CommandPacket HoofSerial::readPacket()
{
String jsonString = "";
Rx16Response rx16 = Rx16Response();
CommandPacket cmdPacket = { COMMAND_PACKAGE_TYPE, "null", "null", "null"};
if (_xbee.getResponse().getApiId() == RX_16_RESPONSE)
{
_xbee.getResponse().getRx16Response(rx16);
for(int i = 0; i < rx16.getDataLength(); i++)
{
char test = rx16.getData(i);
jsonString += test;
}
cmdPacket = decodeJson(jsonString);
Serial.print(cmdPacket.type);
Serial.print(" ");
Serial.print(cmdPacket.command);
Serial.print(" ");
Serial.print(cmdPacket.parameter);
Serial.print(" ");
Serial.println(cmdPacket.value);
}
return cmdPacket;
}
bool XBeeMACLayer::receive(uip_lladdr_t* lladdr_src, uip_lladdr_t* lladdr_dest, uint8_t* data, uint16_t* length){
xbee.readPacket();
if (xbee.getResponse().isAvailable()) {
// got something
if (xbee.getResponse().getApiId() == RX_16_RESPONSE || xbee.getResponse().getApiId() == RX_64_RESPONSE) {
// got a rx packet
if (xbee.getResponse().getApiId() == RX_16_RESPONSE) {
if (UIP_LLADDR_LEN == UIP_802154_SHORTADDR_LEN){
Rx16Response rx16 = Rx16Response();
xbee.getResponse().getRx16Response(rx16);
memcpy(data, rx16.getData(), rx16.getDataLength());
*length = rx16.getDataLength();
//get the src and destination addresses
if(rx16.getOption() == ZB_BROADCAST_PACKET){ //Then packet was a broadcast.. destination address is 0xFFFF, we use an all-zeroes address to represent broadcast
lladdr_dest->addr[0] = 0; // Copy all-zeroes address to lladdr_dest
lladdr_dest->addr[1] = 0;
//lladdr_dest = NULL;
}else{
//get dest address (it is my own)
//lladdr_dest = &my_mac;
lladdr_dest->addr[0] = my_mac.addr[0]; // Copy my_mac address to lladdr_dest
lladdr_dest->addr[1] = my_mac.addr[1];
}
lladdr_src->addr[0] = rxResp.getRemoteAddress16() >> 8;
lladdr_src->addr[1] = rxResp.getRemoteAddress16() & 0x00FF;
}else
return false;
} else {
if (UIP_LLADDR_LEN == UIP_802154_LONGADDR_LEN){
void XBeeStrategy::run(){
xbee.readPacket();
if (xbee.getResponse().isAvailable()) {
// got something
if (xbee.getResponse().getApiId() == RX_16_RESPONSE) {
// got a rx packet
Rx16Response rx16 = Rx16Response();
xbee.getResponse().getRx16Response(rx16);
Serial.println( "**** Incoming transmission ***");
char destination = rx16.getData(0);
if(destination == 'a'){
Serial.println( "Triggering us...");
char mode = rx16.getData(1);
if(mode == 'm'){
Serial.println( "Changing direction");
int direction = rx16.getData(2);
int on = rx16.getData(3);
switch(direction){
case 'w':
sputnik.stopMoving();
sputnik.forward();
break;
case 'a':
sputnik.stopMoving();
sputnik.turn(1000, 0);
break;
case 's':
sputnik.stopMoving();
sputnik.backward();
break;
case 'd':
sputnik.stopMoving();
sputnik.turn(1000, 1);
break;
default:
break;
}
}
}
}
}
}
tXBeePacket * getPkt()
{
tXBeePacket * rxPacket;
if (_isDataAvailable)
{
Rx16Response rx16 = Rx16Response();
xbee.getResponse().getRx16Response(rx16);
rxPacket = new tXBeePacket(rx16);
_isDataAvailable = false;
}
else
{
rxPacket = NULL;
}
return rxPacket;
}
