class XBee::BaseAPIModeInterface
This is the main class for API mode for XBee
radios.
Constants
- VERSION
Public Class Methods
Attributes¶ ↑
-
xbee_usbdev_str
- USB Device as a string
Options¶ ↑
-
uart_config
- XBeeUARTConfig -
operation_mode
- Either :AT or :API forXBee
operation mode -
transmission_mode
- :SYNC for Synchronous communication or :ASYNC for Asynchonrous communication.
A note on the asynchronous vs synchronous communication modes - A simplistic network of a few XBee
nodes can pretty much work according to expected flows where requests and responses are always handled in synchronous ways. However, if bigger radio networks are being deployed (real scenarios) you cannot guarantee the synchronous nature of the network. You will have nodes joining/removing themselves, sleeping, sending data samples etc. Although the default behaviour is set as :SYNC, if you have a real network, then by design the network is Asynchronous, use :ASYNC instead. Otherwise you will most definitely run into “Invalid responses” issues.
For handling the Asynchronous communication logic, use an external Queue and database to effectively handle the command/response and other frames that are concurrently being conversed on the PAN.
Example¶ ↑
require 'ruby_xbee' @uart_config = XBee::Config::XBeeUARTConfig.new() @xbee_usbdev_str = '/dev/tty.usbserial-A101KYF6' @xbee = XBee::BaseAPIModeInterface.new(@xbee_usbdev_str, @uart_config, :API, :ASYNC)
XBee::RFModule::new
# File lib/ruxbee/xbee_api.rb, line 40 def initialize(xbee_usbdev_str, uart_config = XBeeUARTConfig.new, operation_mode = :API, transmission_mode = :SYNC) super(xbee_usbdev_str, uart_config, operation_mode, transmission_mode) @frame_id = 1 if self.operation_mode == :AT start_apimode_communication end end
Public Instance Methods
Association Indication. Read information regarding last node join request:
-
0x00 - Successful completion - Coordinator started or Router/End Device found and joined with a parent.
-
0x21 - Scan found no PANs
-
0x22 - Scan found no valid PANs based on current SC and ID settings
-
0x23 - Valid Coordinator or Routers found, but they are not allowing joining (NJ expired) 0x27 - Node Joining attempt failed
-
0x2A - Coordinator Start attempt failed‘
-
0xFF - Scanning for a Parent
# File lib/ruxbee/xbee_api.rb, line 158 def association_indication @association_indication ||= get_param("AI","n") if @association_indication == nil then @association_indication = 0 end end
retrieves the baud rate of the device. Generally, this will be the same as the rate you're currently using to talk to the device unless you've changed the device's baud rate and are still in the AT command mode and/or have not exited command mode explicitly for the new baud rate to take effect.
# File lib/ruxbee/xbee_api.rb, line 359 def baud @xbee_serialport.write("ATBD\r") baudcode = getresponse @baudcodes.index( baudcode.to_i ) end
sets the given baud rate into the XBee
device. The baud change will not take effect until the AT command mode times out or the exit command mode command is given. acceptable baud rates are: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200
# File lib/ruxbee/xbee_api.rb, line 369 def baud!( baud_rate ) @xbee_serialport.write("ATBD#{@baudcodes[baud_rate]}\r") getresponse if self.transmission_mode == :SYNC end
returns the channel number of the XBee
device. this value, along with the PAN ID, and MY address determines the addressability of the device and what it can listen to
# File lib/ruxbee/xbee_api.rb, line 275 def channel # channel often takes more than 1000ms to return data tmp = @xbee_serialport.read_timeout @xbee_serialport.read_timeout = read_timeout(:long) @xbee_serialport.write("ATCH\r") if self.tranmission_mode == :SYNC response = getresponse @xbee_serialport.read_timeout = tmp response.strip.chomp end end
sets the channel number of the device. The valid channel numbers are those of the 802.15.4 standard.
# File lib/ruxbee/xbee_api.rb, line 289 def channel!(new_channel) # channel takes more than 1000ms to return data tmp = @xbee_serialport.read_timeout @xbee_serialport.read_timeout = read_timeout(:long) @xbee_serialport.write("ATCH#{new_channel}\r") if self.transmission_mode == :SYNC response = getresponse @xbee_serialport.read_timeout = tmp response.strip.chomp end end
Returns the high portion of the XBee
device's current destination address
# File lib/ruxbee/xbee_api.rb, line 242 def destination_high @destination_high ||= get_param("DH") end
Sets the high portion of the XBee
device's current destination address Parameter range: 0 - 0xFFFFFFFF
# File lib/ruxbee/xbee_api.rb, line 249 def destination_high!(high_addr) self.xbee_serialport.write("ATDH#{high_addr}\r") getresponse if self.transmission_mode == :SYNC end
Returns the low portion of the XBee
device's current destination address
# File lib/ruxbee/xbee_api.rb, line 228 def destination_low @destination_low ||= get_param("DL") end
Sets the low portion of the XBee
device's destination address Parameter range: 0 - 0xFFFFFFFF
# File lib/ruxbee/xbee_api.rb, line 235 def destination_low!(low_addr) @xbee_serialport.write("ATDL#{low_addr}\r") getresponse if self.transmission_mode == :SYNC end
reads an i/o port configuration on the XBee
for analog to digital or digital input or output (GPIO) this method returns an I/O type symbol of:
:Disabled :ADC :DI :DO_Low :DO_High :Associated_Indicator :RTS :CTS :RS485_Low :RS485_High
Not all DIO ports are capable of every configuration listed above. This method will properly translate the XBee's response value to the symbol above when the same value has different meanings from port to port.
The port parameter may be any symbol :D0 through :D8 representing the 8 I/O ports on an XBee
# File lib/ruxbee/xbee_api.rb, line 424 def dio( port ) at = "AT#{port.to_s}\r" @xbee_serialport.write( at ) if self.transmission_mode == :SYNC response = getresponse.to_i if response == 1 # the value of 1 is overloaded based on port number case port when :D5 return :Associated_Indicator when :D6 return :RTS when :D7 return :CTS end else @iotypes.index(response) end end end
configures an i/o port on the XBee
for analog to digital or digital input or output (GPIO)
port parameter valid values are the symbols :D0 through :D8
iotype parameter valid values are symbols: :Disabled :ADC :DI :DO_Low :DO_High :Associated_Indicator :RTS :CTS :RS485_Low :RS485_High
note: not all iotypes are compatible with every port type, see the XBee
manual for exceptions and semantics
note: it is critical you have upgraded firmware in your XBee
or DIO ports 0-4 cannot be read (ie: ATD0 will return ERROR - this is an XBee
firmware bug that's fixed in revs later than 1083)
note: tested with rev 10CD, fails with rev 1083
# File lib/ruxbee/xbee_api.rb, line 468 def dio!( port, iotype ) at = "AT#{port.to_s}#{@iotypes[iotype]}\r" @xbee_serialport.write( at ) getresponse if self.transmission_mode == :SYNC end
reads the bitfield values for change detect monitoring. returns a bitmask indicating which DIO lines, 0-7 are enabled or disabled for change detect monitoring
# File lib/ruxbee/xbee_api.rb, line 477 def dio_change_detect @xbee_serialport.write("ATIC\r") getresponse if self.transmission_mode == :SYNC end
sets the bitfield values for change detect monitoring. The hexbitmap parameter is a bitmap which enables or disables the change detect monitoring for any of the DIO ports 0-7
# File lib/ruxbee/xbee_api.rb, line 485 def dio_change_detect!( hexbitmap ) @xbee_serialport.write("ATIC#{hexbitmask}\r") getresponse if self.transmission_mode == :SYNC end
exits the AT command mode - all changed parameters will take effect such as baud rate changes after the exit is complete. exit_command_mode
does not permanently save the parameter changes when it exits AT command mode. In order to permanently change parameters, use the save! method
# File lib/ruxbee/xbee_api.rb, line 607 def exit_command_mode @xbee_serialport.write("ATCN\r") end
Retrieve XBee
firmware version
# File lib/ruxbee/xbee_api.rb, line 165 def fw_rev @fw_rev ||= get_param("VR","n") end
# File lib/ruxbee/xbee_api.rb, line 68 def get_param(at_param_name, at_param_unpack_string = nil) frame_id = self.next_frame_id at_command_frame = XBee::Frame::ATCommand.new(at_param_name,frame_id,nil,at_param_unpack_string) puts "Sending ... [#{at_command_frame._dump(self.api_mode.in_symbol).unpack("C*").join(", ")}]" if $VERBOSE self.xbee_serialport.write(at_command_frame._dump(self.api_mode.in_symbol)) if self.transmission_mode == :SYNC r = XBee::Frame.new(self.xbee_serialport, self.api_mode.in_symbol) if r.kind_of?(XBee::Frame::ATCommandResponse) && r.status == :OK && r.frame_id == frame_id if block_given? yield r else #### DEBUG #### if $DEBUG then print "At parameter unpack string to be used: #{at_param_unpack_string} | " puts "Debug Return value for value: #{r.retrieved_value.unpack(at_param_unpack_string)}" end #### DEBUG #### at_param_unpack_string.nil? ? r.retrieved_value : r.retrieved_value.unpack(at_param_unpack_string).first end else raise "Response did not indicate successful retrieval of that parameter: #{r.inspect}" end end end
# File lib/ruxbee/xbee_api.rb, line 112 def get_remote_param(at_param_name, remote_address = 0x000000000000ffff, remote_network_address = 0xfffe, at_param_unpack_string = nil) frame_id = self.next_frame_id at_command_frame = XBee::Frame::RemoteCommandRequest.new(at_param_name, remote_address, remote_network_address, frame_id, nil, at_param_unpack_string) puts "Sending ... [#{at_command_frame._dump(self.api_mode.in_symbol).unpack("C*").join(", ")}]" self.xbee_serialport.write(at_command_frame._dump(self.api_mode.in_symbol)) if self.transmission_mode == :SYNC r = XBee::Frame.new(self.xbee_serialport, self.api_mode.in_symbol) if r.kind_of?(XBee::Frame::RemoteCommandResponse) && r.status == :OK && r.frame_id == frame_id if block_given? yield r else at_param_unpack_string.nil? ? r.retrieved_value : r.retrieved_value.unpack(at_param_unpack_string).first end else raise "Response did not indicate successful retrieval of that parameter: #{r.inspect}" end end end
returns results from the XBee
# File lib/ruxbee/xbee_api.rb, line 619 def getresponse XBee::Frame.new(self.xbee_serialport, self.api_mode.in_symbol) end
Retrieve XBee
hardware version
# File lib/ruxbee/xbee_api.rb, line 171 def hw_rev @hw_rev ||= get_param("HV","n") end
Forces a sampling of all DIO pins configured for input via dio! Returns a hash with the following key/value pairs: :NUM => number of samples :CM => channel mask :DIO => dio data if DIO lines are enabled :ADCn => adc sample data (one for each ADC channel enabled)
# File lib/ruxbee/xbee_api.rb, line 506 def io_input tmp = @xbee_serialport.read_timeout @xbee_serialport.read_timeout = read_timeout(:long) @xbee_serialport.write("ATIS\r") if self.transmission_mode == :SYNC response = getresponse linenum = 1 adc_sample = 1 samples = Hash.new if response.match("ERROR") samples[:ERROR] = "ERROR" return samples end # otherwise parse input data response.each_line do | line | case linenum when 1 samples[:NUM] = line.to_i when 2 samples[:CM] = line.strip.chomp when 3 samples[:DIO] = line.strip.chomp else sample = line.strip.chomp if ( !sample.nil? && sample.size > 0 ) samples["ADC#{adc_sample}".to_sym] = line.strip.chomp adc_sample += 1 end end linenum += 1 end @xbee_serialport.read_timeout = tmp samples end end
Sets the digital output levels of any DIO lines which were configured for output using the dio! method. The parameter, hexbitmap, is a hex value which represents the 8-bit bitmap of the i/o lines on the XBee
.
# File lib/ruxbee/xbee_api.rb, line 494 def io_output!( hexbitmap ) @xbee_serialport.write("ATIO#{hexbitmap}\r") getresponse if self.transmission_mode == :SYNC end
Neighbor node discovery. Returns an array of hashes each element of the array contains a hash each hash contains keys: :MY, :SH, :SL, :DB, :NI representing addresses source address, Serial High, Serial Low, Received signal strength, node identifier respectively. Aan example of the results returned (hash as seen by pp):
[{:NI=>" ", :MY=>"0", :SH=>"13A200", :SL=>"4008A642", :DB=>-24}, {:NI=>" ", :MY=>"0", :SH=>"13A200", :SL=>"4008A697", :DB=>-33}, {:NI=>" ", :MY=>"0", :SH=>"13A200", :SL=>"40085AD5", :DB=>-52}]
Signal strength (:DB) is reported in units of -dBM.
# File lib/ruxbee/xbee_api.rb, line 186 def neighbors frame_id = self.next_frame_id # neighbors often takes more than 1000ms to return data node_discover_cmd = XBee::Frame::ATCommand.new("ND",frame_id,nil) #puts "Node discover command dump: #{node_discover_cmd._dump(self.api_mode.in_symbol).unpack("C*").join(", ")}" tmp = @xbee_serialport.read_timeout @xbee_serialport.read_timeout = Integer(self.node_discover_timeout.in_seconds * 1050) @xbee_serialport.write(node_discover_cmd._dump(self.api_mode.in_symbol)) responses = [] #read_thread = Thread.new do begin loop do r = XBee::Frame.new(self.xbee_serialport, self.api_mode.in_symbol) # puts "Got a response! Frame ID: #{r.frame_id}, Command: #{r.at_command}, Status: #{r.status}, Value: #{r.retrieved_value}" if r.kind_of?(XBee::Frame::ATCommandResponse) && r.status == :OK && r.frame_id == frame_id if r.retrieved_value.empty? # w00t - the module is telling us it's done with the discovery process. break else responses << r end else raise "Unexpected response to ATND command: #{r.inspect}" end end rescue Exception => e puts "Okay, must have finally timed out on the serial read: #{e}." end @xbee_serialport.read_timeout = tmp responses.map do |r| unpacked_fields = r.retrieved_value.unpack("nNNZ20nCCnn") return_fields = [:SH, :SL, :NI, :PARENT_NETWORK_ADDRESS, :DEVICE_TYPE, :STATUS, :PROFILE_ID, :MANUFACTURER_ID] unpacked_fields.shift #Throw out the junk at the start of the discover packet return_fields.inject(Hash.new) do |return_hash, field_name| return_hash[field_name] = unpacked_fields.shift return_hash end end end
Performs a network reset on one or more modules within a PAN. The module responds immediately with an “OK” and then restarts the network. All network configuration and routing information is lost if not saved.
Parameter range: 0-1
-
0: Resets network layer parameters on the node issuing the command.
-
1: Sends broadcast transmission to reset network layer parameters on all nodes in the PAN.
# File lib/ruxbee/xbee_api.rb, line 574 def network_reset!(reset_range) if reset_range == 0 @xbee_serialport.write("ATNR0\r") elsif reset_range == 1 then @xbee_serialport.write("ATNR1\r") else #### DEBUG #### if $DEBUG then puts "Invalid parameter provided: #{reset_range}" end #### DEBUG #### end end
# File lib/ruxbee/xbee_api.rb, line 48 def next_frame_id @frame_id += 1 end
returns the node ID of the device. Node ID is typically a human-meaningful name to give to the XBee
device, much like a hostname.
# File lib/ruxbee/xbee_api.rb, line 304 def node_id @node_id ||= get_param("NI") end
sets the node ID to a user-definable text string to make it easier to identify the device with “human” names. This node id is reported to neighboring XBees so consider it “public”.
# File lib/ruxbee/xbee_api.rb, line 312 def node_id!(new_id) tmp = @xbee_serialport.read_timeout @xbee_serialport.read_timeout = read_timeout(:long) @xbee_serialport.write("ATNI#{new_id}\r") if self.transmission_mode == :SYNC response = getresponse @xbee_serialport.read_timeout = tmp if ( response.nil? ) return "" else response.strip.chomp end end end
returns the PAN ID of the device. PAN ID is one of the 3 main identifiers used to communicate with the device from other XBees. All XBees which are meant to communicate must have the same PAN ID and channel number. The 3rd identifier is the address of the device itself represented by its serial number (High and Low) and/or it's 16-bit MY source address.
# File lib/ruxbee/xbee_api.rb, line 333 def pan_id @pan_id ||= get_param("ID").unpack("n") end
sets the PAN ID of the device. Modules must have the same PAN ID in order to communicate with each other. The PAN ID value can range from 0 - 0xffff. The default from the factory is set to 0x3332.
# File lib/ruxbee/xbee_api.rb, line 341 def pan_id!(new_id) @xbee_serialport.write("ATID#{new_id}\r") getresponse if self.transmission_mode == :SYNC end
returns the parity of the device as represented by a symbol: :None - for 8-bit none :Even - for 8-bit even :Odd - for 8-bit odd :Mark - for 8-bit mark :Space - for 8-bit space
# File lib/ruxbee/xbee_api.rb, line 381 def parity @xbee_serialport.write("ATNB\r") if self.transmission_mode == :SYNC response = getresponse().strip.chomp @paritycodes.index( response.to_i ) end end
sets the parity of the device to one represented by a symbol contained in the parity_type parameter :None - for 8-bit none :Even - for 8-bit even :Odd - for 8-bit odd :Mark - for 8-bit mark :Space - for 8-bit space
# File lib/ruxbee/xbee_api.rb, line 396 def parity!( parity_type ) # validate symbol before writing parity param if !@paritycodes.include?(parity_type) return false end @xbee_serialport.write("ATNB#{@paritycodes[parity_type]}\r") getresponse if self.transmission_mode == :SYNC end
returns the signal strength in dBm units of the last received packet. Expect a negative integer or 0 to be returned. If the XBee
device has not received any neighboring packet data, the signal strength value will be 0
# File lib/ruxbee/xbee_api.rb, line 350 def received_signal_strength -(get_param("DB").hex) end
Resets the XBee
module through software and simulates a power off/on. Any configuration changes that have not been saved with the save! method will be lost during reset.
The module responds immediately with “OK” then performs a reset ~2 seconds later. The reset is a required when the module's SC or ID has been changes to take into affect.
# File lib/ruxbee/xbee_api.rb, line 562 def reset! @xbee_serialport.write("ATFR\r") end
Restores all the module parameters to factory defaults Restore (RE) command does not reset the ID parameter.
# File lib/ruxbee/xbee_api.rb, line 591 def restore! @xbee_serialport.write("ATRE\r") end
Returns the complete serialnumber of XBee
device by quering the high and low parts.
# File lib/ruxbee/xbee_api.rb, line 268 def serial_num self.serial_num_high() << 32 | self.serial_num_low end
Returns the high portion of the XBee
device's serial number. this value is factory set.
# File lib/ruxbee/xbee_api.rb, line 262 def serial_num_high @serial_high ||= get_param("SH","N") end
Returns the low portion of the XBee
device's serial number. this value is factory set.
# File lib/ruxbee/xbee_api.rb, line 256 def serial_num_low @serial_low ||= get_param("SL","N") end
# File lib/ruxbee/xbee_api.rb, line 93 def set_param(at_param_name, param_value, at_param_unpack_string = nil) frame_id = self.next_frame_id at_command_frame = XBee::Frame::ATCommand.new(at_param_name,frame_id,param_value,at_param_unpack_string) # puts "Sending ... [#{at_command_frame._dump(self.api_mode.in_symbol).unpack("C*").join(", ")}]" self.xbee_serialport.write(at_command_frame._dump(self.api_mode.in_symbol)) if self.transmission_mode == :SYNC r = XBee::Frame.new(self.xbee_serialport, self.api_mode.in_symbol) if r.kind_of?(XBee::Frame::ATCommandResponse) && r.status == :OK && r.frame_id == frame_id if block_given? yield r else at_param_unpack_string.nil? ? r.retrieved_value : r.retrieved_value.unpack(at_param_unpack_string).first end else raise "Response did not indicate successful retrieval of that parameter: #{r.inspect}" end end end
# File lib/ruxbee/xbee_api.rb, line 131 def set_remote_param(at_param_name, param_value, remote_address = 0x000000000000ffff, remote_network_address = 0xfffe, at_param_unpack_string = nil) frame_id = self.next_frame_id at_command_frame = XBee::Frame::RemoteCommandRequest.new(at_param_name, remote_address, remote_network_address, frame_id, param_value, at_param_unpack_string) puts "Sending ... [#{at_command_frame._dump(self.api_mode.in_symbol).unpack("C*").join(", ")}]" self.xbee_serialport.write(at_command_frame._dump(self.api_mode.in_symbol)) if self.transmission_mode == :SYNC r = XBee::Frame.new(self.xbee_serialport, self.api_mode.in_symbol) if r.kind_of?(XBee::Frame::RemoteCommandResponse) && r.status == :OK && r.frame_id == frame_id if block_given? yield r else at_param_unpack_string.nil? ? r.retrieved_value : r.retrieved_value.unpack(at_param_unpack_string).first end else raise "Response did not indicate successful retrieval of that parameter: #{r.inspect}" end end end
Switch to API mode - note that in Series 2 the Operation Mode is defined by the firmware flashed to the device. Only Series 1 can switch from AT (Transparent) to API Opearation and back seamlessly.
API Mode 1 - API Enabled API Mode 2 - API Enabled, with escaped control characters
# File lib/ruxbee/xbee_api.rb, line 59 def start_apimode_communication in_command_mode do puts "Entering api mode" # Set API Mode 2 (include escaped characters) self.xbee_serialport.write("ATAP1\r") self.xbee_serialport.read(3) end end
returns the version of this class
# File lib/ruxbee/xbee_api.rb, line 613 def version VERSION end