def main():
print(" +-----------------------------------------------+")
print(" | XBee Python Library Send Explicit Data Sample |")
print(" +-----------------------------------------------+\n")
device = ZigBeeDevice(PORT, BAUD_RATE)
try:
device.open()
# Obtain the remote XBee local_xbee from the XBee network.
xbee_network = device.get_network()
remote_device = xbee_network.discover_device(REMOTE_NODE_ID)
if remote_device is None:
print("Could not find the remote local_xbee")
exit(1)
print("Sending explicit data to %s >> %s..." %
(remote_device.get_64bit_addr(), DATA_TO_SEND))
device.send_expl_data(remote_device, DATA_TO_SEND, SOURCE_ENDPOINT,
DESTINATION_ENDPOINT, CLUSTER_ID, PROFILE_ID)
print("Success")
finally:
if device is not None and device.is_open():
device.close()
class xbee_write():
def __init__(self):
rospy.init_node("xbee_write")
PORT = rospy.get_param("~device", "/dev/ttyUSB0")
BAUD_RATE = rospy.get_param("~baud", 115200)
REMOTE_NODE_ID = rospy.get_param("~destination", "REMOTE")
self.device = ZigBeeDevice(PORT, BAUD_RATE)
self.SOURCE_ENDPOINT = 0xA0
self.DESTINATION_ENDPOINT = 0xA1
self.CLUSTER_ID = 0x1554
self.PROFILE_ID = 0x1234
try:
self.device.open()
xbee_network = self.device.get_network()
self.remote_device = xbee_network.discover_device(REMOTE_NODE_ID)
if self.remote_device is None:
rospy.logerr("Could not find the remote local_xbee: {}".format(
REMOTE_NODE_ID))
self.device.close()
self.run()
except Exception as exc:
rospy.logerr(exc)
def run(self):
formatspec = 'cc?'
while not rospy.is_shutdown():
try:
cmd = raw_input(
"Input commands, press Ctrl+D (linux) or Ctrl+Z+return (Windows) to exit, press h for list of commands:"
)
if cmd == 'h':
print(
"st[X]: start mission X=1, stop mission X=0\nrt[X]: Return home X=1, Resume Mission X=0"
)
continue
if len(cmd) == 3:
cmd = (cmd[0], cmd[1], str2bool(cmd[2]))
data = struct.pack(formatspec, *cmd)
rospy.loginfo("Sending explicit data to {} >> {}".format(
self.remote_device.get_64bit_addr(), data))
self.device.send_expl_data(self.remote_device, data,
self.SOURCE_ENDPOINT,
self.DESTINATION_ENDPOINT,
self.CLUSTER_ID, self.PROFILE_ID)
except EOFError:
rospy.loginfo("Exiting")
rospy.signal_shutdown("User Exit")
except struct.error:
rospy.logerr(
"Bad command, must contain 2 characters and a binary")
self.device.close()
def ask_all_sensors(remote_devices_id, status, url, filename, lock):
lock.acquire()
local_xbee = ZigBeeDevice(PORT, BAUD_RATE)
message = {'act': 1}
data_string = json.dumps(message)
measures = defaultdict(list)
try:
local_xbee.open()
xbee_network = local_xbee.get_network()
for xbee_id in remote_devices_id:
remote_xbee = xbee_network.discover_device(xbee_id)
if remote_xbee is None:
print('No se ha podido encontrar el dispositivo remoto')
continue
print('Enviando datos asincronamente %s >> %s' %
(remote_xbee.get_64bit_addr(), data_string))
local_xbee.send_data(remote_xbee, data_string)
xbee_message = local_xbee.read_data(3)
measure = xbee_message.data.decode()
print('Received message from %s: %s' %
(xbee_message.remote_device.get_64bit_addr(), measure))
json_measure = json.loads(measure)
json_measure['timestamp'] = str(datetime.utcnow())
measures[xbee_id].append(json_measure)
#if connected sends the file, if not, keeps it
write_to_file(filename, status, measures, url)
finally:
if local_xbee is not None and local_xbee.is_open():
local_xbee.close()
lock.release()
def discover_network(remote_devices_id, lock):
lock.acquire()
local_xbee = ZigBeeDevice(PORT, BAUD_RATE)
try:
local_xbee.open()
xbee_network = local_xbee.get_network()
# discovering the xbee network
xbee_network.start_discovery_process()
while xbee_network.is_discovery_running():
time.sleep(0.5)
remote_devices = xbee_network.get_devices()
for xbee in remote_devices:
remote_devices_id.add(xbee.get_node_id())
finally:
if local_xbee is not None and local_xbee.is_open():
local_xbee.close()
lock.release()
def ask_sensor(data, message_callback, lock):
message = data['message']
data_string = json.dumps(message)
REMOTE_NODE_ID = data['sensor']
lock.acquire()
local_xbee = ZigBeeDevice(PORT, BAUD_RATE)
try:
local_xbee.open()
xbee_network = local_xbee.get_network()
remote_xbee = xbee_network.discover_device(REMOTE_NODE_ID)
if remote_xbee is None:
print('No se ha podido encontrar el dispositivo remoto')
exit(1)
print('Enviando datos asincronamente %s >> %s' %
(remote_xbee.get_64bit_addr(), data_string))
local_xbee.send_data(remote_xbee, data_string)
xbee_message = local_xbee.read_data(3)
print('Received message from %s: %s' %
(xbee_message.remote_device.get_64bit_addr(),
xbee_message.data.decode()))
sensor_data = {
'sender': 'section 2',
'receiver': data['sender'],
'message': json.loads(xbee_message.data.decode())
}
message_callback(sensor_data)
finally:
if local_xbee is not None and local_xbee.is_open():
local_xbee.close()
lock.release()
def main():
ser = serial.Serial('/dev/ttyAMA0', 9600)
port = '/dev/ttyAMA0'
baud = 9600
print('Port Opened')
data = 'Hello'
remote_node_id = bytearray.fromhex('00 21 2E FF FF 02 45 01')
#zigbee = ZigBee(ser)
zigbee = ZigBeeDevice(port, baud)
zigbee.open()
print('Device open')
zigbee_net = zigbee.get_network()
#remote = zigbee_net.discover_device(remote_node_id)
print('Network open...sending data')
while True:
#zigbee.send('at', frame_id='A', command='DH')
#zigbee.write('1')
zigbee.send_data(remote_node_id, data)
print('...')
response = zigbee.wait_read_frame()
print(response)
Driving_Time = 50
Kp = 1
Ki = 0.5
Kd = 0
servo.ChangeDutyCycle(standard)
servo.ChangeDutyCycle(0)
dc.ChangeDutyCycle(0)
data_set = open("Data_PID.txt", 'a')
try:
device.open()
xbee_network = device.get_network()
remote_device = xbee_network.discover_device(REMOTE_NODE_ID)
xbee_network.set_discovery_timeout(10)
xbee_network.clear()
xbee_network.add_device_discovered_callback(callback_device_discovered)
xbee_network.add_discovery_process_finished_callback(
callback_discovery_finished)
xbee_network.start_discovery_process()
print("Discovering remote XBee devices...")
while xbee_network.is_discovery_running():
time.sleep(0.1)
if remote_device is None:
print("Could not find the remote device")
def main(argv):
if len(argv) != 3:
print("Usage: long_test.py <port> <baud_rate> <duration_in_seconds>")
return
print(" +-------------------------------+")
print(" | Long duration and stress test |")
print(" +-------------------------------+\n")
port = argv[0]
baud_rate = int(argv[1])
duration = int(argv[2])
device = ZigBeeDevice(port, baud_rate)
try:
device.open()
# Discover the network.
network = device.get_network()
network.start_discovery_process()
print("Discovering network...")
# Wait until the discovery process has finished.
while network.is_discovery_running():
time.sleep(0.1)
if not network.has_devices():
print("No remote modules in the network")
return
# Get the first device of the network that is not an end device.
remote = None
for dev in network.get_devices():
if utils.bytes_to_int(dev.get_parameter("SM")) == 0:
remote = dev
break
if remote is None:
print("No routers in the network")
return
print("Selected remote device: %s" % remote)
# Add a data received callback.
def data_callback(message):
if message.remote_device.get_64bit_addr() == remote.get_64bit_addr(
):
print("%s - [C] - %s" %
(datetime.datetime.now(), message.data.decode()))
# Ensure that the sent and received messages are equal.
assert (data == message.data.decode())
device.add_data_received_callback(data_callback)
print("Sending data...\n")
dead_line = time.time() + duration
while dead_line > time.time():
retries = MAX_RETRIES
data_received = False
while not data_received:
try:
data = ''.join(
random.choice(string.ascii_letters)
for i in range(random.randint(1, 84)))
print("%s - [S] - %s" % (datetime.datetime.now(), data))
# Send explicit data to the loopback cluster.
device.send_expl_data(remote, data, SOURCE_ENDPOINT,
DEST_ENDPOINT, CLUSTER_ID,
PROFILE_ID)
# Read new data from the remote device.
msg = device.read_data_from(remote, 10)
print("%s - [P] - %s" %
(datetime.datetime.now(), msg.data.decode()))
data_received = True
# Ensure that the sent and received messages are equal.
assert (data == msg.data.decode())
except TimeoutException as ex:
retries -= 1
if retries == 0:
raise ex
# Wait some time between 1 and 5 seconds.
time.sleep(random.randint(1, 5))
print("\nTest finished successfully")
finally:
if device is not None and device.is_open():
device.close()
