xbee.cpp

00001 #include "xbee.h"
00002 #include "MbedJSONValue.h"
00003 
00004 Xbee::Xbee(PinName tx, PinName rx){
00005     xbee = new Serial(tx, rx);
00006     xbee->baud(115200);
00007     xbee->attach(this, &Xbee::received, Serial::RxIrq);
00008     run = false;
00009     printf("xbee constructor\r\n");
00010     rst = new DigitalOut(p26);
00011     reset();
00012     setCode(-1);
00013 }
00014 
00015 void Xbee::reset(){
00016     rst->write(0);
00017     wait_ms(1);
00018     rst->write(1);
00019     wait_ms(1);
00020 }
00021 
00022 void Xbee::setCode(int code){
00023     if( code >= 0 && code < 1000){
00024         error("Code must be between 0 and 999."); 
00025     }   
00026     this->code = code;
00027 }
00028 
00029 int Xbee::hasCode(){
00030     return code != -1;
00031 }
00032 
00033 int Xbee::running(){
00034     return run;
00035 }
00036 
00037 int Xbee::stopped(){
00038     return !running();
00039 }
00040 
00041 void Xbee::received(){
00042     char c;
00043     while(xbee->readable()){
00044         c = xbee->getc();
00045         putc(c, stdout);
00046         buffer[buffer_pos] = c;
00047         buffer_pos++;
00048         if(c == '\n'){
00049             buffer[buffer_pos] = '\0';
00050             
00051             printf("buffer: %s\r\n", buffer);
00052 
00053             buffer_pos = 0;
00054             MbedJSONValue json;
00055             parse(json, buffer);
00056             
00057             int code = -1;
00058             if(json.hasMember("start")){
00059                 code = json["start"].get<int>();
00060             } else if(json.hasMember("stop")){
00061                 code = json["stop"].get<int>();
00062             } else {
00063                 break;   
00064             }
00065             
00066             printf("code: %d\r\n", code);
00067 
00068             if(json.hasMember("start") && code == this->code){
00069                 run = true;   
00070                 printf("start\r\n");
00071             } else if(code == this->code){
00072                 run = false;
00073                 printf("stop\r\n");
00074             }   
00075         }
00076     }
00077 }