// Wait for the response to the join message
uint8_t EndDevice::joiningWaitResponse() {
DEBUG_MSG("[JOINING WAIT RESPONSE]");
if (hasTimedOut()) {
// Timed out waiting for a response to the join message
disableTimeout();
State = EndDeviceError;
return TICK_JOIN_TIMEOUT;
} else if (xbee.getResponse().isAvailable()) {
if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
ZBRxResponse zbrr;
xbee.getResponse().getZBRxResponse(zbrr);
if (zbrr.getDataLength() == 1 && zbrr.getData()[0] == 'K') {
// Got a correct response
disableTimeout();
State = EndDeviceIdle;
return TICK_JOIN_OK;
} else {
// TODO: Got wrong response, ignore it?
State = EndDeviceError;
return TICK_JOIN_BAD_MSG; // XXX: Not sure if this check/return value is needed really
}
} else {
// TODO: Other type of message
}
}
return TICK_OK;
}
void checkSerialAPI(){
xbee.readPacket();
if (xbee.getResponse().isAvailable()) {
if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
xbee.getResponse().getZBRxResponse(rx);
if (rx.getOption() == ZB_PACKET_ACKNOWLEDGED) {
} else {}
int len = rx.getDataLength();
char m[len+1];
for(int i=0;i<len;i++){
m[i]=rx.getData(i);
}
m[len]='\0';
splitString(m, CMD,DEL,BRI, R, G ,B, TOUT);
t=millis() + TOUT * 1000;
} else if (xbee.getResponse().getApiId() == MODEM_STATUS_RESPONSE) {
xbee.getResponse().getModemStatusResponse(msr);
if (msr.getStatus() == ASSOCIATED) {}
else if (msr.getStatus() == DISASSOCIATED) {}
else {}
} else {}
} else if (xbee.getResponse().isError()) {}
}
void processRxPacket(ZBRxResponse & rx, uintptr_t) {
DebugSerial.println(F("Message received"));
Buffer b(rx.getData(), rx.getDataLength());
XBeeAddress64 addr = rx.getRemoteAddress64();
// DebugSerial.println(addr,HEX);
if (b.len() == 4 ) {
if (addr == 0x0013A20041629B6C) {
// DebugSerial.println(F("0013A20041629B6C"));
publish(F("0013A20041629B6C"), b.remove < float > ());
return;
} else if (addr == 0x0013A20041629B76) {
// DebugSerial.println(F("0013A20041629B76"));
publish(F("0013A20041629B76"), b.remove < float > ());
return;
}else if (addr == 0x0013A20040D7B896) {
// DebugSerial.println(F("0013A20040D7B896"));
publish(F("0013A20040D7B896"), b.remove < float > ());
return;
}else if (addr == 0x0013A20041629B72) {
// DebugSerial.println(F("0013A20041629B72"));
publish(F("0013A20041629B72"), b.remove < float > ());
return;
}else if (addr == 0x0013A20041629B77) {
// DebugSerial.println(F("0013A20041629B77"));
publish(F("0013A20041629B77"), b.remove < float > ());
return;
} else if (addr == 0x0013A20041629B6A) {
// DebugSerial.println(F("0013A20041629B6A"));
publish(F("0013A20041629B6A"), b.remove < float > ());
return;
} else if (addr == 0x0013A20040D7B872) {
// DebugSerial.println(F("0013A20040D7B872"));
publish(F("0013A20040D7B872"), b.remove < float > ());
return;
} else if (addr == 0x0013A20040B09A44) {
// DebugSerial.println(F("0013A20040B09A44"));
publish(F("0013A20040B09A44"), b.remove < float > ());
return;
}
//
// else if (addr == 0x0013A20040D7B885) {
// DebugSerial.println(F("0013A20040D7B885"));
// publish(F("0013A20040D7B885"), b.remove < float > ());
// return;
// }
// DebugSerial.println(b.remove<float>());
}
// this should get extended for all the xbee's
DebugSerial.println(F("Unknown or invalid packet"));
printResponse(rx, DebugSerial);
}
void XBeeResponse::getZBRxResponse(XBeeResponse &rxResponse) {
ZBRxResponse* zb = static_cast<ZBRxResponse*>(&rxResponse);
//TODO verify response api id matches this api for this response
// pass pointer array to subclass
zb->setFrameData(getFrameData());
setCommon(rxResponse);
zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
}
void ConnectOneAdapter::handleRxResponse(XBeeResponse &aResponse)
{
ZBRxResponse rx;
aResponse.getZBRxResponse(rx);
string data((const char*) rx.getData(), rx.getDataLength());
XBeeAddress64& addr = rx.getRemoteAddress64();
// Prefix data items...
ConnectOneDevice *dev = getOrCreateDevice(addr);
if (data[0] == '*')
handleMTConnectCommand(dev, data);
else
handleMTConnectSamples(dev, data);
}
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){
int main()
{
pi.cls(); //clear lcd
xbee.begin(9600); //same baud rate as xbees
while(true) {
xbee.readPacket(); //check for packet
if (xbee.getResponse().isAvailable()) { //got a packet
if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { // got a ZBRx packet
xbee.getResponse().getZBRxResponse(rx);
pi.locate(0,0);
pi.printf("+");
pi.locate(0,1);
// string c="";
string data="";
for(int i=0; i< rx.getDataLength(); i++) {
//c=rx.getData(i);
data+=rx.getData(i);
// pc.printf("%s\n",c);
}
pc.printf("%s\n",data);
char *str;
strcpy(str, data.c_str());
char speed1[32], speed2[32];
strcpy(speed1, strtok(str , "/"));
strcpy(speed2, strtok(NULL, "/"));
float lspeed=atof(speed1);
float rspeed=atof(speed2);
pi.left_motor(lspeed);
pi.right_motor(rspeed);
}
}
else if (xbee.getResponse().isError()) {
pi.locate(0,0);
pi.printf("Error");
}
}
}
void printResponseCb(ZBRxResponse& rx, uintptr_t data) {
Print *p = (Print*)data;
p->println(F("ZBRxResponse received:"));
printField(p, F(" From: 0x"), rx.getRemoteAddress64());
printField(p, F(" From: 0x"), rx.getRemoteAddress16());
printField(p, F(" Receive options: 0x"), rx.getOption());
if (rx.getDataLength() > 8)
p->print(" Payload:\r\n ");
else
p->print(" Payload: ");
printHex(*p, rx.getFrameData() + rx.getDataOffset(), rx.getDataLength(), F(" "), F("\r\n "), 8);
p->println();
}
// Recieve data from the base station.
uint8_t EndDevice::requestWait() {
DEBUG_MSG("[REQUEST WAIT]");
if (hasTimedOut()) {
// Timed out waiting for more data
disableTimeout();
// Discard the partially received data
dataEnd = data;
// Retry the update 4 times.
timesTimeout++;
if (timesTimeout > 3) {
State = EndDeviceError;
timesTimeout = 0;
return TICK_UPDATE_TIMEOUT;
} else {
State = EndDeviceRequestSend;
}
} else if (xbee.getResponse().isAvailable()) {
if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
DEBUG_MSG(" GOT PACKET");
// Has a data packet
disableTimeout();
ZBRxResponse zbrr;
xbee.getResponse().getZBRxResponse(zbrr);
// Copy the data into the buffer
memcpy(dataEnd, zbrr.getData(), zbrr.getDataLength());
dataEnd += zbrr.getDataLength();
// Test if this was the final data packet for this message
if (zbrr.getData()[zbrr.getDataLength()-1] == 0) {
timesTimeout = 0; // Reset timeout counter as we got a complete message
DEBUG_MSG(" GOT MSG");
DEBUG_MSG((char *) data);
State = EndDeviceIdle;
dataEnd = data;
return TICK_NEW_MSG;
} else {
setTimeout(5000);
}
} else {
// TODO: Other type of message
}
}
return TICK_OK;
}
