Diff: Wireless.h

Revision:

3:2d6ff72599f1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Wireless.h	Mon Apr 24 04:05:46 2017 +0000
@@ -0,0 +1,81 @@
+#ifndef WProtocol_h
+#define WProtocol_h
+
+#include "XBee/XBee.h"
+#include <mbed.h>
+
+#define HOST_ADDRESS 0x0003
+
+enum Direction {DIR_UP, DIR_DOWN, DIR_LEFT, DIR_RIGHT, DIR_NONE};
+enum WMessageType {FOOT_STEP, HAND_GESTURE};
+
+typedef struct WMessage {
+    WMessageType type;
+    Direction direction;
+} WMessage_t;
+
+class WirelessModule {
+public:
+    WirelessModule(PinName tx, PinName rx, WMessageType type) :
+        uart(tx, rx), xbee(uart),
+        tx16req(HOST_ADDRESS, (uint8_t *) &message, sizeof(message))
+    {
+        uart.baud(9600);
+        message.type = type;
+    }
+
+    int sendDirection(Direction dir) {
+        message.direction = dir;
+        xbee.send(tx16req);
+        return 0;
+    }
+private:
+    RawSerial uart;
+    XBee xbee;
+    WMessage_t message;
+    Tx16Request tx16req;
+};
+
+class WirelessHost {
+public:
+    WirelessHost(PinName tx, PinName rx) : uart(tx, rx), xbee(uart) {}
+
+    int waitForMessage(WMessage_t *store) {
+        xbee.readPacket(5000);
+
+        if (xbee.getResponse().isError()) {
+            // API error
+            return -99;
+        }
+
+        if (xbee.getResponse().isAvailable()) {
+            if (xbee.getResponse().getApiId() != RX_16_RESPONSE) {
+                // Unexpected API message
+                return -5;
+            }
+
+            // Retrieve response
+            xbee.getResponse().getRx16Response(rx16resp);
+
+            // Validate packet length
+            if (rx16resp.getDataLength() == sizeof(WMessage_t)) {
+                // Store the payload
+                memcpy(store, rx16resp.getData(), sizeof(WMessage_t));
+                return 0;
+            } else {
+                // Unexpected payload format
+                return -10;
+            }
+        } else {
+            // No Response
+            return -1;
+        }
+    }
+
+private:
+    RawSerial uart;
+    XBee xbee;
+    Rx16Response rx16resp;
+};
+
+#endif
\ No newline at end of file