File content as of revision 3:cf539cfd3d59:

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

XBee_Robot::XBee_Robot(PinName _txIn, PinName _rxIn): dataLink(_txIn,_rxIn)
{
    _tx = _txIn; //redundant
    _rx = _rxIn;
}

void XBee_Robot::setRxInterrupt()
{
    dataLink.attach(this,&XBee_Robot::Rx_interrupt, Serial::RxIrq);
}

void XBee_Robot::Rx_interrupt()
{
    std::vector<uint8_t> Rx_buffer;
    while(dataLink.readable()){
        Rx_buffer.push_back(dataLink.getc());//add each incoming byte to buffer
        wait(0.0011); //wait for long enough so the next digit is recognised in the same stream
    }

    //Check valid packet delimeter and checksum
    if((Rx_buffer[0] == 0x7E) && (Rx_buffer[Rx_buffer.size()] == calculateChecksum(Rx_buffer)))
        RxPacketControl(Rx_buffer); //call packet control function
}

void XBee_Robot::transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength)
{
    //calculate checksum
    uint16_t length = 0x0E + dataLength; //calculate length of packet (14 + data length)
    uint8_t lengthu = length >>8; //upper 8 bits
    uint8_t lengthl = length & 0xFF; //lower 8 bits
    
    
    std::vector<uint8_t> transmitRequestPacket; //create new vector packet
    //populate packet 
    transmitRequestPacket.push_back(0x7E); //start delimeter
    transmitRequestPacket.push_back(lengthu); //upper byte of length
    transmitRequestPacket.push_back(lengthl); //lower byte of length
    transmitRequestPacket.push_back(0x10); //API ID (transmit request)
    transmitRequestPacket.push_back(0x01); //channel ID
    transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress64, BitAddress64+8); //64 bit destination address
    transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress16, BitAddress16+2); //16 bit network address
    transmitRequestPacket.push_back(broadcastRadius); //broadcast radius (0 = max hops)
    transmitRequestPacket.push_back(options); //additional options for packet
    transmitRequestPacket.insert(transmitRequestPacket.end(), data, data+dataLength); //data
    uint8_t checksum = calculateChecksum(transmitRequestPacket);
    transmitRequestPacket.push_back(checksum); //calculate and add checksum  
          
    for (int i = 0; i < transmitRequestPacket.size(); i++){
        dataLink.printf("%c",transmitRequestPacket[i]); //send packet
        printf("%c",transmitRequestPacket[i]);
    }
}

uint8_t XBee_Robot::calculateChecksum(std::vector<uint8_t> & packet)
{
    uint8_t checksum = 0xFF; //start with FF as last byte of sum is subtracted from FF
    for (int i = 3; i < packet.size(); i++)
        checksum -= packet[i];
    return checksum;
    
}

void XBee_Robot::RxPacketControl(std::vector<uint8_t> & packet)
{
    uint8_t command = packet[3]; //take API address
    switch (command) { //index for different commands
        case 0x90:{ //Receive packet command
        
            std::vector<uint8_t> source_addr64; //create new vector to store source address
            source_addr64.insert(source_addr64.end(), packet.begin() + 4, packet.begin() + 12); //insert source address part of packet into new vector
            checkSourceAddr(source_addr64);
            
            std::vector<uint8_t> data; //create new vector to store data
            data.insert(data.end(), packet.begin() + 15, packet.end() -1); //insert data part of packet into new vector
            for(int i = 0; i<data.size();i++){
                printf("Data: %d\n",(int)data[i]); //display data from packet
            }
            
            break;
        }
        default:
            printf("Received API address not recognised: %c",command);
    }
}

void XBee_Robot::checkSourceAddr(std::vector<uint8_t> & addr)
{
    if (std::find(addr_list.begin(), addr_list.end(), addr) != addr_list.end())
        printf("Recognised address\n");
    else{
        addr_list.push_back(addr);
        printf("New address added\n");
    }
        
}