main.cpp

00001 #include "robot_logic.h"
00002 
00003 #include <cstdint>
00004 #include "mbed.h"
00005 #include "XBeeLib.h"
00006 #if defined(ENABLE_LOGGING)
00007 #include "DigiLoggerMbedSerial.h"
00008 using namespace DigiLog;
00009 #endif
00010 
00011 using namespace XBeeLib;
00012 
00013 DigitalOut led1(LED1);
00014 
00015 Serial *log_serial;
00016 
00017 Timeout stopper;
00018 
00019 /** Callback function, invoked at packet reception */
00020 static void receive_cb(const RemoteXBeeZB& remote, bool broadcast, const uint8_t *const data, uint16_t len)
00021 {
00022     const uint64_t remote_addr64 = remote.get_addr64();
00023 
00024     log_serial->printf("\r\nGot a %s RX packet [%08x:%08x|%04x], len %d\r\nData: ", broadcast ? "BROADCAST" : "UNICAST", UINT64_HI32(remote_addr64), UINT64_LO32(remote_addr64), remote.get_addr16(), len);
00025 
00026     for (int i = 0; i < len; i++)
00027         log_serial->printf("%02x ", data[i]);
00028 
00029     log_serial->printf("\r\n");
00030     
00031     switch(data[0]){
00032         case 0x10: // speed + turnradius
00033             
00034             int speed = int32_t((int8_t) data[1]);
00035             int turnspeed = int32_t((int8_t) data[2]);
00036             drive(speed);
00037             turn(turnspeed);
00038             stopper.attach(&stop, 0.1);
00039             break;
00040     }
00041 }
00042 
00043 
00044 int speed;
00045  
00046 void init()
00047 {
00048 
00049 }
00050  
00051 void loop()
00052 {    
00053     log_serial = new Serial(DEBUG_TX, DEBUG_RX);
00054     log_serial->baud(9600);
00055     log_serial->printf("Sample application to demo how to receive unicast and broadcast data with the XBeeZB\r\n\r\n");
00056     log_serial->printf(XB_LIB_BANNER);
00057 
00058 #if defined(ENABLE_LOGGING)
00059     new DigiLoggerMbedSerial(log_serial, LogLevelInfo);
00060 #endif
00061 
00062     XBeeZB xbee = XBeeZB(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 9600);
00063 
00064     /* Register callbacks */
00065     xbee.register_receive_cb(&receive_cb);
00066 
00067     RadioStatus const radioStatus = xbee.init();
00068     MBED_ASSERT(radioStatus == Success);
00069 
00070     /* Wait until the device has joined the network */
00071     log_serial->printf("Waiting for device to join the network: ");
00072     while (!xbee.is_joined()) {
00073         wait_ms(1000);
00074         log_serial->printf(".");
00075     }
00076     log_serial->printf("OK\r\n");
00077     led1 = 1;
00078 
00079     while (true) {
00080         xbee.process_rx_frames();
00081     }
00082 
00083     delete(log_serial);
00084 
00085 }