XBee_Robot.h

00001 #include "mbed.h"
00002 #include <vector>
00003 #include <list>
00004 #include <algorithm>
00005 
00006 class NetworkNode{
00007 private:
00008     std::vector<uint8_t> addr; //16 bit network address vector
00009     std::vector<uint8_t> addr64; //64 bit network address vector
00010     int nodeNum; //index
00011     int x; //x coordinate
00012     int y; //y coordinate
00013     int heading; //heading
00014 public:
00015     NetworkNode(std::vector<uint8_t> & addrIn, int indexIn);
00016     //constructor
00017     
00018     NetworkNode(std::vector<uint8_t> & addrIn, std::vector<uint8_t> & addr64In,int indexIn);
00019     //constructor including 64 bit address
00020     
00021     std::vector<uint8_t> getAddr();
00022     //returns address
00023     
00024     std::vector<uint8_t> getAddr64();
00025     //returns 64 bit address
00026     
00027     int getIndex();
00028     //returns index
00029     
00030     int getX();
00031     //returns x coordinate
00032     
00033     int getY();
00034     //returns y coordinate
00035     
00036     int getHeading();
00037     //returns heading
00038     
00039     void setCoordinates(int x_in, int y_in, int heading_in);
00040     //sets coordinates
00041     
00042     void setAddr(std::vector<uint8_t> & addrIn);
00043     //sets address
00044     
00045     void setIndex(int indexIn);
00046     //sets index
00047 };
00048 
00049 
00050 class XBee_Robot {
00051 private:
00052 
00053     std::vector< vector <int> > obstacles; // 2D vector to hold positions of obstacles 
00054     
00055     int currentIndex; //current index of NetworkNode for received packet, allows coordinates to be updated
00056 
00057     std::vector< NetworkNode > node_list; //list of network nodes
00058     
00059     Serial dataLink; //declare global serial
00060     
00061     int commandX; // x coordinate received as commanded by the coordinator
00062     
00063     int commandY; //y coordinate received as commanded by the coordinator
00064     
00065     int commandFlag; // flag that indicates if coordinates from the coordinator have been received
00066     
00067     int finishedFlag; // flag that indictates if the router robots have finished their journey (coordinator use only)
00068     
00069 public:
00070     
00071     XBee_Robot(PinName _txIn, PinName _rxIn);
00072     //constructor for XBee
00073     
00074     void Rx_interrupt();
00075     //ISR for receive pin
00076     
00077     void transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength);
00078     //assembles and sends transmission requests
00079     
00080     void ATQuery(uint8_t ATu, uint8_t ATl);
00081     //assembled and sends AT requests with no data byte in order to query the AT configuration of the XBee
00082     
00083     uint8_t calculateChecksum(std::vector<uint8_t> & packet);
00084     //calculates checksum for assembled packets
00085     
00086     void RxPacketControl(std::vector<uint8_t> & packet);
00087     //seperates packets depending on API command
00088     
00089     void checkSourceAddr(std::vector<uint8_t> & addr, std::vector<uint8_t> & addr64);
00090     //checks 16 bit source address of received packet against list of known addresses and adds new addresses (16 and 64 bit)
00091     
00092     void checkSourceAddr(std::vector<uint8_t> & addr);
00093     //checks 16 bit source address of received packet against list of known addresses and adds new addresses (16 bit only)
00094     
00095     void RxDataHandler(std::vector<uint8_t> & packet);
00096     //handles received data based on data command
00097     
00098     int getCommandX();
00099     //used by main program to extract received command coordinates
00100     
00101     int getCommandY();
00102     //used by main program to extract received command coordinates
00103     
00104     int getCommandFlag();
00105     //used by main program to poll command flag
00106     
00107     int getFinishedFlag();
00108     //used by main program to poll finished flag (coordinator use only)
00109     
00110     void resetFinishedFlag();
00111     //used by main program to reset finished flag (coordinator use only)
00112     
00113     void resetCommandFlag();
00114     //used by main program to reset command flag
00115     
00116     int checkObstacle(int x_in, int y_in);
00117     //used by main program to check if an obstacle exists at given coordinates (coordinator use only)
00118 
00119     int convSigned(int int_in);
00120     //used to convert unsigned 8 bit integers to signed integers
00121 };