def main():
print(" +-------------------+")
print(" | Send Data 16 Test |")
print(" +-------------------+\n")
local = XBeeDevice(PORT_LOCAL, BAUD_RATE_LOCAL)
local_remote = XBeeDevice(PORT_REMOTE, BAUD_RATE_REMOTE)
try:
local.open()
local_remote.open()
remote = RemoteXBeeDevice(local,
x16bit_addr=local_remote.get_16bit_addr())
local.send_data(remote, "Test message")
time.sleep(1)
message = local_remote.read_data()
assert (message is not None)
assert (
message.remote_device.get_16bit_addr() == local.get_16bit_addr())
print("Test finished successfully")
finally:
if local is not None and local.is_open():
local.close()
if local_remote is not None and local_remote.is_open():
local_remote.close()
def main():
print(" +-----------------------------+")
print(" | Add Remote Device by Reader |")
print(" +-----------------------------+\n")
device_a = XBeeDevice(PORT_A, BAUD_RATE_A)
device_b = XBeeDevice(PORT_B, BAUD_RATE_B)
try:
device_a.open()
device_b.open()
network = device_a.get_network()
remote = RemoteXBeeDevice(device_b, device_a.get_64bit_addr())
# Send a message from B to A.
device_b.send_data(remote, "Test")
# Give some time to device A to receive the packet.
time.sleep(1)
# Check that B is in the network of A.
assert (len(network.get_devices()) == 1)
try:
assert (network.get_device_by_64(
device_b.get_64bit_addr()) == device_b)
except AssertionError:
assert (network.get_device_by_16(
device_b.get_16bit_addr()).get_16bit_addr() ==
device_b.get_16bit_addr())
# Send another message from B to A.
device_b.send_data(remote, "Test")
# Check that B is not duplicated.
assert (len(network.get_devices()) == 1)
try:
assert (network.get_device_by_64(
device_b.get_64bit_addr()) == device_b)
except AssertionError:
assert (network.get_device_by_16(
device_b.get_16bit_addr()).get_16bit_addr() ==
device_b.get_16bit_addr())
print("Test finished successfully")
finally:
if device_a is not None and device_a.is_open():
device_a.close()
if device_b is not None and device_b.is_open():
device_b.close()
def main():
print(" +-----------------------------------------------------+")
print(" | XBee Python Library Manage Common parameters Sample |")
print(" +-----------------------------------------------------+\n")
device = XBeeDevice(PORT, BAUD_RATE)
try:
device.open()
print("Cached parameters\n" + "-" * 50)
print("64-bit address: %s" % device.get_64bit_addr())
print("16-bit address: %s" % device.get_16bit_addr())
print("Node Identifier: %s" % device.get_node_id())
print("Firmware version: %s" %
utils.hex_to_string(device.get_firmware_version()))
print("Hardware version: %s" %
device.get_hardware_version().description)
print("")
# Configure and read non-cached parameters.
device.set_pan_id(PARAM_VALUE_PAN_ID)
device.set_dest_address(PARAM_DESTINATION_ADDR)
device.set_power_level(PARAM_POWER_LEVEL)
print("Non-Cached parameters\n" + "-" * 50)
print("PAN ID: %s" %
utils.hex_to_string(device.get_pan_id()))
print("Dest address: %s" % device.get_dest_address())
print("Power level: %s" % device.get_power_level().description)
finally:
if device is not None and device.is_open():
device.close()
def run():
global device
#dev_logger = utils.enable_logger("digi.xbee.devices", logging.DEBUG)
dev_logger = utils.disable_logger("digi.xbee.devices")
###################################################################################################
# Look for XBee USB port, to avoid conflicts with other USB devices
###################################################################################################
rospy.init_node('fleetCoordinator', anonymous=True)
rospy.loginfo("Looking for XBee...")
context = pyudev.Context()
usbPort = 'No XBee found'
for device in context.list_devices(subsystem='tty'):
if 'ID_VENDOR' in device and device['ID_VENDOR'] == 'FTDI':
usbPort = device['DEVNAME']
device = XBeeDevice(usbPort, 57600)
#device = XBeeDevice("/dev/ttyUSB0", 57600)
device.open()
print("Current timeout: %d seconds" % device.get_sync_ops_timeout())
device.set_sync_ops_timeout(0.1)
###################################################################################################
# Get local XBee ID (should be 0, convention for Coordinator)
###################################################################################################
ID = utils.bytes_to_int(device.get_16bit_addr().address)
if ID == 0:
rospy.loginfo("\nHello,\nI am Coordinator " + str(ID)+'\n')
else:
raise Exception("This XBee device is not the coordinator of the network,\nlook for the XBee device stamped with 'C'.")
###################################################################################################
# Initialisation
###################################################################################################
#Variables storing the data received by the subscribers
global remote_devices, pubGps, pubEuler, pubLB, pubLE, lastDataStr, lastData
remote_devices = {}
lastDataStr = {}
lastData = {}
pubGps = []
pubEuler = []
pubLB = []
pubLE = []
xnet = device.get_network()
xnet.add_device_discovered_callback(network_callback)
xnet.add_discovery_process_finished_callback(network_finished)
device.add_data_received_callback(data_received)
rate = rospy.Rate(10)
GPSdata = GPSFix()
eulerAnglesData = Vector3()
lineStartData, lineEndData = Pose2D(), Pose2D()
global chosen, mode, cmd
mode = 0
chosen = 0
cmd = Twist()
pygame.init()
screen = pygame.display.set_mode( (640,480) )
pygame.display.set_caption('Python numbers')
###################################################################################################
# Transmission Loop
###################################################################################################
while not rospy.is_shutdown():
if(xnet.is_discovery_running() is False):
xnet.start_discovery_process()
display(screen)
send_command()
rate.sleep()
if(xnet.is_discovery_running()):
xnet.stop_discovery_process()
device.close()
from digi.xbee.devices import XBeeDevice
device = XBeeDevice("/dev/ttyUSB0", 9600)
device.open()
print(device.read_device_info())
protocol = device.get_protocol()
print(protocol)
print("get_64bit_addr {}".format(device.get_64bit_addr()))
print("get_16bit_addr {}".format(device.get_16bit_addr()) )
device.close()
