static int test_write_at(struct harness_t *harness_p)
{
struct xbee_frame_t frame;
uint8_t buf[7];
/* Prepare a frame reading the AT frame "DL". */
frame.type = XBEE_FRAME_TYPE_AT_COMMAND;
frame.data.buf[0] = 0x52;
frame.data.buf[1] = 'D';
frame.data.buf[2] = 'L';
frame.data.size = 3;
BTASSERT(xbee_write(&xbee, &frame) == 0);
/* Validate the written frame. */
harness_mock_read("chan_write(buf_p)", &buf[0], 1);
harness_mock_read("chan_write(buf_p)", &buf[1], 1);
harness_mock_read("chan_write(buf_p)", &buf[2], 1);
harness_mock_read("chan_write(buf_p)", &buf[3], 1);
harness_mock_read("chan_write(buf_p)", &buf[4], 1);
harness_mock_read("chan_write(buf_p)", &buf[5], 1);
harness_mock_read("chan_write(buf_p)", &buf[6], 1);
harness_mock_read("chan_write(buf_p)", &buf[7], 1);
BTASSERTM(&buf[0], "\x7e\x00\x04\x08\x52\x44\x4c\x15", 8);
return (0);
}
static int test_write_tx_request(struct harness_t *harness_p)
{
struct xbee_frame_t frame;
uint8_t buf[14];
/* Prepare a frame. */
frame.type = XBEE_FRAME_TYPE_TX_REQUEST_16_BIT_ADDRESS;
frame.data.buf[0] = 0x01;
frame.data.buf[1] = 0x50;
frame.data.buf[2] = 0x01;
frame.data.buf[3] = 0x00;
frame.data.buf[4] = 0x48;
frame.data.buf[5] = 0x65;
frame.data.buf[6] = 0x6c;
frame.data.buf[7] = 0x6c;
frame.data.buf[8] = 0x6f;
frame.data.size = 9;
BTASSERT(xbee_write(&xbee, &frame) == 0);
/* Validate the written frame. */
harness_mock_read("chan_write(buf_p)", &buf[0], 1);
harness_mock_read("chan_write(buf_p)", &buf[1], 1);
harness_mock_read("chan_write(buf_p)", &buf[2], 1);
harness_mock_read("chan_write(buf_p)", &buf[3], 1);
harness_mock_read("chan_write(buf_p)", &buf[4], 1);
harness_mock_read("chan_write(buf_p)", &buf[5], 1);
harness_mock_read("chan_write(buf_p)", &buf[6], 1);
harness_mock_read("chan_write(buf_p)", &buf[7], 1);
harness_mock_read("chan_write(buf_p)", &buf[8], 1);
harness_mock_read("chan_write(buf_p)", &buf[9], 1);
harness_mock_read("chan_write(buf_p)", &buf[10], 1);
harness_mock_read("chan_write(buf_p)", &buf[11], 1);
harness_mock_read("chan_write(buf_p)", &buf[12], 1);
harness_mock_read("chan_write(buf_p)", &buf[13], 1);
BTASSERTM(&buf[0],
"\x7e\x00\x0a\x01\x01\x50\x01\x00\x48\x65\x6c\x6c\x6f\xb8",
14);
return (0);
}
static int test_write_escape(struct harness_t *harness_p)
{
struct xbee_frame_t frame;
uint8_t buf[7];
/* Prepare a frame where 0x11 will be escaped to 0x7d 0x31. */
frame.type = 0x23;
frame.data.buf[0] = 0x11;
frame.data.size = 1;
BTASSERT(xbee_write(&xbee, &frame) == 0);
/* Validate the written frame. */
harness_mock_read("chan_write(buf_p)", &buf[0], 1);
harness_mock_read("chan_write(buf_p)", &buf[1], 1);
harness_mock_read("chan_write(buf_p)", &buf[2], 1);
harness_mock_read("chan_write(buf_p)", &buf[3], 1);
harness_mock_read("chan_write(buf_p)", &buf[4], 2);
harness_mock_read("chan_write(buf_p)", &buf[6], 1);
BTASSERTM(&buf[0], "\x7e\x00\x02\x23\x7d\x31\xcb", 7);
return (0);
}
/**
* Task to emit beacons which are received by passing cars.
*/
void
beacon_task(void * pvParameters) {
//transmit used to mark if module should be configured as transmitter or receiver
//int transmit = 1;
//value used to hold value of set-up, start at '0' then set to '1' if done correctly
int set_up_okay = 0;
char buffer[512];
//AT device for use with hayes commands
ATDevice xbee_transmit;
xbee_transmit.api.count = xbee_count;
xbee_transmit.api.getc = xbee_getc;
xbee_transmit.api.write = xbee_write;
xbee_transmit.buffer = buffer;
xbee_transmit.length = 512;
//variable to track number of bad transmissions and allowed threshold before a module reset
int threshold = 10;
int error_count = 0;
//speed used to hold speed value to transmit through xbee and set constants for string construction
int speed = 100;
int prev_speed = 100;
int u_limit = 255;
int l_limit = 1;
char text_start[5] = "SL: \0";
char text_end[7] = " km/hr\0";
char speed_string[4];
char speed_cat[4];
char send_string[14];
char zero_one[2] = "0\0";
char zero_two[3] = "00\0";
char dollar[2]= "$\0";
/* Initialize the peripherals and state for this task. */
trace_printf("Update check \n");
if (!beacon_task_setup()) {
trace_printf("beacon_task: setup failed\n");
vTaskDelete(NULL);
return;
} else {
trace_printf("beacon_task: started\n");
}
//once task has started, run continuously
for(;;){
//configuration for module acting as transmitter
//first, check to see if configuration has been done properly
if (set_up_okay == 0){
//call function to configure transmitting xbee module as well as re-configuring serial just in case
//if ending back here because not writing to module, figured it was better to reset both
xbee_init();
if(!xbee_transmit_setup(&xbee_transmit)){
trace_printf("Xbee configuration failed, try again\n");
}
else{
trace_printf("Xbee configured okay \n");
set_up_okay = 1;
}
}
/*after configuring module, want to periodically output transmission
/**
* The Skywire task will periodically communicate with the MCC.
* When updated SL values are received, they will be communicated to
* this task via IPC mailbox.
*/
/**
* See: xbee.h and dma_serial.h
* xbee_count() - number of bytes available from XBee UART
* xbee_getc() - get one byte form XBee UART
* xbee_read() - read bytes into a buffer, non-blocking, **not implemented yet**
* xbee_write() - blocking write - uses HAL_UART_Transmit
*/
/* Echo received bytes from UART6 to the console. */
//convert integer speed value to string and pad if needed
if (set_up_okay == 1){
trace_printf("Constructing string \n");
SLUpdate slUpdate;
if (xQueueReceive(xSLUpdatesQueue, &slUpdate, 0) == pdTRUE) {
trace_printf("beacon task: SL = %d\n", slUpdate.limit);
speed = (int)slUpdate.limit;
}
//check that speed limit value is within limits. If not, use previous
if (speed >= l_limit && speed <= u_limit) {
snprintf(speed_string, 4, "%d", speed);
trace_printf("%s \n", speed_string);
prev_speed = speed;
}
else {
snprintf(speed_string, 4, "%d", prev_speed);
trace_printf("%s \n", speed_string);
}
speed_cat[0] = '\0';
send_string[0] = '\0';
if (strlen(speed_string) == 1){
trace_printf("Copying string \n");
strcpy(speed_cat, zero_two);
trace_printf("%s \n", speed_cat);
trace_printf("Concatenating \n");
strcat(speed_cat, speed_string);
}
else if (strlen(speed_string) == 2){
strcpy(speed_cat, zero_one);
strcat(speed_cat, speed_string);
}
else if (strlen(speed_string) == 3){
strcpy(speed_cat, speed_string);
}
trace_printf("concatenated speed value \n");
trace_printf("%s \n", speed_cat);
//construct phrase to be sent, '$' sign on end to avoid passing along junk
strcat(send_string, text_start);
strcat(send_string, speed_cat);
strcat(send_string, text_end);
strcat(send_string, dollar);
trace_printf("Sending phrase: %s", send_string);
trace_printf("\n");
//send string and do check to see if there was error
if (xbee_write((uint8_t*)send_string, 0, 14) != XBEE_OK){
//if error, increment count
trace_printf("Error on writing to Xbee \n");
error_count++;
}
//otherwise, reset error count
else {
error_count = 0;
speed++;
}
//if error count exceeds threshold, set back to 0 and flag module to be re-configured
if (error_count >= threshold) {
trace_printf("Resetting module configuration \n");
error_count = 0;
set_up_okay = 0;
}
//incrementing speed value for test
//speed++;
/* Run task at ~1Hz for now. */
}
vTaskDelay(10000);
}
}
