Sam Leighton / XBee_Robot

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XBee_Robot.cpp@4:af08c7749f9d, 2016-01-05 (annotated)

Committer:
sleighton
Date:
Tue Jan 05 14:27:40 2016 +0000
Revision:
4:af08c7749f9d
Parent:
3:cf539cfd3d59
Child:
6:fb0316cafaa6
network node class added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sleighton 2:5040ec01dba1 1 #include "XBee_Robot.h"
sleighton 2:5040ec01dba1 2 #include <vector>
sleighton 3:cf539cfd3d59 3 #include <algorithm>
sleighton 3:cf539cfd3d59 4 #include <list>
sleighton 2:5040ec01dba1 5
sleighton 4:af08c7749f9d 6 //NETWORK CLASS METHODS
sleighton 4:af08c7749f9d 7 NetworkNode::NetworkNode(std::vector<uint8_t> & addrIn, int indexIn){
sleighton 4:af08c7749f9d 8 addr = addrIn;
sleighton 4:af08c7749f9d 9 nodeNum = indexIn;
sleighton 4:af08c7749f9d 10 }
sleighton 4:af08c7749f9d 11
sleighton 4:af08c7749f9d 12 std::vector<uint8_t> NetworkNode::getAddr(){ //returns address of node
sleighton 4:af08c7749f9d 13 return addr;
sleighton 2:5040ec01dba1 14 }
sleighton 2:5040ec01dba1 15
sleighton 4:af08c7749f9d 16 int NetworkNode::getIndex(){ //returns index of node
sleighton 4:af08c7749f9d 17 return nodeNum;
sleighton 4:af08c7749f9d 18 }
sleighton 4:af08c7749f9d 19
sleighton 4:af08c7749f9d 20 void NetworkNode::setIndex(int indexIn){ //sets index of node
sleighton 4:af08c7749f9d 21 nodeNum = indexIn;
sleighton 4:af08c7749f9d 22 }
sleighton 4:af08c7749f9d 23
sleighton 4:af08c7749f9d 24 void NetworkNode::setAddr(std::vector<uint8_t> & addrIn){ //sets address of node
sleighton 4:af08c7749f9d 25 addr = addrIn;
sleighton 4:af08c7749f9d 26 }
sleighton 4:af08c7749f9d 27
sleighton 4:af08c7749f9d 28 //XBEE ROBOT CLASS METHODS
sleighton 4:af08c7749f9d 29 XBee_Robot::XBee_Robot(PinName _txIn, PinName _rxIn): dataLink(_txIn,_rxIn){}
sleighton 4:af08c7749f9d 30
sleighton 2:5040ec01dba1 31 void XBee_Robot::setRxInterrupt()
sleighton 2:5040ec01dba1 32 {
sleighton 2:5040ec01dba1 33 dataLink.attach(this,&XBee_Robot::Rx_interrupt, Serial::RxIrq);
sleighton 2:5040ec01dba1 34 }
sleighton 2:5040ec01dba1 35
sleighton 2:5040ec01dba1 36 void XBee_Robot::Rx_interrupt()
sleighton 2:5040ec01dba1 37 {
sleighton 3:cf539cfd3d59 38 std::vector<uint8_t> Rx_buffer;
sleighton 2:5040ec01dba1 39 while(dataLink.readable()){
sleighton 3:cf539cfd3d59 40 Rx_buffer.push_back(dataLink.getc());//add each incoming byte to buffer
sleighton 3:cf539cfd3d59 41 wait(0.0011); //wait for long enough so the next digit is recognised in the same stream
sleighton 2:5040ec01dba1 42 }
sleighton 3:cf539cfd3d59 43
sleighton 3:cf539cfd3d59 44 //Check valid packet delimeter and checksum
sleighton 3:cf539cfd3d59 45 if((Rx_buffer[0] == 0x7E) && (Rx_buffer[Rx_buffer.size()] == calculateChecksum(Rx_buffer)))
sleighton 3:cf539cfd3d59 46 RxPacketControl(Rx_buffer); //call packet control function
sleighton 2:5040ec01dba1 47 }
sleighton 2:5040ec01dba1 48
sleighton 2:5040ec01dba1 49 void XBee_Robot::transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength)
sleighton 2:5040ec01dba1 50 {
sleighton 2:5040ec01dba1 51 //calculate checksum
sleighton 2:5040ec01dba1 52 uint16_t length = 0x0E + dataLength; //calculate length of packet (14 + data length)
sleighton 2:5040ec01dba1 53 uint8_t lengthu = length >>8; //upper 8 bits
sleighton 2:5040ec01dba1 54 uint8_t lengthl = length & 0xFF; //lower 8 bits
sleighton 2:5040ec01dba1 55
sleighton 2:5040ec01dba1 56
sleighton 2:5040ec01dba1 57 std::vector<uint8_t> transmitRequestPacket; //create new vector packet
sleighton 2:5040ec01dba1 58 //populate packet
sleighton 2:5040ec01dba1 59 transmitRequestPacket.push_back(0x7E); //start delimeter
sleighton 2:5040ec01dba1 60 transmitRequestPacket.push_back(lengthu); //upper byte of length
sleighton 2:5040ec01dba1 61 transmitRequestPacket.push_back(lengthl); //lower byte of length
sleighton 2:5040ec01dba1 62 transmitRequestPacket.push_back(0x10); //API ID (transmit request)
sleighton 2:5040ec01dba1 63 transmitRequestPacket.push_back(0x01); //channel ID
sleighton 2:5040ec01dba1 64 transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress64, BitAddress64+8); //64 bit destination address
sleighton 2:5040ec01dba1 65 transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress16, BitAddress16+2); //16 bit network address
sleighton 2:5040ec01dba1 66 transmitRequestPacket.push_back(broadcastRadius); //broadcast radius (0 = max hops)
sleighton 2:5040ec01dba1 67 transmitRequestPacket.push_back(options); //additional options for packet
sleighton 2:5040ec01dba1 68 transmitRequestPacket.insert(transmitRequestPacket.end(), data, data+dataLength); //data
sleighton 2:5040ec01dba1 69 uint8_t checksum = calculateChecksum(transmitRequestPacket);
sleighton 2:5040ec01dba1 70 transmitRequestPacket.push_back(checksum); //calculate and add checksum
sleighton 2:5040ec01dba1 71
sleighton 2:5040ec01dba1 72 for (int i = 0; i < transmitRequestPacket.size(); i++){
sleighton 2:5040ec01dba1 73 dataLink.printf("%c",transmitRequestPacket[i]); //send packet
sleighton 2:5040ec01dba1 74 printf("%c",transmitRequestPacket[i]);
sleighton 2:5040ec01dba1 75 }
sleighton 2:5040ec01dba1 76 }
sleighton 2:5040ec01dba1 77
sleighton 2:5040ec01dba1 78 uint8_t XBee_Robot::calculateChecksum(std::vector<uint8_t> & packet)
sleighton 2:5040ec01dba1 79 {
sleighton 2:5040ec01dba1 80 uint8_t checksum = 0xFF; //start with FF as last byte of sum is subtracted from FF
sleighton 2:5040ec01dba1 81 for (int i = 3; i < packet.size(); i++)
sleighton 2:5040ec01dba1 82 checksum -= packet[i];
sleighton 2:5040ec01dba1 83 return checksum;
sleighton 2:5040ec01dba1 84
sleighton 3:cf539cfd3d59 85 }
sleighton 3:cf539cfd3d59 86
sleighton 3:cf539cfd3d59 87 void XBee_Robot::RxPacketControl(std::vector<uint8_t> & packet)
sleighton 3:cf539cfd3d59 88 {
sleighton 3:cf539cfd3d59 89 uint8_t command = packet[3]; //take API address
sleighton 3:cf539cfd3d59 90 switch (command) { //index for different commands
sleighton 3:cf539cfd3d59 91 case 0x90:{ //Receive packet command
sleighton 3:cf539cfd3d59 92
sleighton 3:cf539cfd3d59 93 std::vector<uint8_t> source_addr64; //create new vector to store source address
sleighton 3:cf539cfd3d59 94 source_addr64.insert(source_addr64.end(), packet.begin() + 4, packet.begin() + 12); //insert source address part of packet into new vector
sleighton 3:cf539cfd3d59 95 checkSourceAddr(source_addr64);
sleighton 3:cf539cfd3d59 96
sleighton 3:cf539cfd3d59 97 std::vector<uint8_t> data; //create new vector to store data
sleighton 3:cf539cfd3d59 98 data.insert(data.end(), packet.begin() + 15, packet.end() -1); //insert data part of packet into new vector
sleighton 3:cf539cfd3d59 99 for(int i = 0; i<data.size();i++){
sleighton 3:cf539cfd3d59 100 printf("Data: %d\n",(int)data[i]); //display data from packet
sleighton 3:cf539cfd3d59 101 }
sleighton 3:cf539cfd3d59 102
sleighton 3:cf539cfd3d59 103 break;
sleighton 3:cf539cfd3d59 104 }
sleighton 3:cf539cfd3d59 105 default:
sleighton 3:cf539cfd3d59 106 printf("Received API address not recognised: %c",command);
sleighton 3:cf539cfd3d59 107 }
sleighton 3:cf539cfd3d59 108 }
sleighton 3:cf539cfd3d59 109
sleighton 3:cf539cfd3d59 110 void XBee_Robot::checkSourceAddr(std::vector<uint8_t> & addr)
sleighton 3:cf539cfd3d59 111 {
sleighton 4:af08c7749f9d 112 bool exists = false;
sleighton 4:af08c7749f9d 113 for (int i = 0; i<node_list.size();i++){ //search each entry in node_list for matching address
sleighton 4:af08c7749f9d 114 if(node_list[i].getAddr() == addr){
sleighton 4:af08c7749f9d 115 exists = true;
sleighton 4:af08c7749f9d 116 printf("Recognised node %d\n",node_list[i].getIndex()); //print node number
sleighton 4:af08c7749f9d 117 }
sleighton 4:af08c7749f9d 118 }
sleighton 4:af08c7749f9d 119 if (exists == false){ //add new address to list if no match found
sleighton 4:af08c7749f9d 120 NetworkNode newNode(addr,node_list.size());//create new node
sleighton 4:af08c7749f9d 121 node_list.push_back(newNode); //add new node to list
sleighton 3:cf539cfd3d59 122 printf("New address added\n");
sleighton 3:cf539cfd3d59 123 }
sleighton 3:cf539cfd3d59 124
sleighton 4:af08c7749f9d 125 }
sleighton 4:af08c7749f9d 126