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#ifndef XBEE_HPP
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#define XBEE_HPP
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#include <queue>
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#include <cctype>
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#include <string>
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#include <vector>
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#include <cstring>
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#include "mbed.h"
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#include "handler.hpp"
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#define PRINT(c) ((isprint(c))?(c):('.'))
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/** This class encapsulates a simplistic XBee packet.
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* 1. The packet is 0x01 delimited.
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* 2. The packet has a source and destination, which are (nominally) 8-byte identifiers
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*/
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class XBeePacket
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{
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private:
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string m_data;
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int m_data_len;
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string m_source;
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string m_dest;
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bool m_packed;
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public:
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/// Construct an empty (invalid) XBeePacket
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inline XBeePacket()
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: m_data(""), m_data_len(0), m_source("_INVALID"), m_dest("********"), m_packed(false)
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{
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}
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/// Create an XBeePacket with the given data
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inline XBeePacket(const string data)
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: m_data(data), m_data_len(data.length()), m_source("_INVALID"), m_dest("********"), m_packed(false)
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{
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}
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/// Create an XBeePacket with the given source and data
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inline XBeePacket(const string src, const string data)
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: m_data(data), m_data_len(data.length()), m_source(src), m_dest("********"), m_packed(false)
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{
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}
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/// Create an XBeePacket with the given source, destination, and data
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inline XBeePacket(const string src, const string dst, const string data)
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: m_data(data), m_data_len(data.length()), m_source(src), m_dest(dst), m_packed(false)
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{
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}
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/// Append the given data to the packet
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inline void append(const string data)
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{
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m_data += data;
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m_data_len += data.length();
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}
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/// Get the packet source (if set or unpacked)
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inline string source() { return m_source; }
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/// Set the packet source (before packing)
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inline void source(string src) { m_source = src; }
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/// Get the packet destination (if set or unpacked)
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inline string dest() { return m_dest; }
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/// Set the packet destination (before packing)
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inline void dest(string dst) { m_dest = dst; }
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/// Get the packet data (if set or unpacked)
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inline string data() { return m_data; }
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/// Set the packet data (before packing)
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inline void data(string dat) { m_data = dat; }
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/// Get a vector of the 0x01-delimited pieces of the data (after unpacking)
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inline vector<string> split_data()
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{
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vector<string> pieces;
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int begin = 0;
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int end = 0;
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while (end < m_data_len && (end = m_data.find(0x01, begin)) != string::npos)
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{
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pieces.push_back( m_data.substr(begin, end-begin) );
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begin = end+1;
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}
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pieces.push_back( m_data.substr(begin) );
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return pieces;
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}
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/// Clear the packet (zero the length, and reset the source and destination)
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inline void clear()
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{
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m_data = "";
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m_data_len = 0;
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m_source = "_CLEARED";
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m_dest = "********";
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}
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/** Pack the packet with header, etc.
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* This function can be called separately to include the headers in, e.g., a dump()
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*/
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inline void pack()
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{
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string header = "iHvZ\001" + m_source + "\001" + m_dest + "\001";
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m_data = header + m_data;
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m_data_len += header.length();
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m_packed = true;
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}
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/** Unpack the packet header
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* This function should be called with received packets to extract the header
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*/
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inline bool unpack()
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{
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if (m_data.substr(0, 5) != "iHvZ\001") return false;
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int source_idx = m_data.find(0x01, 0) + 1;
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int dest_idx = m_data.find(0x01, source_idx) + 1;
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int data_idx = m_data.find(0x01, dest_idx) + 1;
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if (source_idx == string::npos ||
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dest_idx == string::npos ||
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data_idx == string::npos) return false;
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m_source = m_data.substr(source_idx, dest_idx - source_idx - 1);
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m_dest = m_data.substr(dest_idx, data_idx - dest_idx - 1);
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m_data = m_data.substr(data_idx);
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m_data_len = m_data.length();
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return true;
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}
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/// Send the packet on the given Serial port (automatically packs if unpacked)
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inline void send(Serial &out)
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{
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if (!m_packed) pack();
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out.puts(m_data.c_str());
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out.putc('\n');
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}
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/// Dump a text version (call before packing) of the packet to the serial port
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inline void dump(Serial &out)
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{
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out.printf("[%s] -> [%s] : [", m_source.c_str(), m_dest.c_str());
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for (int i = 0; i < m_data_len; ++i)
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{
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char c = m_dest[i];
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if (isprint(c))
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out.putc(c);
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else
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out.printf("\\x%02X", c);
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}
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out.printf("] %d bytes\r\n", m_data_len);
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}
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/// If it is a broadcast packet (destionation ********) return true
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inline bool is_broadcast() { return m_dest == "********"; }
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};
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/** Manage the pins connected to an XBee chip in transparent (broadcast) mode.
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* This is an interface for communicating XBeePackets across the XBee chip in transparent mode.
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* Receipt of a new packet can be either polled or notified via the attach() functions.
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*/
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class XBee
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{
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private:
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/* Unit ID */
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string m_uid;
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/* Pins */
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PinName m_xout, m_xin, m_xrstn, m_xassoc, m_xon;
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/* Pin handlers */
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DigitalOut m_resetn;
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DigitalIn m_ison;
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Serial m_comm;
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/* USB logging */
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Serial m_usb;
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/* Tickers and Timers */
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Timeout m_timeout;
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/* Packet incoming queue */
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queue<XBeePacket> m_queue;
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handler<void> *m_read_handler;
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public:
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/** Create an XBee chip connect
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* uid - The unit ID of the XBee chip (used in all outgoing XBeePackets)
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* xbee_din - The MBED pin connected to the XBEE DIN pin
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* xbee_dout - The MBED pin connected to the XBEE DOUT pin
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* xbee_rst - The MBED pin connected to the XBEE nRST pin
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* xbee_on - The MBED pin connected to the XBEE ON/nSLEEP pin
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*/
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inline XBee(string uid, PinName xbee_din, PinName xbee_dout, PinName xbee_rst, PinName xbee_on)
|
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|
: m_uid(uid), m_xout(xbee_din), m_xin(xbee_dout), m_xrstn(xbee_rst), m_xon(xbee_on),
|
| etherealflaim |
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|
m_resetn(xbee_rst), m_ison(xbee_on), m_comm(xbee_din, xbee_dout),
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|
m_usb(USBTX, USBRX), m_read_handler(NULL)
|
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|
{
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|
m_usb.printf("Resetting XBee...\r\n");
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202
|
// Reset the XBEE module
|
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|
m_resetn = 0;
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| etherealflaim |
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|
wait(.1);
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|
m_resetn = 1;
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|
wait(1);
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207
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|
// Set up serial communications (9600 baud by default)
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|
m_comm.baud(9600);
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|
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211
|
// Set up a handler for serial communications
|
| etherealflaim |
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212
|
m_comm.attach(this, &XBee::rxirq);
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213
|
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| etherealflaim |
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|
214
|
// Check sleep status
|
| etherealflaim |
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|
215
|
m_usb.printf("XBee is %s\r\n", (m_ison)?"ON":"SLEEP");
|
| etherealflaim |
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216
|
|
| etherealflaim |
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|
setup();
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|
}
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| etherealflaim |
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219
|
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inline void broadcast(string data)
|
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|
221
|
{
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|
XBeePacket pkt(data);
|
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|
pkt.source(m_uid);
|
| etherealflaim |
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224
|
pkt.send(m_comm);
|
| etherealflaim |
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|
}
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226
|
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|
inline void send(string to, string data)
|
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|
{
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|
XBeePacket pkt(data);
|
| etherealflaim |
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|
pkt.source(m_uid);
|
| etherealflaim |
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|
pkt.dest(to);
|
| etherealflaim |
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|
pkt.send(m_comm);
|
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233
|
}
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|
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|
private:
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| etherealflaim |
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|
236
|
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| etherealflaim |
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237
|
inline void setup()
|
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|
238
|
{
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| etherealflaim |
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|
239
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
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|
240
|
m_usb.printf("Setting up XBee...\r\n");
|
| etherealflaim |
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|
241
|
#endif
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| etherealflaim |
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242
|
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| etherealflaim |
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|
243
|
// Turns out, we can only really use this in broadcast mode.
|
| etherealflaim |
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|
//commandMode();
|
| etherealflaim |
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|
245
|
//command("VR");
|
| etherealflaim |
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|
246
|
//command("AP", 1);
|
| etherealflaim |
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|
247
|
//command("CN");
|
| etherealflaim |
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|
248
|
//wait(1);
|
| etherealflaim |
0:86ff0a55c978
|
249
|
//m_usb.printf("Setup Complete.\r\n");
|
| etherealflaim |
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|
250
|
|
| etherealflaim |
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|
251
|
m_timeout.attach(this, &XBee::tickirq, .1);
|
| etherealflaim |
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|
252
|
}
|
| etherealflaim |
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|
253
|
|
| etherealflaim |
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|
254
|
/** Enter command mode. Send command("CN") to exit command mode. */
|
| etherealflaim |
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|
255
|
inline void commandMode()
|
| etherealflaim |
0:86ff0a55c978
|
256
|
{
|
| etherealflaim |
0:86ff0a55c978
|
257
|
wait(1.1);
|
| etherealflaim |
0:86ff0a55c978
|
258
|
m_comm.printf("+++");
|
| etherealflaim |
0:86ff0a55c978
|
259
|
wait(1.1);
|
| etherealflaim |
0:86ff0a55c978
|
260
|
}
|
| etherealflaim |
0:86ff0a55c978
|
261
|
|
| etherealflaim |
0:86ff0a55c978
|
262
|
inline void command(const char *cmd)
|
| etherealflaim |
0:86ff0a55c978
|
263
|
{
|
| etherealflaim |
0:86ff0a55c978
|
264
|
m_comm.printf("AT%s\r", cmd);
|
| etherealflaim |
0:86ff0a55c978
|
265
|
wait(.001);
|
| etherealflaim |
0:86ff0a55c978
|
266
|
}
|
| etherealflaim |
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|
267
|
|
| etherealflaim |
0:86ff0a55c978
|
268
|
inline void command(const char *cmd, int arg)
|
| etherealflaim |
0:86ff0a55c978
|
269
|
{
|
| etherealflaim |
0:86ff0a55c978
|
270
|
m_comm.printf("AT%s%X\r", cmd, arg);
|
| etherealflaim |
0:86ff0a55c978
|
271
|
wait(.001);
|
| etherealflaim |
0:86ff0a55c978
|
272
|
}
|
| etherealflaim |
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|
273
|
|
| etherealflaim |
0:86ff0a55c978
|
274
|
inline void rxirq()
|
| etherealflaim |
0:86ff0a55c978
|
275
|
{
|
| etherealflaim |
0:86ff0a55c978
|
276
|
static XBeePacket nextPacket;
|
| etherealflaim |
0:86ff0a55c978
|
277
|
static char buffer[256];
|
| etherealflaim |
0:86ff0a55c978
|
278
|
char *p = buffer;
|
| etherealflaim |
0:86ff0a55c978
|
279
|
bool finished = false;
|
| etherealflaim |
0:86ff0a55c978
|
280
|
|
| etherealflaim |
0:86ff0a55c978
|
281
|
// Receive all characters in buffer
|
| etherealflaim |
0:86ff0a55c978
|
282
|
do
|
| etherealflaim |
0:86ff0a55c978
|
283
|
{
|
| etherealflaim |
0:86ff0a55c978
|
284
|
// Receive character
|
| etherealflaim |
0:86ff0a55c978
|
285
|
*p = m_comm.getc();
|
| etherealflaim |
0:86ff0a55c978
|
286
|
|
| etherealflaim |
0:86ff0a55c978
|
287
|
// Check if it's end-of-packet
|
| etherealflaim |
0:86ff0a55c978
|
288
|
if (*p == '\n') {
|
| etherealflaim |
0:86ff0a55c978
|
289
|
finished = true;
|
| etherealflaim |
0:86ff0a55c978
|
290
|
break;
|
| etherealflaim |
0:86ff0a55c978
|
291
|
}
|
| etherealflaim |
0:86ff0a55c978
|
292
|
|
| etherealflaim |
0:86ff0a55c978
|
293
|
// Move on to the next character
|
| etherealflaim |
0:86ff0a55c978
|
294
|
++p;
|
| etherealflaim |
0:86ff0a55c978
|
295
|
} while (m_comm.readable() && p-buffer < 255);
|
| etherealflaim |
0:86ff0a55c978
|
296
|
|
| etherealflaim |
0:86ff0a55c978
|
297
|
// Null terminate
|
| etherealflaim |
0:86ff0a55c978
|
298
|
*p = '\0';
|
| etherealflaim |
0:86ff0a55c978
|
299
|
|
| etherealflaim |
0:86ff0a55c978
|
300
|
// Append the characters to the packet
|
| etherealflaim |
0:86ff0a55c978
|
301
|
nextPacket.append(buffer);
|
| etherealflaim |
0:86ff0a55c978
|
302
|
|
| etherealflaim |
0:86ff0a55c978
|
303
|
if (finished)
|
| etherealflaim |
0:86ff0a55c978
|
304
|
{
|
| etherealflaim |
0:86ff0a55c978
|
305
|
// Unpack the headers
|
| etherealflaim |
0:86ff0a55c978
|
306
|
if (!nextPacket.unpack()) {
|
| etherealflaim |
0:86ff0a55c978
|
307
|
m_usb.printf("Received garbled packet; dropping.");
|
| etherealflaim |
0:86ff0a55c978
|
308
|
return;
|
| etherealflaim |
0:86ff0a55c978
|
309
|
}
|
| etherealflaim |
0:86ff0a55c978
|
310
|
|
| etherealflaim |
0:86ff0a55c978
|
311
|
if (nextPacket.is_broadcast() || nextPacket.dest() == m_uid)
|
| etherealflaim |
0:86ff0a55c978
|
312
|
{
|
| etherealflaim |
0:86ff0a55c978
|
313
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
314
|
// Print the packet
|
| etherealflaim |
0:86ff0a55c978
|
315
|
m_usb.printf("Received: ");
|
| etherealflaim |
0:86ff0a55c978
|
316
|
nextPacket.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
317
|
#endif
|
| etherealflaim |
0:86ff0a55c978
|
318
|
|
| etherealflaim |
0:86ff0a55c978
|
319
|
// Add it to the queue
|
| etherealflaim |
0:86ff0a55c978
|
320
|
m_queue.push(nextPacket);
|
| etherealflaim |
0:86ff0a55c978
|
321
|
}
|
| etherealflaim |
0:86ff0a55c978
|
322
|
else
|
| etherealflaim |
0:86ff0a55c978
|
323
|
{
|
| etherealflaim |
0:86ff0a55c978
|
324
|
#if _XBEE_DEBUG > 0
|
| etherealflaim |
0:86ff0a55c978
|
325
|
m_usb.printf("Dropping: ");
|
| etherealflaim |
0:86ff0a55c978
|
326
|
nextPacket.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
327
|
#endif
|
| etherealflaim |
0:86ff0a55c978
|
328
|
}
|
| etherealflaim |
0:86ff0a55c978
|
329
|
|
| etherealflaim |
0:86ff0a55c978
|
330
|
// Clear the packet
|
| etherealflaim |
0:86ff0a55c978
|
331
|
nextPacket = XBeePacket();
|
| etherealflaim |
0:86ff0a55c978
|
332
|
}
|
| etherealflaim |
0:86ff0a55c978
|
333
|
}
|
| etherealflaim |
0:86ff0a55c978
|
334
|
|
| etherealflaim |
0:86ff0a55c978
|
335
|
inline void tickirq()
|
| etherealflaim |
0:86ff0a55c978
|
336
|
{
|
| etherealflaim |
0:86ff0a55c978
|
337
|
//m_usb.printf("Scanning...\r\n");
|
| etherealflaim |
0:86ff0a55c978
|
338
|
//XBeePacket pkt = XBeePacket::Command("ND");
|
| etherealflaim |
0:86ff0a55c978
|
339
|
//XBeePacket pkt = XBeePacket::Broadcast("Test");
|
| etherealflaim |
0:86ff0a55c978
|
340
|
//pkt.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
341
|
//pkt.send(m_comm);
|
| etherealflaim |
0:86ff0a55c978
|
342
|
//m_comm.printf("TEST\r");
|
| etherealflaim |
0:86ff0a55c978
|
343
|
//XBeePacket pkt("TestPacket");
|
| etherealflaim |
0:86ff0a55c978
|
344
|
//m_usb.printf("Sending: ");
|
| etherealflaim |
0:86ff0a55c978
|
345
|
//pkt.dump(m_usb);
|
| etherealflaim |
0:86ff0a55c978
|
346
|
//pkt.send(m_comm);
|
| etherealflaim |
0:86ff0a55c978
|
347
|
|
| etherealflaim |
0:86ff0a55c978
|
348
|
while (!m_queue.empty() && m_read_handler)
|
| etherealflaim |
0:86ff0a55c978
|
349
|
(*m_read_handler)();
|
| etherealflaim |
0:86ff0a55c978
|
350
|
|
| etherealflaim |
0:86ff0a55c978
|
351
|
// Set the timeout again (we aren't going to use a ticker just in case the read handlers take awhile)
|
| etherealflaim |
0:86ff0a55c978
|
352
|
m_timeout.attach(this, &XBee::tickirq, 0.1);
|
| etherealflaim |
0:86ff0a55c978
|
353
|
}
|
| etherealflaim |
0:86ff0a55c978
|
354
|
|
| etherealflaim |
0:86ff0a55c978
|
355
|
|
| etherealflaim |
0:86ff0a55c978
|
356
|
public:
|
| etherealflaim |
0:86ff0a55c978
|
357
|
|
| etherealflaim |
0:86ff0a55c978
|
358
|
/// Return whether or not another XBeePacket is ready
|
| etherealflaim |
0:86ff0a55c978
|
359
|
inline bool readable()
|
| etherealflaim |
0:86ff0a55c978
|
360
|
{
|
| etherealflaim |
0:86ff0a55c978
|
361
|
return !m_queue.empty();
|
| etherealflaim |
0:86ff0a55c978
|
362
|
}
|
| etherealflaim |
0:86ff0a55c978
|
363
|
|
| etherealflaim |
0:86ff0a55c978
|
364
|
/// Get the next XBeePacket in line (make sure it's readable()!)
|
| etherealflaim |
0:86ff0a55c978
|
365
|
inline XBeePacket read()
|
| etherealflaim |
0:86ff0a55c978
|
366
|
{
|
| etherealflaim |
0:86ff0a55c978
|
367
|
XBeePacket pkt = m_queue.front();
|
| etherealflaim |
0:86ff0a55c978
|
368
|
m_queue.pop();
|
| etherealflaim |
0:86ff0a55c978
|
369
|
return pkt;
|
| etherealflaim |
0:86ff0a55c978
|
370
|
}
|
| etherealflaim |
0:86ff0a55c978
|
371
|
|
| etherealflaim |
0:86ff0a55c978
|
372
|
/// Set the Unit ID
|
| etherealflaim |
0:86ff0a55c978
|
373
|
inline string uid() { return m_uid; }
|
| etherealflaim |
0:86ff0a55c978
|
374
|
|
| etherealflaim |
0:86ff0a55c978
|
375
|
/// Get the Unit ID
|
| etherealflaim |
0:86ff0a55c978
|
376
|
inline void uid(string uid) { m_uid = uid; }
|
| etherealflaim |
0:86ff0a55c978
|
377
|
|
| etherealflaim |
0:86ff0a55c978
|
378
|
/// Attach a member function to be called on all TCP packets
|
| etherealflaim |
0:86ff0a55c978
|
379
|
template <class T>
|
| etherealflaim |
0:86ff0a55c978
|
380
|
inline void attach(T *inst, void (T::*func)())
|
| etherealflaim |
0:86ff0a55c978
|
381
|
{
|
| etherealflaim |
0:86ff0a55c978
|
382
|
delete m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
383
|
m_read_handler = new member_handler<T,void>(inst, func);
|
| etherealflaim |
0:86ff0a55c978
|
384
|
}
|
| etherealflaim |
0:86ff0a55c978
|
385
|
|
| etherealflaim |
0:86ff0a55c978
|
386
|
/// Attach a non-member function to be called on all TCP packets
|
| etherealflaim |
0:86ff0a55c978
|
387
|
inline void attach(void (*func)())
|
| etherealflaim |
0:86ff0a55c978
|
388
|
{
|
| etherealflaim |
0:86ff0a55c978
|
389
|
delete m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
390
|
m_read_handler = new function_handler<void>(func);
|
| etherealflaim |
0:86ff0a55c978
|
391
|
}
|
| etherealflaim |
0:86ff0a55c978
|
392
|
|
| etherealflaim |
0:86ff0a55c978
|
393
|
/// Detach the handler
|
| etherealflaim |
0:86ff0a55c978
|
394
|
inline void detach()
|
| etherealflaim |
0:86ff0a55c978
|
395
|
{
|
| etherealflaim |
0:86ff0a55c978
|
396
|
delete m_read_handler;
|
| etherealflaim |
0:86ff0a55c978
|
397
|
m_read_handler = NULL;
|
| etherealflaim |
0:86ff0a55c978
|
398
|
}
|
| etherealflaim |
0:86ff0a55c978
|
399
|
};
|
| etherealflaim |
0:86ff0a55c978
|
400
|
|
| etherealflaim |
0:86ff0a55c978
|
401
|
#endif /* XBEE_HPP */ |
Kyle Lemons