
|
| etherealflaim |
0:86ff0a55c978
|
406
|
delete m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
407
|
m_read_handler = new function_handler<void>(func);
|
| etherealflaim |
0:86ff0a55c978
|
408
|
}
|
| etherealflaim |
0:86ff0a55c978
|
409
|
|
| etherealflaim |
0:86ff0a55c978
|
410
|
/// Detach the handler
|
| etherealflaim |
0:86ff0a55c978
|
411
|
inline void detach()
|
| etherealflaim |
0:86ff0a55c978
|
412
|
{
|
| etherealflaim |
0:86ff0a55c978
|
413
|
delete m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
414
|
m_read_handler = NULL;
|
| etherealflaim |
0:86ff0a55c978
|
415
|
}
|
| etherealflaim |
0:86ff0a55c978
|
416
|
};
|
| etherealflaim |
0:86ff0a55c978
|
417
|
|
| etherealflaim |
0:86ff0a55c978
|
418
|
#endif /* XBEE_HPP */ |
Kyle Lemons