Sille Van Landschoot / Mbed 2 deprecated racing_robots

Racing Robots Session

Dependencies:   m3pi mbed

Fork of racing_robots by Nico De Witte

xbee.cpp@10:c67825bf5f6b, 2015-06-03 (annotated)

Committer:
sillevl
Date:
Wed Jun 03 11:28:28 2015 +0000
Revision:
10:c67825bf5f6b
Parent:
8:597ce8a7d34b 
initial project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 8:597ce8a7d34b 1 #include "xbee.h"
sillevl 8:597ce8a7d34b 2 #include "MbedJSONValue.h"
sillevl 8:597ce8a7d34b 3
sillevl 8:597ce8a7d34b 4 Xbee::Xbee(PinName tx, PinName rx){
sillevl 8:597ce8a7d34b 5 xbee = new Serial(tx, rx);
sillevl 8:597ce8a7d34b 6 xbee->baud(115200);
sillevl 8:597ce8a7d34b 7 xbee->attach(this, &Xbee::received, Serial::RxIrq);
sillevl 8:597ce8a7d34b 8 run = false;
sillevl 8:597ce8a7d34b 9 printf("xbee constructor\r\n");
sillevl 8:597ce8a7d34b 10 rst = new DigitalOut(p26);
sillevl 8:597ce8a7d34b 11 reset();
sillevl 8:597ce8a7d34b 12 setCode(-1);
sillevl 8:597ce8a7d34b 13 }
sillevl 8:597ce8a7d34b 14
sillevl 8:597ce8a7d34b 15 void Xbee::reset(){
sillevl 8:597ce8a7d34b 16 rst->write(0);
sillevl 8:597ce8a7d34b 17 wait_ms(1);
sillevl 8:597ce8a7d34b 18 rst->write(1);
sillevl 8:597ce8a7d34b 19 wait_ms(1);
sillevl 8:597ce8a7d34b 20 }
sillevl 8:597ce8a7d34b 21
sillevl 8:597ce8a7d34b 22 void Xbee::setCode(int code){
sillevl 10:c67825bf5f6b 23 if( code < 0 && code >= 1000){
sillevl 8:597ce8a7d34b 24 error("Code must be between 0 and 999.");
sillevl 8:597ce8a7d34b 25 }
sillevl 8:597ce8a7d34b 26 this->code = code;
sillevl 8:597ce8a7d34b 27 }
sillevl 8:597ce8a7d34b 28
sillevl 8:597ce8a7d34b 29 int Xbee::hasCode(){
sillevl 8:597ce8a7d34b 30 return code != -1;
sillevl 8:597ce8a7d34b 31 }
sillevl 8:597ce8a7d34b 32
sillevl 8:597ce8a7d34b 33 int Xbee::running(){
sillevl 8:597ce8a7d34b 34 return run;
sillevl 8:597ce8a7d34b 35 }
sillevl 8:597ce8a7d34b 36
sillevl 8:597ce8a7d34b 37 int Xbee::stopped(){
sillevl 8:597ce8a7d34b 38 return !running();
sillevl 8:597ce8a7d34b 39 }
sillevl 8:597ce8a7d34b 40
sillevl 8:597ce8a7d34b 41 void Xbee::received(){
sillevl 8:597ce8a7d34b 42 char c;
sillevl 8:597ce8a7d34b 43 while(xbee->readable()){
sillevl 8:597ce8a7d34b 44 c = xbee->getc();
sillevl 8:597ce8a7d34b 45 putc(c, stdout);
sillevl 8:597ce8a7d34b 46 buffer[buffer_pos] = c;
sillevl 8:597ce8a7d34b 47 buffer_pos++;
sillevl 8:597ce8a7d34b 48 if(c == '\n'){
sillevl 8:597ce8a7d34b 49 buffer[buffer_pos] = '\0';
sillevl 8:597ce8a7d34b 50
sillevl 8:597ce8a7d34b 51 printf("buffer: %s\r\n", buffer);
sillevl 8:597ce8a7d34b 52
sillevl 8:597ce8a7d34b 53 buffer_pos = 0;
sillevl 8:597ce8a7d34b 54 MbedJSONValue json;
sillevl 8:597ce8a7d34b 55 parse(json, buffer);
sillevl 8:597ce8a7d34b 56
sillevl 8:597ce8a7d34b 57 int code = -1;
sillevl 8:597ce8a7d34b 58 if(json.hasMember("start")){
sillevl 8:597ce8a7d34b 59 code = json["start"].get<int>();
sillevl 8:597ce8a7d34b 60 } else if(json.hasMember("stop")){
sillevl 8:597ce8a7d34b 61 code = json["stop"].get<int>();
sillevl 8:597ce8a7d34b 62 } else {
sillevl 8:597ce8a7d34b 63 break;
sillevl 8:597ce8a7d34b 64 }
sillevl 8:597ce8a7d34b 65
sillevl 8:597ce8a7d34b 66 printf("code: %d\r\n", code);
sillevl 8:597ce8a7d34b 67
sillevl 8:597ce8a7d34b 68 if(json.hasMember("start") && code == this->code){
sillevl 8:597ce8a7d34b 69 run = true;
sillevl 8:597ce8a7d34b 70 printf("start\r\n");
sillevl 8:597ce8a7d34b 71 } else if(code == this->code){
sillevl 8:597ce8a7d34b 72 run = false;
sillevl 8:597ce8a7d34b 73 printf("stop\r\n");
sillevl 8:597ce8a7d34b 74 }
sillevl 8:597ce8a7d34b 75 }
sillevl 8:597ce8a7d34b 76 }
sillevl 8:597ce8a7d34b 77 }