Diff: XBee.hpp
- Revision:
- 0:86ff0a55c978
- Child:
- 1:eefaa22e4b2c
diff -r 000000000000 -r 86ff0a55c978 XBee.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee.hpp Tue Nov 30 21:28:18 2010 +0000
@@ -0,0 +1,401 @@
+#ifndef XBEE_HPP
+#define XBEE_HPP
+
+#include <queue>
+#include <cctype>
+#include <string>
+#include <vector>
+#include <cstring>
+
+#include "mbed.h"
+#include "handler.hpp"
+
+#define PRINT(c) ((isprint(c))?(c):('.'))
+
+/** This class encapsulates a simplistic XBee packet.
+ * 1. The packet is 0x01 delimited.
+ * 2. The packet has a source and destination, which are (nominally) 8-byte identifiers
+ */
+class XBeePacket
+{
+private:
+ string m_data;
+ int m_data_len;
+ string m_source;
+ string m_dest;
+ bool m_packed;
+
+public:
+ /// Construct an empty (invalid) XBeePacket
+ inline XBeePacket()
+ : m_data(""), m_data_len(0), m_source("_INVALID"), m_dest("********"), m_packed(false)
+ {
+ }
+
+ /// Create an XBeePacket with the given data
+ inline XBeePacket(const string data)
+ : m_data(data), m_data_len(data.length()), m_source("_INVALID"), m_dest("********"), m_packed(false)
+ {
+ }
+
+ /// Create an XBeePacket with the given source and data
+ inline XBeePacket(const string src, const string data)
+ : m_data(data), m_data_len(data.length()), m_source(src), m_dest("********"), m_packed(false)
+ {
+ }
+
+ /// Create an XBeePacket with the given source, destination, and data
+ inline XBeePacket(const string src, const string dst, const string data)
+ : m_data(data), m_data_len(data.length()), m_source(src), m_dest(dst), m_packed(false)
+ {
+ }
+
+ /// Append the given data to the packet
+ inline void append(const string data)
+ {
+ m_data += data;
+ m_data_len += data.length();
+ }
+
+ /// Get the packet source (if set or unpacked)
+ inline string source() { return m_source; }
+
+ /// Set the packet source (before packing)
+ inline void source(string src) { m_source = src; }
+
+ /// Get the packet destination (if set or unpacked)
+ inline string dest() { return m_dest; }
+
+ /// Set the packet destination (before packing)
+ inline void dest(string dst) { m_dest = dst; }
+
+ /// Get the packet data (if set or unpacked)
+ inline string data() { return m_data; }
+
+ /// Set the packet data (before packing)
+ inline void data(string dat) { m_data = dat; }
+
+ /// Get a vector of the 0x01-delimited pieces of the data (after unpacking)
+ inline vector<string> split_data()
+ {
+ vector<string> pieces;
+ int begin = 0;
+ int end = 0;
+ while (end < m_data_len && (end = m_data.find(0x01, begin)) != string::npos)
+ {
+ pieces.push_back( m_data.substr(begin, end-begin) );
+ begin = end+1;
+ }
+ pieces.push_back( m_data.substr(begin) );
+ return pieces;
+ }
+
+ /// Clear the packet (zero the length, and reset the source and destination)
+ inline void clear()
+ {
+ m_data = "";
+ m_data_len = 0;
+ m_source = "_CLEARED";
+ m_dest = "********";
+ }
+
+ /** Pack the packet with header, etc.
+ * This function can be called separately to include the headers in, e.g., a dump()
+ */
+ inline void pack()
+ {
+ string header = "iHvZ\001" + m_source + "\001" + m_dest + "\001";
+ m_data = header + m_data;
+ m_data_len += header.length();
+ m_packed = true;
+ }
+
+ /** Unpack the packet header
+ * This function should be called with received packets to extract the header
+ */
+ inline bool unpack()
+ {
+ if (m_data.substr(0, 5) != "iHvZ\001") return false;
+ int source_idx = m_data.find(0x01, 0) + 1;
+ int dest_idx = m_data.find(0x01, source_idx) + 1;
+ int data_idx = m_data.find(0x01, dest_idx) + 1;
+ if (source_idx == string::npos ||
+ dest_idx == string::npos ||
+ data_idx == string::npos) return false;
+ m_source = m_data.substr(source_idx, dest_idx - source_idx - 1);
+ m_dest = m_data.substr(dest_idx, data_idx - dest_idx - 1);
+ m_data = m_data.substr(data_idx);
+ m_data_len = m_data.length();
+ return true;
+ }
+
+ /// Send the packet on the given Serial port (automatically packs if unpacked)
+ inline void send(Serial &out)
+ {
+ if (!m_packed) pack();
+
+ out.puts(m_data.c_str());
+ out.putc('\n');
+ }
+
+ /// Dump a text version (call before packing) of the packet to the serial port
+ inline void dump(Serial &out)
+ {
+ out.printf("[%s] -> [%s] : [", m_source.c_str(), m_dest.c_str());
+ for (int i = 0; i < m_data_len; ++i)
+ {
+ char c = m_dest[i];
+ if (isprint(c))
+ out.putc(c);
+ else
+ out.printf("\\x%02X", c);
+ }
+ out.printf("] %d bytes\r\n", m_data_len);
+ }
+
+ /// If it is a broadcast packet (destionation ********) return true
+ inline bool is_broadcast() { return m_dest == "********"; }
+};
+
+/** Manage the pins connected to an XBee chip in transparent (broadcast) mode.
+ * This is an interface for communicating XBeePackets across the XBee chip in transparent mode.
+ * Receipt of a new packet can be either polled or notified via the attach() functions.
+ */
+class XBee
+{
+private:
+ /* Unit ID */
+ string m_uid;
+
+ /* Pins */
+ PinName m_xout, m_xin, m_xrstn, m_xassoc, m_xon;
+
+ /* Pin handlers */
+ DigitalOut m_resetn;
+ DigitalIn m_ison;
+ Serial m_comm;
+
+ /* USB logging */
+ Serial m_usb;
+
+ /* Tickers and Timers */
+ Timeout m_timeout;
+
+ /* Packet incoming queue */
+ queue<XBeePacket> m_queue;
+ handler<void> *m_read_handler;
+
+public:
+ /** Create an XBee chip connect
+ * uid - The unit ID of the XBee chip (used in all outgoing XBeePackets)
+ * xbee_din - The MBED pin connected to the XBEE DIN pin
+ * xbee_dout - The MBED pin connected to the XBEE DOUT pin
+ * xbee_rst - The MBED pin connected to the XBEE nRST pin
+ * xbee_on - The MBED pin connected to the XBEE ON/nSLEEP pin
+ */
+ inline XBee(string uid, PinName xbee_din, PinName xbee_dout, PinName xbee_rst, PinName xbee_on)
+ : m_uid(uid), m_xout(xbee_din), m_xin(xbee_dout), m_xrstn(xbee_rst), m_xon(xbee_on),
+ m_resetn(xbee_rst), m_ison(xbee_on), m_comm(xbee_din, xbee_dout),
+ m_usb(USBTX, USBRX), m_read_handler(NULL)
+ {
+ m_usb.printf("Resetting XBee...\r\n");
+ // Reset the XBEE module
+ m_resetn = 0;
+ wait(.1);
+ m_resetn = 1;
+ wait(1);
+
+ // Set up serial communications (9600 baud by default)
+ m_comm.baud(9600);
+
+ // Set up a handler for serial communications
+ m_comm.attach(this, &XBee::rxirq);
+
+ // Check sleep status
+ m_usb.printf("XBee is %s\r\n", (m_ison)?"ON":"SLEEP");
+
+ setup();
+ }
+
+ inline void broadcast(string data)
+ {
+ XBeePacket pkt(data);
+ pkt.source(m_uid);
+ pkt.send(m_comm);
+ }
+
+ inline void send(string to, string data)
+ {
+ XBeePacket pkt(data);
+ pkt.source(m_uid);
+ pkt.dest(to);
+ pkt.send(m_comm);
+ }
+
+private:
+
+ inline void setup()
+ {
+ #if _XBEE_DEBUG > 0
+ m_usb.printf("Setting up XBee...\r\n");
+ #endif
+
+ // Turns out, we can only really use this in broadcast mode.
+ //commandMode();
+ //command("VR");
+ //command("AP", 1);
+ //command("CN");
+ //wait(1);
+ //m_usb.printf("Setup Complete.\r\n");
+
+ m_timeout.attach(this, &XBee::tickirq, .1);
+ }
+
+ /** Enter command mode. Send command("CN") to exit command mode. */
+ inline void commandMode()
+ {
+ wait(1.1);
+ m_comm.printf("+++");
+ wait(1.1);
+ }
+
+ inline void command(const char *cmd)
+ {
+ m_comm.printf("AT%s\r", cmd);
+ wait(.001);
+ }
+
+ inline void command(const char *cmd, int arg)
+ {
+ m_comm.printf("AT%s%X\r", cmd, arg);
+ wait(.001);
+ }
+
+ inline void rxirq()
+ {
+ static XBeePacket nextPacket;
+ static char buffer[256];
+ char *p = buffer;
+ bool finished = false;
+
+ // Receive all characters in buffer
+ do
+ {
+ // Receive character
+ *p = m_comm.getc();
+
+ // Check if it's end-of-packet
+ if (*p == '\n') {
+ finished = true;
+ break;
+ }
+
+ // Move on to the next character
+ ++p;
+ } while (m_comm.readable() && p-buffer < 255);
+
+ // Null terminate
+ *p = '\0';
+
+ // Append the characters to the packet
+ nextPacket.append(buffer);
+
+ if (finished)
+ {
+ // Unpack the headers
+ if (!nextPacket.unpack()) {
+ m_usb.printf("Received garbled packet; dropping.");
+ return;
+ }
+
+ if (nextPacket.is_broadcast() || nextPacket.dest() == m_uid)
+ {
+ #if _XBEE_DEBUG > 0
+ // Print the packet
+ m_usb.printf("Received: ");
+ nextPacket.dump(m_usb);
+ #endif
+
+ // Add it to the queue
+ m_queue.push(nextPacket);
+ }
+ else
+ {
+ #if _XBEE_DEBUG > 0
+ m_usb.printf("Dropping: ");
+ nextPacket.dump(m_usb);
+ #endif
+ }
+
+ // Clear the packet
+ nextPacket = XBeePacket();
+ }
+ }
+
+ inline void tickirq()
+ {
+ //m_usb.printf("Scanning...\r\n");
+ //XBeePacket pkt = XBeePacket::Command("ND");
+ //XBeePacket pkt = XBeePacket::Broadcast("Test");
+ //pkt.dump(m_usb);
+ //pkt.send(m_comm);
+ //m_comm.printf("TEST\r");
+ //XBeePacket pkt("TestPacket");
+ //m_usb.printf("Sending: ");
+ //pkt.dump(m_usb);
+ //pkt.send(m_comm);
+
+ while (!m_queue.empty() && m_read_handler)
+ (*m_read_handler)();
+
+ // Set the timeout again (we aren't going to use a ticker just in case the read handlers take awhile)
+ m_timeout.attach(this, &XBee::tickirq, 0.1);
+ }
+
+
+public:
+
+ /// Return whether or not another XBeePacket is ready
+ inline bool readable()
+ {
+ return !m_queue.empty();
+ }
+
+ /// Get the next XBeePacket in line (make sure it's readable()!)
+ inline XBeePacket read()
+ {
+ XBeePacket pkt = m_queue.front();
+ m_queue.pop();
+ return pkt;
+ }
+
+ /// Set the Unit ID
+ inline string uid() { return m_uid; }
+
+ /// Get the Unit ID
+ inline void uid(string uid) { m_uid = uid; }
+
+ /// Attach a member function to be called on all TCP packets
+ template <class T>
+ inline void attach(T *inst, void (T::*func)())
+ {
+ delete m_read_handler;
+ m_read_handler = new member_handler<T,void>(inst, func);
+ }
+
+ /// Attach a non-member function to be called on all TCP packets
+ inline void attach(void (*func)())
+ {
+ delete m_read_handler;
+ m_read_handler = new function_handler<void>(func);
+ }
+
+ /// Detach the handler
+ inline void detach()
+ {
+ delete m_read_handler;
+ m_read_handler = NULL;
+ }
+};
+
+#endif /* XBEE_HPP */
\ No newline at end of file
Kyle Lemons