File content as of revision 10:cb1d91c06093:

#include "mbed.h"
#include <vector>
#include <list>
#include <algorithm>

class NetworkNode{
private:
    std::vector<uint8_t> addr; //network address vector
    int nodeNum; //index
    int x;
    int y;
    int heading;
public:
    NetworkNode(std::vector<uint8_t> & addrIn, int indexIn);
    //constructor
    
    std::vector<uint8_t> getAddr();
    //returns address
    
    int getIndex();
    //returns index
    
    int getX();
    //returns x coordinate
    
    int getY();
    //returns y coordinate
    
    int getHeading();
    //returns heading
    
    void setCoordinates(int x_in, int y_in, int heading_in);
    //sets coordinates
    
    void setAddr(std::vector<uint8_t> & addrIn);
    //sets address
    
    void setIndex(int indexIn);
    //sets index
};


class XBee_Robot {
private:

    int currentIndex; //current index of NetworkNode for received packet, allows coordinates to be updated

    std::vector< NetworkNode > node_list; //list of network nodes
    
    Serial dataLink; //declare global serial
    
    int commandX; // x coordinate received as commanded by the coordinator
    
    int commandY; //y coordinate received as commanded by the coordinator
    
    int commandFlag; // flag that indicates if coordinates from the coordinator have been received
    
public:
    
    XBee_Robot(PinName _txIn, PinName _rxIn);
    //constructor for XBee
    
    void setRxInterrupt();
    //enables interrupt for receive pin
    
    void Rx_interrupt();
    //ISR for receive pin
    
    void transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength);
    //assembles and sends transmission requests
    
    void ATQuery(uint8_t ATu, uint8_t ATl);
    //assembled and sends AT requests with no data byte in order to query the AT configuration of the XBee
    
    uint8_t calculateChecksum(std::vector<uint8_t> & packet);
    //calculates checksum for assembled packets
    
    void RxPacketControl(std::vector<uint8_t> & packet);
    //seperates packets depending on API command
    
    void checkSourceAddr(std::vector<uint8_t> & addr);
    //checks source address of received packet against list of known addresses and adds new addresses
    
    void RxDataHandler(std::vector<uint8_t> & packet);
    //handles received data based on data command
    
    int getCommandX();
    //used by main program to extract received command coordinates
    
    int getCommandY();
    //used by main program to extract received command coordinates
    
    int getCommandFlag();
    //used by main program to poll command flag
    
    void resetCommandFlag();
    //used by main program to reset command flag
};