int main(int argc, char**argv)
{
Xbee xbee("/dev/ttyUSB0",9);
Angles joystick_des_angles = {0};
uint8_t joystick_thrust = 0, flight_mode = 0;
ros::init(argc,argv,"xbee");
ros::NodeHandle nh;
ros::Publisher xbee_pub;
xbee_pub = nh.advertise<quad_msgs::XbeeData>("xbee/xbee_cmds",1);
int suc = 0;
while(ros::ok())
{
suc = xbee.get_xbee_data(joystick_des_angles, joystick_thrust, flight_mode);
//printf("suc: %i \n",suc);
if(suc > 0){
//xbee.printData(joystick_des_angles, joystick_thrust, flight_mode);
quad_msgs::XbeeData xb_msg;
//printf("im in here");
xb_msg.header.stamp = ros::Time::now();
xb_msg.joy_des_angles[0] = joystick_des_angles.phi;
xb_msg.joy_des_angles[1] = joystick_des_angles.theta;
xb_msg.joy_des_angles[2] = joystick_des_angles.psi;
xb_msg.joy_thrust = joystick_thrust;
xb_msg.flight_mode = flight_mode;
xbee_pub.publish(xb_msg);
}
}
}
int main(){
char *device = (char *)"/dev/ttyUSB0";
Serial xbee(device, 57600);
Message msg(device);
int fd = xbee.Open();
std::cout << "Send Image signal\n";
msg.sendingImage();
std::cout << "Transmitting Image\n";
int result = XSend(fd, "testing9.jpeg");
if(result == 0){
std::cout << "Image transmitted successfully\n";
}
else{
std::cout << "Error during image transmission\n";
}
xbee.Close();
return 0;
}
/****************************** Main function ***************************/
void main()
{
init_devices();
xbee_reset();
xbee();
while(1)
{
if(DATA_RECEIVED == 1)
{
int val;
val=RECEIVE();
xbee_I_RECEIVE(val);
}
xbee_I_FRONT_IR_VALUE(FRONT_IR);
xbee();
}
}
int main(int argc, char *argv[]) {
int i;
try {
/* setup libxbee */
libxbee::XBee xbee("xbee1", "/dev/ttyUSB0", 57600);
{
/* make a local connection */
myConnection local_con(xbee, "Local AT"); /* with a callback */
struct xbee_conAddress addr;
memset(&addr, 0, sizeof(addr));
addr.addr64_enabled = 1;
addr.addr64[0] = 0x00;
addr.addr64[1] = 0x13;
addr.addr64[2] = 0xA2;
addr.addr64[3] = 0x00;
addr.addr64[4] = 0x40;
addr.addr64[5] = 0x3C;
addr.addr64[6] = 0xB2;
addr.addr64[7] = 0x6D;
/* make a remote connection */
myConnection remote_con(xbee, "Remote AT", &addr); /* with a callback */
/* send data */
local_con << "NI";
remote_con << "NI";
/* wait a bit... */
usleep(1000000);
/* the connections are terminated when they go out of scope... */
}
usleep(1000000);
/* the libxbee instance is shutdown when it goes out of scope... */
} catch (xbee_err err) {
std::cout << "Error " << err << "\n";
}
usleep(5000000);
return 0;
}
void Message::sendMessage(char type){
Serial xbee(this->device, 57600);
xbee.PutChar(type);
}
int main(int argc, char *argv[]) {
int i;
/* get available libxbee modes */
try {
std::list<std::string> modes = libxbee::getModes();
std::list<std::string>::iterator i;
std::cout << "Available libxbee modes:\n";
for (i = modes.begin(); i != modes.end(); i++) {
std::cout << " " << *i;
}
std::cout << "\n";
} catch (xbee_err ret) {
std::cout << "Error while retrieving libxbee modes...\n";
}
try {
/* setup libxbee */
libxbee::XBee xbee("xbee1", "/dev/ttyUSB0", 57600);
std::cout << "Running libxbee in mode '" << xbee.mode() << "'\n";
/* get available connection types */
try {
std::list<std::string> types = xbee.getConTypes();
std::list<std::string>::iterator i;
std::cout << "Available connection types:\n";
for (i = types.begin(); i != types.end(); i++) {
std::cout << " " << *i;
}
std::cout << "\n";
} catch (xbee_err ret) {
std::cout << "Error while retrieving connection types...\n";
}
/* make a connection */
#ifdef LOCAL_CONNECTION
#ifdef USE_CALLBACKS
myConnection con(xbee, "Local AT"); /* with a callback */
con.myData = "Testing, 1... 2... 3...\n";
#else
libxbee::Con con(xbee, "Local AT"); /* without a callback */
#endif
#else /* LOCAL_CONNECTION */
struct xbee_conAddress addr;
memset(&addr, 0, sizeof(addr));
addr.addr64_enabled = 1;
addr.addr64[0] = 0x00;
addr.addr64[1] = 0x13;
addr.addr64[2] = 0xA2;
addr.addr64[3] = 0x00;
addr.addr64[4] = 0x40;
addr.addr64[5] = 0x33;
addr.addr64[6] = 0xCA;
addr.addr64[7] = 0xCB;
#ifdef USE_CALLBACKS
myConnection con(xbee, "Remote AT", &addr); /* with a callback */
con.myData = "Testing, 1... 2... 3...\n";
#else
libxbee::Con con(xbee, "Remote AT", &addr); /* without a callback */
#endif
#endif /* LOCAL_CONNECTION */
/* send data */
//con.Tx("NI"); /* like this */
con << "NI"; /* or like this */
sleep(1);
#ifndef USE_CALLBACKS
libxbee::Pkt pkt;
try {
//con >> pkt; /* like this */
pkt << con; /* or this */
} catch (xbee_err err) {
std::cout << "Error on Rx! " << err << "\n";
return 1;
}
try {
std::cout << "Packet length: " << pkt.size() << "\n";
for (i = 0; i < pkt.size(); i++) {
std::cout << " " << i << " " << pkt[i] << "\n";
}
} catch (xbee_err err) {
std::cout << "Error accessing packet! " << err << "\n";
return 1;
}
sleep(1);
#endif /* !USE_CALLBACKS */
} catch (xbee_err err) {
std::cout << "Error " << err << "\n";
}
return 0;
}
