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XBee.cpp
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XBee.cpp
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/**
* Copyright (c) 2009 Andrew Rapp. All rights reserved.
*
* This file is part of XBee-Arduino.
*
* XBee-Arduino is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* XBee-Arduino is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with XBee-Arduino. If not, see <http://www.gnu.org/licenses/>.
*/
#include "XBee.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "HardwareSerial.h"
XBeeResponse::XBeeResponse() {
}
uint8_t XBeeResponse::getApiId() {
return _apiId;
}
void XBeeResponse::setApiId(uint8_t apiId) {
_apiId = apiId;
}
uint8_t XBeeResponse::getMsbLength() {
return _msbLength;
}
void XBeeResponse::setMsbLength(uint8_t msbLength) {
_msbLength = msbLength;
}
uint8_t XBeeResponse::getLsbLength() {
return _lsbLength;
}
void XBeeResponse::setLsbLength(uint8_t lsbLength) {
_lsbLength = lsbLength;
}
uint8_t XBeeResponse::getChecksum() {
return _checksum;
}
void XBeeResponse::setChecksum(uint8_t checksum) {
_checksum = checksum;
}
uint8_t XBeeResponse::getFrameDataLength() {
return _frameLength;
}
void XBeeResponse::setFrameLength(uint8_t frameLength) {
_frameLength = frameLength;
}
bool XBeeResponse::isAvailable() {
return _complete;
}
void XBeeResponse::setAvailable(bool complete) {
_complete = complete;
}
bool XBeeResponse::isError() {
return _errorCode > 0;
}
uint8_t XBeeResponse::getErrorCode() {
return _errorCode;
}
void XBeeResponse::setErrorCode(uint8_t errorCode) {
_errorCode = errorCode;
}
// copy common fields from xbee response to target response
void XBeeResponse::setCommon(XBeeResponse &target) {
target.setApiId(getApiId());
target.setAvailable(isAvailable());
target.setChecksum(getChecksum());
target.setErrorCode(getErrorCode());
target.setFrameLength(getFrameDataLength());
target.setMsbLength(getMsbLength());
target.setLsbLength(getLsbLength());
}
#ifdef SERIES_2
ZBTxStatusResponse::ZBTxStatusResponse() : FrameIdResponse() {
}
uint16_t ZBTxStatusResponse::getRemoteAddress() {
return (getFrameData()[1] << 8) + getFrameData()[2];
}
uint8_t ZBTxStatusResponse::getTxRetryCount() {
return getFrameData()[3];
}
uint8_t ZBTxStatusResponse::getDeliveryStatus() {
return getFrameData()[4];
}
uint8_t ZBTxStatusResponse::getDiscoveryStatus() {
return getFrameData()[5];
}
bool ZBTxStatusResponse::isSuccess() {
return getDeliveryStatus() == SUCCESS;
}
void XBeeResponse::getZBTxStatusResponse(XBeeResponse &zbXBeeResponse) {
// way off?
ZBTxStatusResponse* zb = static_cast<ZBTxStatusResponse*>(&zbXBeeResponse);
// pass pointer array to subclass
zb->setFrameData(getFrameData());
setCommon(zbXBeeResponse);
}
ZBRxResponse::ZBRxResponse(): RxDataResponse() {
_remoteAddress64 = XBeeAddress64();
}
uint16_t ZBRxResponse::getRemoteAddress16() {
return (getFrameData()[8] << 8) + getFrameData()[9];
}
uint8_t ZBRxResponse::getOption() {
return getFrameData()[10];
}
// markers to read data from packet array. this is the index, so the 12th item in the array
uint8_t ZBRxResponse::getDataOffset() {
return 11;
}
uint8_t ZBRxResponse::getDataLength() {
return getPacketLength() - getDataOffset() - 1;
}
XBeeAddress64& ZBRxResponse::getRemoteAddress64() {
return _remoteAddress64;
}
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]));
}
ZBRxIoSampleResponse::ZBRxIoSampleResponse() : ZBRxResponse() {
}
// 64 + 16 addresses, sample size, option = 12 (index 11), so this starts at 12
uint8_t ZBRxIoSampleResponse::getDigitalMaskMsb() {
return getFrameData()[12] & 0x1c;
}
uint8_t ZBRxIoSampleResponse::getDigitalMaskLsb() {
return getFrameData()[13];
}
uint8_t ZBRxIoSampleResponse::getAnalogMask() {
return getFrameData()[14] & 0x8f;
}
bool ZBRxIoSampleResponse::containsAnalog() {
return getAnalogMask() > 0;
}
bool ZBRxIoSampleResponse::containsDigital() {
return getDigitalMaskMsb() > 0 || getDigitalMaskLsb() > 0;
}
bool ZBRxIoSampleResponse::isAnalogEnabled(uint8_t pin) {
return ((getAnalogMask() >> pin) & 1) == 1;
}
bool ZBRxIoSampleResponse::isDigitalEnabled(uint8_t pin) {
if (pin <= 7) {
// added extra parens to calm avr compiler
return ((getDigitalMaskLsb() >> pin) & 1) == 1;
} else {
return ((getDigitalMaskMsb() >> (pin - 8)) & 1) == 1;
}
}
uint16_t ZBRxIoSampleResponse::getAnalog(uint8_t pin) {
// analog starts 13 bytes after sample size, if no dio enabled
uint8_t start = 15;
if (containsDigital()) {
// make room for digital i/o
start+=2;
}
// std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;
// start depends on how many pins before this pin are enabled
for (int i = 0; i < pin; i++) {
if (isAnalogEnabled(i)) {
start+=2;
}
}
// std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;
// std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " << static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) << " and " << + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;
return (uint16_t)((getFrameData()[start] << 8) + getFrameData()[start + 1]);
}
bool ZBRxIoSampleResponse::isDigitalOn(uint8_t pin) {
if (pin <= 7) {
// D0-7
// DIO LSB is index 5
return ((getFrameData()[16] >> pin) & 1) == 1;
} else {
// D10-12
// DIO MSB is index 4
return ((getFrameData()[15] >> (pin - 8)) & 1) == 1;
}
}
void XBeeResponse::getZBRxIoSampleResponse(XBeeResponse &response) {
ZBRxIoSampleResponse* zb = static_cast<ZBRxIoSampleResponse*>(&response);
// pass pointer array to subclass
zb->setFrameData(getFrameData());
setCommon(response);
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]));
}
#endif
#ifdef SERIES_1
RxResponse::RxResponse() : RxDataResponse() {
}
uint16_t Rx16Response::getRemoteAddress16() {
return (getFrameData()[0] << 8) + getFrameData()[1];
}
XBeeAddress64& Rx64Response::getRemoteAddress64() {
return _remoteAddress;
}
Rx64Response::Rx64Response() : RxResponse() {
_remoteAddress = XBeeAddress64();
}
Rx16Response::Rx16Response() : RxResponse() {
}
RxIoSampleBaseResponse::RxIoSampleBaseResponse() : RxResponse() {
}
uint8_t RxIoSampleBaseResponse::getSampleOffset() {
// sample starts 2 bytes after rssi
return getRssiOffset() + 2;
}
uint8_t RxIoSampleBaseResponse::getSampleSize() {
return getFrameData()[getSampleOffset()];
}
bool RxIoSampleBaseResponse::containsAnalog() {
return (getFrameData()[getSampleOffset() + 1] & 0x7e) > 0;
}
bool RxIoSampleBaseResponse::containsDigital() {
return (getFrameData()[getSampleOffset() + 1] & 0x1) > 0 || getFrameData()[getSampleOffset() + 2] > 0;
}
//uint16_t RxIoSampleBaseResponse::getAnalog0(uint8_t sample) {
// return getAnalog(0, sample);
//}
bool RxIoSampleBaseResponse::isAnalogEnabled(uint8_t pin) {
return (((getFrameData()[getSampleOffset() + 1] >> (pin + 1)) & 1) == 1);
}
bool RxIoSampleBaseResponse::isDigitalEnabled(uint8_t pin) {
if (pin < 8) {
return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
} else {
return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
}
}
// // verified (from XBee-API)
// private int getSampleWidth() {
// int width = 0;
//
// // width of sample depends on how many I/O pins are enabled. add one for each analog that's enabled
// for (int i = 0; i <= 5; i++) {
// if (isAnalogEnabled(i)) {
// // each analog is two bytes
// width+=2;
// }
// }
//
// if (this.containsDigital()) {
// // digital enabled takes two bytes, no matter how many pins enabled
// width+= 2;
// }
//
// return width;
// }
//
// private int getStartIndex() {
//
// int startIndex;
//
// if (this.getSourceAddress() instanceof XBeeAddress16) {
// // 16 bit
// startIndex = 7;
// } else {
// // 64 bit
// startIndex = 13;
// }
//
// return startIndex;
// }
//
// public int getDigitalMsb(int sample) {
// // msb digital always starts 3 bytes after sample size
// return this.getProcessedPacketBytes()[this.getStartIndex() + 3 + this.getSampleWidth() * sample];
// }
//
// public int getDigitalLsb(int sample) {
// return this.getProcessedPacketBytes()[this.getStartIndex() + 3 + this.getSampleWidth() * sample + 1];
// }
//
// public Boolean isDigitalOn(int pin, int sample) {
//
// if (sample < 0 || sample >= this.getSampleSize()) {
// throw new IllegalArgumentException("invalid sample size: " + sample);
// }
//
// if (!this.containsDigital()) {
// throw new RuntimeException("Digital is not enabled");
// }
//
// if (pin >= 0 && pin < 8) {
// return ((this.getDigitalLsb(sample) >> pin) & 1) == 1;
// } else if (pin == 8) {
// // uses msb dio line
// return (this.getDigitalMsb(sample) & 1) == 1;
// } else {
// throw new IllegalArgumentException("Invalid pin: " + pin);
// }
// }
//
// public Integer getAnalog(int pin, int sample) {
//
// if (sample < 0 || sample >= this.getSampleSize()) {
// throw new IllegalArgumentException("invalid sample size: " + sample);
// }
//
// // analog starts 3 bytes after start of sample, if no dio enabled
// int startIndex = this.getStartIndex() + 3;
//
// if (this.containsDigital()) {
// // make room for digital i/o sample (2 bytes per sample)
// startIndex+= 2;
// }
//
// startIndex+= this.getSampleWidth() * sample;
//
// // start depends on how many pins before this pin are enabled
// // this will throw illegalargumentexception if invalid pin
// for (int i = 0; i < pin; i++) {
// if (isAnalogEnabled(i)) {
// startIndex+=2;
// }
// }
//
// return (this.getProcessedPacketBytes()[startIndex] << 8) + this.getProcessedPacketBytes()[startIndex + 1];
// }
// THIS IS WRONG
uint16_t RxIoSampleBaseResponse::getAnalog(uint8_t pin, uint8_t sample) {
// analog starts 3 bytes after sample size, if no dio enabled
uint8_t start = 3;
if (containsDigital()) {
// make room for digital i/o sample (2 bytes per sample)
start+=2*(sample + 1);
}
uint8_t spacing = 0;
// spacing between samples depends on how many are enabled. add one for each analog that's enabled
for (int i = 0; i <= 5; i++) {
if (isAnalogEnabled(i)) {
// each analog is two bytes
spacing+=2;
}
}
// std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;
// start depends on how many pins before this pin are enabled
for (int i = 0; i < pin; i++) {
if (isAnalogEnabled(i)) {
start+=2;
}
}
start+= sample * spacing;
// std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;
// std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " << static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) << " and " << + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;
return (uint16_t)((getFrameData()[getSampleOffset() + start] << 8) + getFrameData()[getSampleOffset() + start + 1]);
}
bool RxIoSampleBaseResponse::isDigitalOn(uint8_t pin, uint8_t sample) {
if (pin < 8) {
return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
} else {
return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
}
}
//bool RxIoSampleBaseResponse::isDigital0On(uint8_t sample) {
// return isDigitalOn(0, sample);
//}
Rx16IoSampleResponse::Rx16IoSampleResponse() : RxIoSampleBaseResponse() {
}
uint16_t Rx16IoSampleResponse::getRemoteAddress16() {
return (uint16_t)((getFrameData()[0] << 8) + getFrameData()[1]);
}
uint8_t Rx16IoSampleResponse::getRssiOffset() {
return 2;
}
void XBeeResponse::getRx16IoSampleResponse(XBeeResponse &response) {
Rx16IoSampleResponse* rx = static_cast<Rx16IoSampleResponse*>(&response);
rx->setFrameData(getFrameData());
setCommon(response);
}
Rx64IoSampleResponse::Rx64IoSampleResponse() : RxIoSampleBaseResponse() {
_remoteAddress = XBeeAddress64();
}
XBeeAddress64& Rx64IoSampleResponse::getRemoteAddress64() {
return _remoteAddress;
}
uint8_t Rx64IoSampleResponse::getRssiOffset() {
return 8;
}
void XBeeResponse::getRx64IoSampleResponse(XBeeResponse &response) {
Rx64IoSampleResponse* rx = static_cast<Rx64IoSampleResponse*>(&response);
rx->setFrameData(getFrameData());
setCommon(response);
rx->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
rx->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
}
TxStatusResponse::TxStatusResponse() : FrameIdResponse() {
}
uint8_t TxStatusResponse::getStatus() {
return getFrameData()[1];
}
bool TxStatusResponse::isSuccess() {
return getStatus() == SUCCESS;
}
void XBeeResponse::getTxStatusResponse(XBeeResponse &txResponse) {
TxStatusResponse* txStatus = static_cast<TxStatusResponse*>(&txResponse);
// pass pointer array to subclass
txStatus->setFrameData(getFrameData());
setCommon(txResponse);
}
uint8_t RxResponse::getRssi() {
return getFrameData()[getRssiOffset()];
}
uint8_t RxResponse::getOption() {
return getFrameData()[getRssiOffset() + 1];
}
bool RxResponse::isAddressBroadcast() {
return (getOption() & 2) == 2;
}
bool RxResponse::isPanBroadcast() {
return (getOption() & 4) == 4;
}
uint8_t RxResponse::getDataLength() {
return getPacketLength() - getDataOffset() - 1;
}
uint8_t RxResponse::getDataOffset() {
return getRssiOffset() + 2;
}
uint8_t Rx16Response::getRssiOffset() {
return RX_16_RSSI_OFFSET;
}
void XBeeResponse::getRx16Response(XBeeResponse &rx16Response) {
Rx16Response* rx16 = static_cast<Rx16Response*>(&rx16Response);
// pass pointer array to subclass
rx16->setFrameData(getFrameData());
setCommon(rx16Response);
// rx16->getRemoteAddress16().setAddress((getFrameData()[0] << 8) + getFrameData()[1]);
}
uint8_t Rx64Response::getRssiOffset() {
return RX_64_RSSI_OFFSET;
}
void XBeeResponse::getRx64Response(XBeeResponse &rx64Response) {
Rx64Response* rx64 = static_cast<Rx64Response*>(&rx64Response);
// pass pointer array to subclass
rx64->setFrameData(getFrameData());
setCommon(rx64Response);
rx64->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
rx64->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
}
#endif
RemoteAtCommandResponse::RemoteAtCommandResponse() : AtCommandResponse() {
}
uint8_t* RemoteAtCommandResponse::getCommand() {
return getFrameData() + 11;
}
uint8_t RemoteAtCommandResponse::getStatus() {
return getFrameData()[13];
}
bool RemoteAtCommandResponse::isOk() {
// weird c++ behavior. w/o this method, it calls AtCommandResponse::isOk(), which calls the AtCommandResponse::getStatus, not this.getStatus!!!
return getStatus() == AT_OK;
}
uint8_t RemoteAtCommandResponse::getValueLength() {
return getFrameDataLength() - 14;
}
uint8_t* RemoteAtCommandResponse::getValue() {
if (getValueLength() > 0) {
// value is only included for query commands. set commands does not return a value
return getFrameData() + 14;
}
return NULL;
}
uint16_t RemoteAtCommandResponse::getRemoteAddress16() {
return uint16_t((getFrameData()[9] << 8) + getFrameData()[10]);
}
XBeeAddress64& RemoteAtCommandResponse::getRemoteAddress64() {
return _remoteAddress64;
}
void XBeeResponse::getRemoteAtCommandResponse(XBeeResponse &response) {
// TODO no real need to cast. change arg to match expected class
RemoteAtCommandResponse* at = static_cast<RemoteAtCommandResponse*>(&response);
// pass pointer array to subclass
at->setFrameData(getFrameData());
setCommon(response);
at->getRemoteAddress64().setMsb((uint32_t(getFrameData()[1]) << 24) + (uint32_t(getFrameData()[2]) << 16) + (uint16_t(getFrameData()[3]) << 8) + getFrameData()[4]);
at->getRemoteAddress64().setLsb((uint32_t(getFrameData()[5]) << 24) + (uint32_t(getFrameData()[6]) << 16) + (uint16_t(getFrameData()[7]) << 8) + (getFrameData()[8]));
}
RxDataResponse::RxDataResponse() : XBeeResponse() {
}
uint8_t RxDataResponse::getData(int index) {
return getFrameData()[getDataOffset() + index];
}
uint8_t* RxDataResponse::getData() {
return getFrameData() + getDataOffset();
}
FrameIdResponse::FrameIdResponse() {
}
uint8_t FrameIdResponse::getFrameId() {
return getFrameData()[0];
}
ModemStatusResponse::ModemStatusResponse() {
}
uint8_t ModemStatusResponse::getStatus() {
return getFrameData()[0];
}
void XBeeResponse::getModemStatusResponse(XBeeResponse &modemStatusResponse) {
ModemStatusResponse* modem = static_cast<ModemStatusResponse*>(&modemStatusResponse);
// pass pointer array to subclass
modem->setFrameData(getFrameData());
setCommon(modemStatusResponse);
}
AtCommandResponse::AtCommandResponse() {
}
uint8_t* AtCommandResponse::getCommand() {
return getFrameData() + 1;
}
uint8_t AtCommandResponse::getStatus() {
return getFrameData()[3];
}
uint8_t AtCommandResponse::getValueLength() {
return getFrameDataLength() - 4;
}
uint8_t* AtCommandResponse::getValue() {
if (getValueLength() > 0) {
// value is only included for query commands. set commands does not return a value
return getFrameData() + 4;
}
return NULL;
}
bool AtCommandResponse::isOk() {
return getStatus() == AT_OK;
}
void XBeeResponse::getAtCommandResponse(XBeeResponse &atCommandResponse) {
AtCommandResponse* at = static_cast<AtCommandResponse*>(&atCommandResponse);
// pass pointer array to subclass
at->setFrameData(getFrameData());
setCommon(atCommandResponse);
}
uint16_t XBeeResponse::getPacketLength() {
return ((_msbLength << 8) & 0xff) + (_lsbLength & 0xff);
}
uint8_t* XBeeResponse::getFrameData() {
return _frameDataPtr;
}
void XBeeResponse::setFrameData(uint8_t* frameDataPtr) {
_frameDataPtr = frameDataPtr;
}
void XBeeResponse::init() {
_complete = false;
_errorCode = NO_ERROR;
_checksum = 0;
}
void XBeeResponse::reset() {
init();
_apiId = 0;
_msbLength = 0;
_lsbLength = 0;
_checksum = 0;
_frameLength = 0;
_errorCode = NO_ERROR;
}
void XBee::resetResponse() {
_pos = 0;
_escape = false;
_checksumTotal = 0;
_response.reset();
}
XBee::XBee(): _response(XBeeResponse()) {
_pos = 0;
_escape = false;
_checksumTotal = 0;
_nextFrameId = 0;
_response.init();
_response.setFrameData(_responseFrameData);
// Contributed by Paul Stoffregen for Teensy support
#if defined(__AVR_ATmega32U4__) || defined(__MK20DX128__)
_serial = &Serial1;
#else
_serial = &Serial;
#endif
}
uint8_t XBee::getNextFrameId() {
_nextFrameId++;
if (_nextFrameId == 0) {
// can't send 0 because that disables status response
_nextFrameId = 1;
}
return _nextFrameId;
}
// Support for SoftwareSerial. Contributed by Paul Stoffregen
void XBee::begin(Stream &serial) {
_serial = &serial;
}
void XBee::setSerial(Stream &serial) {
_serial = &serial;
}
bool XBee::available() {
return _serial->available();
}
uint8_t XBee::read() {
return _serial->read();
}
void XBee::flush() {
_serial->flush();
}
void XBee::write(uint8_t val) {
_serial->write(val);
}
XBeeResponse& XBee::getResponse() {
return _response;
}
// TODO how to convert response to proper subclass?
void XBee::getResponse(XBeeResponse &response) {
response.setMsbLength(_response.getMsbLength());
response.setLsbLength(_response.getLsbLength());
response.setApiId(_response.getApiId());
response.setFrameLength(_response.getFrameDataLength());
response.setFrameData(_response.getFrameData());
}
void XBee::readPacketUntilAvailable() {
while (!(getResponse().isAvailable() || getResponse().isError())) {
// read some more
readPacket();
}
}
bool XBee::readPacket(int timeout) {
if (timeout < 0) {
return false;
}
unsigned long start = millis();
while (int((millis() - start)) < timeout) {
readPacket();
if (getResponse().isAvailable()) {
return true;
} else if (getResponse().isError()) {
return false;
}
}
// timed out
return false;
}
void XBee::readPacket() {
// reset previous response
if (_response.isAvailable() || _response.isError()) {
// discard previous packet and start over
resetResponse();
}
while (available()) {
b = read();
if (_pos > 0 && b == START_BYTE && ATAP == 2) {
// new packet start before previous packeted completed -- discard previous packet and start over
_response.setErrorCode(UNEXPECTED_START_BYTE);
return;
}
if (_pos > 0 && b == ESCAPE) {
if (available()) {
b = read();
b = 0x20 ^ b;
} else {
// escape byte. next byte will be
_escape = true;
continue;
}
}
if (_escape == true) {
b = 0x20 ^ b;
_escape = false;
}
// checksum includes all bytes starting with api id
if (_pos >= API_ID_INDEX) {
_checksumTotal+= b;
}
switch(_pos) {
case 0:
if (b == START_BYTE) {
_pos++;
}
break;
case 1:
// length msb
_response.setMsbLength(b);
_pos++;
break;
case 2:
// length lsb
_response.setLsbLength(b);
_pos++;
break;
case 3:
_response.setApiId(b);
_pos++;
break;
default:
// starts at fifth byte
if (_pos > MAX_FRAME_DATA_SIZE) {
// exceed max size. should never occur
_response.setErrorCode(PACKET_EXCEEDS_BYTE_ARRAY_LENGTH);
return;
}
// check if we're at the end of the packet
// packet length does not include start, length, or checksum bytes, so add 3
if (_pos == (_response.getPacketLength() + 3)) {
// verify checksum
//std::cout << "read checksum " << static_cast<unsigned int>(b) << " at pos " << static_cast<unsigned int>(_pos) << std::endl;
if ((_checksumTotal & 0xff) == 0xff) {
_response.setChecksum(b);
_response.setAvailable(true);
_response.setErrorCode(NO_ERROR);
} else {
// checksum failed
_response.setErrorCode(CHECKSUM_FAILURE);
}
// minus 4 because we start after start,msb,lsb,api and up to but not including checksum
// e.g. if frame was one byte, _pos=4 would be the byte, pos=5 is the checksum, where end stop reading
_response.setFrameLength(_pos - 4);
// reset state vars
_pos = 0;
return;
} else {
// add to packet array, starting with the fourth byte of the apiFrame
_response.getFrameData()[_pos - 4] = b;
_pos++;
}
}
}
}
// it's peanut butter jelly time!!
XBeeRequest::XBeeRequest(uint8_t apiId, uint8_t frameId) {
_apiId = apiId;
_frameId = frameId;
}
void XBeeRequest::setFrameId(uint8_t frameId) {
_frameId = frameId;
}
uint8_t XBeeRequest::getFrameId() {
return _frameId;
}
uint8_t XBeeRequest::getApiId() {
return _apiId;
}
void XBeeRequest::setApiId(uint8_t apiId) {
_apiId = apiId;
}
//void XBeeRequest::reset() {
// _frameId = DEFAULT_FRAME_ID;
//}
//uint8_t XBeeRequest::getPayloadOffset() {
// return _payloadOffset;
//}
//
//uint8_t XBeeRequest::setPayloadOffset(uint8_t payloadOffset) {
// _payloadOffset = payloadOffset;
//}
PayloadRequest::PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength) : XBeeRequest(apiId, frameId) {
_payloadPtr = payload;
_payloadLength = payloadLength;
}