QG4/libs/thirdParty/libxbee/sample/scan_adv.c

#ifdef shell
gcc -o ${0//.c/} $0 -lxbee
exit
}
#endif
/*
  libxbee - a C library to aid the use of Digi's Series 1 XBee modules
            running in API mode (AP=2).

  Copyright (C) 2009  Attie Grande (attie@attie.co.uk)

  This program 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.

  This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
*/

/* this sample will scan all possible channels for remote nodes and return
   the value of a few useful settings */

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <string.h>
#include <unistd.h>
#include <signal.h>
#include <xbee.h>

#define MAXNODES 100

int ATCH = 0x0C; /* origional channel number */
int ATNT = 0x19; /* node discover timeout */
int ATNTc; /* node discover timeout counter */
int BREAK = 0;
xbee_con *con;

void sighandler(int sig) {
  xbee_pkt *pkt;
  if (sig == SIGINT) {
    BREAK = 1;
    /* wait for the rest of the timeout... */
    printf("\r%c[2KWaiting for node discover command to timeout...",27);
    fflush(stdout);
    for (; ATNTc; ATNTc--) {
      usleep(100000);
    }
    /* Restore the XBee's channel setting */
    printf("\r%c[2KRestoring channel to 0x%02X...",27,ATCH);
    fflush(stdout);
    if (xbee_senddata(con,"CH%c",ATCH)) {
      printf("xbee_senddata: Error\n");
      exit(1);
    }
    if ((pkt = xbee_getpacketwait(con)) == NULL) {
      printf("\r%c[2K*** XBee didnt return a result for CH... ***\nPlease manually reset your channel to 0x%02X\n",27,ATCH);
    }
    if (pkt->status) {
      printf("\r%c[2K*** An error occured while restoring the channel setting... ***\nPlease manually reset your channel to 0x%02X\n",27,ATCH);
    } else {
      printf("\nDone!\n");
    }
    free(pkt);
    /* Restore the terminal */
    printf("%c[?25h%c[0m",27,27);
    fflush(stdout);
    exit(0);
  }
}

int main(int argc, char *argv[]) {
  int i;
  int saidfull = 0;
  int ATCHc; /* current channel number */
  int XBeePro = 0; /* XBee pro? */

  int nodes = 0;
  unsigned char addrs[MAXNODES][19]; /* 0-7  : 64 bit address
					8    : channel
					9-10 : id
					11   : baud
					12   : API
					13-14: HV
					15-16: VR
					17   : CC
					18   : mask - not address */

  xbee_pkt *pkt, *rpkt;

  time_t ttime;
  char stime[32];

  /* handle ^C */
  signal(SIGINT, sighandler);

  /* setup libxbee */
  if (xbee_setupAPI("/dev/ttyUSB0",57600,'+',250) == -1) {
    return 1;
  }

  /* grab a local AT connection */
  con = xbee_newcon('I',xbee_localAT);

  /* get the current channel */
  if (xbee_senddata(con,"CH")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("XBee didnt return a result for CH\n");
    return 1;
  }
  ATCH = pkt->data[0];
  free(pkt);

  /* XBee     - 0x0B - 0x1A
     XBee Pro - 0x0C - 0x17 */
  if (xbee_senddata(con,"CH%c",0x0B)) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("XBee didnt return a result for CH\n");
    return 1;
  }
  /* did that fail? */
  if (pkt->status == 0) {
    /* nope.. its not a pro */
    printf("Using XBee (not Pro) channels (0x0B - 0x1A)...\n");
    XBeePro = 0;
    ATCHc = 0x0B;
  } else {
    /* yup... its a pro */
    printf("Using XBee Pro channels (0x0C - 0x17)...\n");
    XBeePro = 1;
    ATCHc = 0x0C;
  }
  free(pkt);

  /* find and print data for the local node */
  printf("\n%c[31mCH:%c[32m 0x%02X    ",27,27,ATCH);
  if (xbee_senddata(con,"ID")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for ID\n");
    return 1;
  }
  printf("%c[31mID:%c[32m 0x%02X%02X    ",27,27,pkt->data[0],pkt->data[1]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"MY")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for MY\n");
    return 1;
  }
  printf("%c[31mMY:%c[32m 0x%02X%02X    ",27,27,pkt->data[0],pkt->data[1]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"SH")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for SH\n");
    return 1;
  }
  printf("%c[31mSH:%c[32m 0x%02X%02X%02X%02X    ",27,27,pkt->data[0],pkt->data[1],pkt->data[2],pkt->data[3]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"SL")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for SL\n");
    return 1;
  }
  printf("%c[31mSL:%c[32m 0x%02X%02X%02X%02X    ",27,27,pkt->data[0],pkt->data[1],pkt->data[2],pkt->data[3]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"BD")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for BD\n");
    return 1;
  }
  printf("%c[31mBD:%c[32m ",27,27);
  /* print the baud rate */
  switch (pkt->data[3]) {
  case 0:  printf("  1200"); break;
  case 1:  printf("  2400"); break;
  case 2:  printf("  4800"); break;
  case 3:  printf("  9600"); break;
  case 4:  printf(" 19200"); break;
  case 5:  printf(" 38400"); break;
  case 6:  printf(" 57600"); break;
  case 7:  printf("115200"); break;
  default: printf(" other"); break;
  }
  printf("    ");
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"AP")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for AP\n");
    return 1;
  }
  printf("%c[31mAP:%c[32m 0x%02X    ",27,27,pkt->data[0]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"HV")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for HV\n");
    return 1;
  }
  printf("%c[31mHV:%c[32m 0x%02X%02X    ",27,27,pkt->data[0],pkt->data[1]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"VR")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for VR\n");
    return 1;
  }
  printf("%c[31mVR:%c[32m 0x%02X%02X    ",27,27,pkt->data[0],pkt->data[1]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"CC")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for CC\n");
    return 1;
  }
  printf("%c[31mCC:%c[32m '%c' (0x%02X)    ",27,27,pkt->data[0],pkt->data[0]);
  free(pkt);
  /* ### */
  if (xbee_senddata(con,"NI")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("\nXBee didnt return a result for NI\n");
    return 1;
  }
  printf("%c[31mNI:%c[32m %-20s   ",27,27,pkt->data);
  free(pkt);
  /* ### */
  printf("%c[95m* This is the lobal XBee *",27);

  printf("%c[34m\n---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------%c[0m\n\n",27,27);

  /* get the ND timeout */
  if (xbee_senddata(con,"NT")) {
    printf("xbee_senddata: Error\n");
    return 1;
  }
  if ((pkt = xbee_getpacketwait(con)) == NULL) {
    printf("XBee didnt return a result for NT\n");
    return 1;
  }
  ATNT = pkt->data[0];
  free(pkt);

  printf("%c[?25l",27);
  fflush(stdout);

  usleep(100000);

  while (!BREAK) {
    /* set the channel to scan */
    if (xbee_senddata(con,"CH%c",ATCHc)) {
      printf("xbee_senddata: Error\n");
      return 1;
    }
    pkt = xbee_getpacketwait(con);
    if (!pkt || pkt->status) {
      printf("\nXBee didnt return a result for CH\n");
      return 1;
    }
    free(pkt);
    printf("%c[2KScanning channel 0x%02X...\r",27,ATCHc);
    fflush(stdout);
    /* send a ND - Node Discover request */
    if (!xbee_senddata(con,"ND")) {
      /* only wait for a bit longer than the ND timeout */
      ATNTc = ATNT + 10;
      /* loop until the end packet has been received or timeout reached */
      while (!BREAK && ATNTc--) {
	/* get a packet */
	pkt = xbee_getpacket(con);
	/* check a packet was returned, and that its one we are after... */
	if (pkt && !memcmp(pkt->atCmd,"ND",2)) {
	  /* is this the end packet? you can tell from the 0 datalen */
	  if (pkt->datalen == 0) {
	    /* free the packet */
	    free(pkt);
	    break;
	  } else {
	    /* check if we know this node already */
	    for (i = 0; i < nodes; i++) {
	      /* the 64bit address will match one in the list */
	      if (!memcmp(&(pkt->data[2]),&(addrs[i][0]),8)) break;
	    }
	    ttime = time(NULL);
	    strftime(stime,32,"%I:%M:%S %p",gmtime(&ttime));
	    /* is there space for another? */
	    if ((i == nodes) &&
		(nodes == MAXNODES) &&
		(!saidfull)) {
	      printf("%c[2KMAXNODES reached... Can't add more...\r",27);
	      /* flush so the change is seen! */
	      fflush(stdout);
	      saidfull = 1;
	    } else {
	      /* is this a rewrite? */
	      if (i != nodes) {
		/* find the line to edit */
		printf("%c[%dA",27,nodes-i+1);
		/* clear the line */
		printf("%c[2K",27);
	      } else {
		/* fill the blank line */
		printf("%c[%dA",27,1);
	      }
	      /* save the channel */
	      addrs[i][8] = ATCHc;
	      /* write out the info */
	      printf("%c[31mCH:%c[32m 0x%02X    ",27,27,ATCHc);
	      printf("%c[31mID:%c[32m 0x",27,27);
	      if (i == nodes || !(addrs[i][18] & 0x80)) {
		printf("....");
	      } else {
		printf("%02X%02X",addrs[i][9],addrs[i][10]);
	      }
	      printf("    ");
	      printf("%c[31mMY:%c[32m 0x%02X%02X    ",27,27,pkt->data[0],pkt->data[1]);
	      printf("%c[31mSH:%c[32m 0x%02X%02X%02X%02X    ",27,27,pkt->data[2],pkt->data[3],pkt->data[4],pkt->data[5]);
	      printf("%c[31mSL:%c[32m 0x%02X%02X%02X%02X    ",27,27,pkt->data[6],pkt->data[7],pkt->data[8],pkt->data[9]);
	      printf("%c[31mBD:%c[32m ",27,27);
	      if (i == nodes || !(addrs[i][18] & 0x40)) {
		printf("......");
	      } else {
		switch (addrs[i][11]) {
		case 0:  printf("  1200"); break;
		case 1:  printf("  2400"); break;
		case 2:  printf("  4800"); break;
		case 3:  printf("  9600"); break;
		case 4:  printf(" 19200"); break;
		case 5:  printf(" 38400"); break;
		case 6:  printf(" 57600"); break;
		case 7:  printf("115200"); break;
		default: printf(" other"); break;
		}
	      }
	      printf("    ");
	      printf("%c[31mAP:%c[32m 0x",27,27);
	      if (i == nodes || !(addrs[i][18] & 0x20)) {
		printf("..");
	      } else {
		printf("%02X",addrs[i][12]);
	      }
	      printf("    ");
	      printf("%c[31mHV:%c[32m 0x",27,27);
	      if (i == nodes || !(addrs[i][18] & 0x10)) {
		printf("....");
	      } else {
		printf("%02X%02X",addrs[i][13],addrs[i][14]);
	      }
	      printf("    ");
	      printf("%c[31mVR:%c[32m 0x",27,27);
	      if (i == nodes || !(addrs[i][18] & 0x08)) {
		printf("....");
	      } else {
		printf("%02X%02X",addrs[i][15],addrs[i][16]);
	      }
	      printf("    ");
	      printf("%c[31mCC:%c[32m ",27,27);
	      if (i == nodes || !(addrs[i][18] & 0x04)) {
		printf(" .  (0x..)");
	      } else {
		printf("'%c' (0x%02X)",addrs[i][17],addrs[i][17]);
	      }
	      printf("    ");
	      printf("%c[31mNI:%c[32m %-20s    ",27,27,&(pkt->data[11]));
	      printf("%c[31mdB:%c[32m -%2d    ",27,27,pkt->data[10]);
	      printf("%c[31m@:%c[32m %s",27,27,stime);
	      /* is this a rewrite? */
	      if (i != nodes) {
		/* go back the the bottom */
		printf("%c[%dB\r",27,nodes-i+1);
	      } else {
		/* if its new... save the address */
		memcpy(&(addrs[nodes][0]),&(pkt->data[2]),8);
		/* turn off all the flags */
		addrs[nodes][18] = 0;
		/* new line is only wanted for new nodes */
		printf("\n%c[2K\n%c[0m",27,27);
		/* if not, then add 1 to the number of nodes! */
		nodes++;
	      }
	      printf("%c[0m%c[2KScanning channel 0x%02X...\r",27,27,ATCHc);
	      fflush(stdout);
	    }
	    /* flush so the change is seen! */
	    fflush(stdout);
	  }
	  /* free the packet */
	  free(pkt);
	}
	/* sleep for 100ms (same as NT steps */
	usleep(100000);
      }
    }
    fflush(stdout);
    /* check for all nodes on this channel, and get thier pan id */
    for (i = 0; i < nodes; i++) {
      int first = 1;
      if (addrs[i][8] == ATCHc) {
	xbee_con *tcon;
	unsigned int dh,dl;
	if (first) {
	  printf("%c[2KGathering settings for nodes on channel 0x%02X...\r",27,ATCHc);
	  first = 0;
	}
	/* get the address, and turn it the right way up! */
	memcpy(&dh,&(addrs[i][0]),4);
	dh = ((dh & 0xFF) << 24) | ((dh & 0xFF00) << 8) | ((dh & 0xFF0000) >> 8) | ((dh & 0xFF000000) >> 24);
	memcpy(&dl,&(addrs[i][4]),4);
	dl = ((dl & 0xFF) << 24) | ((dl & 0xFF00) << 8) | ((dl & 0xFF0000) >> 8) | ((dl & 0xFF000000) >> 24);
	/* setup a connection the the remote node */
	if ((tcon = xbee_newcon('I',xbee_64bitRemoteAT,dh,dl)) != NULL) {
	  /* find the line to edit */
	  printf("\r%c[%dA",27,nodes-i+1);

	  /* in this case we dont care if we dont get a response packet... */
	  if (xbee_senddata(tcon,"ID")) {
	    printf("xbee_senddata: Error\n");
	    return 1;
	  }
	  if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
	    /* move over the ID column */
	    printf("\r%c[18C",27);
	    /* print the ID */
	    printf("%c[32m%02X%02X%c[0m",27,rpkt->data[0],rpkt->data[1],27);
	    addrs[i][9] = rpkt->data[0];
	    addrs[i][10] = rpkt->data[1];
	    /* turn on the flag */
	    addrs[i][18] |= 0x80;
	    free(rpkt);
	  }

	  /* in this case we dont care if we dont get a response packet... */
	  if (xbee_senddata(tcon,"BD")) {
	    printf("xbee_senddata: Error\n");
	    return 1;
	  }
	  if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
	    /* move over the BD column */
	    printf("\r%c[80C",27);
	    if ((rpkt->data[0] != 0x00) || (rpkt->data[1] != 0x00) || (rpkt->data[2] != 0x00) || ((rpkt->data[3] & 0xF8) != 0x00)) {
	      addrs[i][11] = 8;
	    } else {
	      addrs[i][11] = rpkt->data[3];
	    }
	    /* turn on the flag */
	    addrs[i][18] |= 0x40;
	    /* print the baud rate */
	    printf("%c[32m",27);
	    switch (addrs[i][11]) {
	    case 0:  printf("  1200"); break;
	    case 1:  printf("  2400"); break;
	    case 2:  printf("  4800"); break;
	    case 3:  printf("  9600"); break;
	    case 4:  printf(" 19200"); break;
	    case 5:  printf(" 38400"); break;
	    case 6:  printf(" 57600"); break;
	    case 7:  printf("115200"); break;
	    default: printf(" other"); break;
	    }
	    printf("%c[0m",27);
	    free(rpkt);
	  }
	  /* in this case we dont care if we dont get a response packet... */
	  if (xbee_senddata(tcon,"AP")) {
	    printf("xbee_senddata: Error\n");
	    return 1;
	  }
	  if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
	    /* move over the AP column */
	    printf("\r%c[96C",27);
	    /* print the ID */
	    printf("%c[32m%02X%c[0m",27,rpkt->data[0],27);
	    addrs[i][12] = rpkt->data[0];
	    /* turn on the flag */
	    addrs[i][18] |= 0x20;
	    free(rpkt);
	  }
	  /* in this case we dont care if we dont get a response packet... */
	  if (xbee_senddata(tcon,"HV")) {
	    printf("xbee_senddata: Error\n");
	    return 1;
	  }
	  if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
	    /* move over the HV column */
	    printf("\r%c[108C",27);
	    /* print the ID */
	    printf("%c[32m%02X%02X%c[0m",27,rpkt->data[0],rpkt->data[1],27);
	    addrs[i][13] = rpkt->data[0];
	    addrs[i][14] = rpkt->data[1];
	    /* turn on the flag */
	    addrs[i][18] |= 0x10;
	    free(rpkt);
	  }
	  /* in this case we dont care if we dont get a response packet... */
	  if (xbee_senddata(tcon,"VR")) {
	    printf("xbee_senddata: Error\n");
	    return 1;
	  }
	  if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
	    /* move over the VR column */
	    printf("\r%c[122C",27);
	    /* print the ID */
	    printf("%c[32m%02X%02X%c[0m",27,rpkt->data[0],rpkt->data[1],27);
	    addrs[i][15] = rpkt->data[0];
	    addrs[i][16] = rpkt->data[1];
	    /* turn on the flag */
	    addrs[i][18] |= 0x08;
	    free(rpkt);
	  }
	  /* in this case we dont care if we dont get a response packet... */
	  if (xbee_senddata(tcon,"CC")) {
	    printf("xbee_senddata: Error\n");
	    return 1;
	  }
	  if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
	    /* move over the CC column */
	    printf("\r%c[134C",27);
	    /* print the ID */
	    printf("%c[32m'%c' (0x%02X)%c[0m",27,rpkt->data[0],rpkt->data[0],27);
	    addrs[i][17] = rpkt->data[0];
	    /* turn on the flag */
	    addrs[i][18] |= 0x04;
	    free(rpkt);
	  }
	  /* go back the the bottom */
	  printf("%c[%dB\r",27,nodes-i+1);
	  fflush(stdout);
	}
      }
    }
    /* fall back to the first channel if that was the last */
    if (XBeePro && ATCHc == 0x17) {
      ATCHc = 0x0C;
    } else if (!XBeePro && ATCHc == 0x1A) {
      ATCHc = 0x0B;
    } else {
      /* else move onto next channel */
      ATCHc++;
    }
    usleep(100000);
  }

  return 0;
}