Haruna Nakazawa
20150512 Nakazawa
Dependencies: AigamozuControlPackets XBee agz_common mbed
Fork of
agz_base_ver2
by 
aigamozu
Revision 0:0aada4db04db, committed 2014-06-18
- Comitter:
- kityann
- Date:
- Wed Jun 18 13:48:27 2014 +0000
- Child:
- 1:533008368d76
- Commit message:
- aigamo get data
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AigamozuControlPackets.lib Wed Jun 18 13:48:27 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#282dad679fca
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/XBee.lib Wed Jun 18 13:48:27 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/okini3939/code/XBee/#b36422ef864f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/agz_base.cpp Wed Jun 18 13:48:27 2014 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+#include "XBee.h"
+
+#include "agz_common.h"
+#include "AigamozuControlPackets.h"
+
+
+#define MY_BASE_NUMBER 0
+
+XBee xbee(p13,p14);
+Serial pc(USBTX, USBRX); // tx, rx
+
+Ticker timer;
+
+//robot data
+AGZ_ROBOT robot[AGZ_NUM_ROBOTS];
+
+
+//function
+//transform packetdata to robot data
+void agz_transform_papcket(uint8_t* packet_data,int id){
+ //set latitude, longitude, state
+ robot[id].set_state(packet_data[9]);
+ robot[id].set_LatitudeH(&packet_data[13]);
+ robot[id].set_LatitudeL(&packet_data[17]);
+ robot[id].set_LongitudeH(&packet_data[21]);
+ robot[id].set_LongitudeL(&packet_data[25]);
+
+}
+
+/*---------registere robot--------------*/
+/*
+void agz_register_robot(uint8_*t packet_data){
+ uint8_t robot_id = packet_data[5];
+ robot[robot_id].set_state(0);
+ send_register_ack();
+}
+*/
+
+/*---------timer set----*/
+void agz_send_request(){
+ static uint8_t next_send_address = 0,i;
+ AigamozuControlPackets agz_packet;
+
+ /*------search next moving robot--------*/
+ for(i = next_send_address;i < AGZ_NUM_ROBOTS;i++){
+ if(robot[i].get_state() != 0xFF){
+ next_send_address = i;
+ break;
+ }
+ }
+ if(i == AGZ_NUM_ROBOTS){
+ for(i = 0;i < AGZ_NUM_ROBOTS;i++){
+ if(robot[i].get_state() != 0xFF){
+ next_send_address = i;
+ break;
+ }
+ }
+ }
+
+ agz_packet.createRequestCommand(MY_BASE_NUMBER,next_send_address);
+
+ ZBTxRequest agz_request_packet = ZBTxRequest(Agz_XBee_Remote_Address[next_send_address], agz_packet.packetData, REQUEST_COMMNAD_LENGTH );
+
+ xbee.send(agz_request_packet);
+
+ next_send_address++;
+}
+
+
+/*---------init---------*/
+void agz_base_init(){
+ xbee.begin(57600);
+ pc.baud(57600);
+ timer.attach(&agz_send_request,2.0);
+
+
+}
+
+int main(void){
+ int sender,reciever;
+
+ ZBRxResponse xbeeresponse;
+
+ agz_base_init();
+
+ wait(1);
+
+ printf("start\n");
+
+
+ robot[0].set_state(0);
+ robot[1].set_state(0);
+ robot[2].set_state(0);
+ robot[3].set_state(0);
+
+
+
+ while(1){
+ xbee.readPacket();
+
+ //get packet data
+ if(xbee.getResponse().isAvailable() ){
+ xbee.getResponse(xbeeresponse);
+
+ //get data packet
+ if(xbee.getResponse().getApiId() == ZB_RX_RESPONSE){
+ uint8_t *packet_data = xbeeresponse.getData();
+ uint8_t packet_kinds = packet_data[3];
+
+ //get sensor data
+ if(packet_kinds == 'R'){
+ sender = packet_data[5] - 'A';
+ reciever = packet_data[7] - 'a';
+ agz_transform_papcket(packet_data,sender);
+ printf("%d,%d,%d,%ld.%ld,%ld.%ld\n",robot[sender].get_state(),sender,reciever,
+ robot[sender].get_LatitudeH(),robot[sender].get_LatitudeL(),
+ robot[sender].get_LongitudeH(),robot[sender].get_LongitudeL());
+ }
+ //get register packet
+ if(packet_kinds == 'E'){
+ //agz_register_robot(packet_data);
+ }
+ }else{
+ //get not rx response
+ }
+ }else{
+
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/agz_common.lib Wed Jun 18 13:48:27 2014 +0000 @@ -0,0 +1,1 @@ +agz_common#54e62ef6d287
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jun 18 13:48:27 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/0b3ab51c8877 \ No newline at end of file