class PI_XBEE:
def __init__(self, com_port):
self.ser = serial.Serial(com_port, 9600)
self.zb = DigiMesh(self.ser)
start_new_thread(self.recv_thread, ())
self.data = ""
self.i = 0
def recv_thread(self):
#while True:
incoming = self.zb.wait_read_frame()
self.data = incoming.get('data').decode("utf-8")
print(self.data)
def send_msg(self, message):
#sending code
self.zb.send("tx", id = b'\x10', frame_id = b'\x00', \
dest_addr = b'\x00\x13\xA2\x00\x41\x54\xF3\xFF', \
reserved = b'\xFF\xFE', broadcast_radius = b'\x00', \
options = b'\x00', data = 'Obstruction Detected')
class XBEE_PRO:
"""
Initialize XbeePro instance, it check to which of the USB port it is connected (ttyUSB0 or ttyUSB1), also it sets
the baudrate to 9600 (works better with this value you are free to try another baudrates: 2400, 4800, 9600, 19200,
38400, 57600, 115200, 230400, 460800, 921600).
"""
def __init__(self):
try:
self.ser = serial.Serial('/dev/ttyUSB1', 9600, 5)
except serial.SerialException:
print "Wrong port, trying with a different one"
self.ser = serial.Serial('/dev/ttyUSB0', 9600, 5)
self.xbee = DigiMesh(self.ser)
self.dest_addr = '\x00\x13\xA2\x00\x40\xC1\x65\xCE'
self.addr_init_low = '\x00\x00\x00\x00'
self.addr_init_high = '\x00\x00\x00\x00'
self.chan_init = '\x00'
self.pan_init = '\x00\x00'
sleep(5)
self.load_init()
def load_init(self):
self.xbee.send("at", frame_id='A', command='AP', parameter="\x01")
response = self.xbee.wait_read_frame()
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
self.xbee.send("at", frame_id='A', command='CH')
response = self.xbee.wait_read_frame()
self.chan_init = response['parameter']
self.xbee.send("at", frame_id='B', command='ID')
response = self.xbee.wait_read_frame()
self.pan_init = response['parameter']
self.xbee.send("at", frame_id='C', command='DL')
response = self.xbee.wait_read_frame()
self.addr_init_low = response['parameter']
self.xbee.send("at", frame_id='D', command='DH')
response = self.xbee.wait_read_frame()
self.addr_init_high = response['parameter']
self.xbee.send("at", frame_id='A', command='AP', parameter="\x02")
response = self.xbee.wait_read_frame()
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
self.dest_addr = self.addr_init_high + self.addr_init_low
"""enable encryption"""
self.xbee.send("at", frame_id='A', command='EE', parameter="\x01")
response = self.xbee.wait_read_frame()
"""This encryption key represents "UQnetkeYUQnetkeY", if you want to change they key simply
go to an online converter string->hex and the copy below in parameter, example:
* if result string->hex = "58551556", then add the scape character before a byte,
58551556 -> \x58\x55\x15\x56"""
self.xbee.send(
"at",
frame_id='A',
command='KY',
parameter=
"\x55\x51\x6e\x65\x74\x6b\x65\x59\x55\x51\x6e\x65\x74\x6b\x65\x59")
response = self.xbee.wait_read_frame()
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
"""
Set the channel to the DigiMesh antenna to communicate, you will be expecting 2 'OK' responses when you set this,
one OK for setting the channel, and another one when writing to volatile memory in the device, if not then try
again.
"""
def set_chan(self):
new_chan = raw_input("Enter new channel (from (0C to 17)): ")
new_chan_hex = unhexlify(new_chan)
#write the channel
self.xbee.send("at",
frame_id='A',
command='CH',
parameter=new_chan_hex)
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
#write to volatile memory
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
"""
Set the panID to the DigiMesh antenna to communicate, you will be expecting 2 'OK' responses when you set this,
one OK for setting the panID, and another one when writing to volatile memory in the device, if not then try
again.
"""
def set_pan_id(self):
new_pan = raw_input("Enter new PAN ID (from (0000 to FFFF)): ")
new_pan_hex = unhexlify(new_pan)
#write the pandID
self.xbee.send("at", frame_id='B', command='ID', parameter=new_pan_hex)
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
#write to volatile memory
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
"""
Set the destination address of the DigiMesh antenna, the default value for this variable is 0013A20040C165CE,
if you are working with a different address then use this function and the variable will change. The variable of the
address will be used to create the frame that will be sent to the base. You will be expecting three 'OK's responses
one for setting the LSB of the address, another one when setting the MSB of the address and the last one when
writting to volatile memory of the device.
"""
def set_dest_addr(self):
lower = raw_input("Enter LSBytes (from (00000000 to FFFFFFFF)): ")
lower_hex = unhexlify(lower)
#write LSB of the destination address
self.xbee.send("at", frame_id='C', command='DL', parameter=lower_hex)
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
#write MSB of the destination address
upper = raw_input("Enter MSBytes (from (00000000 to FFFFFFFF)): ")
upper_hex = unhexlify(upper)
self.xbee.send("at", frame_id='D', command='DH', parameter=upper_hex)
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
#write to volatile memory
self.dest_addr = upper_hex + lower_hex
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
self.resp_at_parsing(response)
"""
Send the frame to the base, we create a frame because the device is working in API2 mode, it does not matter
if the receiver (base) is in transparent mode or API2, the message will be receive accordingly to what it is
needed. Example is the base is set to API2 mode, then we receive the entire frame, if the base is set to
transparent mode then it will receive only the data needed.
"""
def send_data(self, message):
self.xbee.send("tx",
frame_id='G',
dest_addr=self.dest_addr,
data=message)
response = self.xbee.wait_read_frame()
self.resp_tx_parsing(response)
"""
Check status of the AT commands, if you want to be more specific on the responses you could add more of this
options in the if statements, ['frame_id'] , ['command'] , ['status'] , ['parameter'].
"""
def resp_at_parsing(self, response):
if response['status'] == '\x00':
print "OK"
elif response['status'] == '\x01':
print "ERROR"
elif response['status'] == '\x02':
print "Invalid Command"
elif response['status'] == '\x03':
print "Invalid Parameter"
else:
print "No Response"
"""
Check status of the TX command, if you want to be more specific on the responses you could add more of this
options in the if statements, ['frame_id'] , ['reserved'] , ['retries'] , ['deliver_status'] , ['discover_status']
"""
def resp_tx_parsing(self, response):
if response['deliver_status'] == '\x00':
print "Success"
elif response['deliver_status'] == '\x02':
print "CCA Failure"
elif response['deliver_status'] == '\x15':
print "Invalid Destination Endpoint"
elif response['deliver_status'] == '\x21':
print "Network ACK Failure"
elif response['deliver_status'] == '\x22':
print "Not Joined to Network"
elif response['deliver_status'] == '\x23':
print "Self-addressed"
elif response['deliver_status'] == '\x24':
print "Address not found"
elif response['deliver_status'] == '\x25':
print "Route not found"
else:
print "No Response"
def gui_save(self, **kwargs):
for key, value in kwargs.iteritems():
self.xbee.send("at",
frame_id='K',
command=key,
parameter=unhexlify(value))
response = self.xbee.wait_read_frame()
self.xbee.send("at", frame_id='F', command='WR')
response = self.xbee.wait_read_frame()
print response
self.dest_addr = unhexlify(kwargs["DH"]) + unhexlify(kwargs["DL"])
"""
Close the serial communication of the DigiMesh antenna.
"""
def close(self):
self.xbee.halt()
self.ser.close()
#Speed of sound at sea level is 343m/s
#Speed = Distance/Time
#34300 = Distance/(Time/2) because we only need the one way time
distance = pulse_duration * 17150 #Final formula for getting distance
distance = round(distance,2)
print "Distance:",distance,"cm"
a[0] = distance
a[1] = distance
a[2] = distance
average = (a[0] + a[1] + a[2])/3
average = round(average,2)
print "Average:",average
print(a)
if average <= 5:
zb.send("tx", id = b'\x10', frame_id = b'\x00', dest_addr = b'\x00\x13\xA2\x00\x41\x54\xF3\xFF', reserved = b'\xFF\xFE', broadcast_radius = b'\x00', options = b'\x00', data = feedback)
while True:
a[0] = a[1]
a[1] = a[2]
#Configure GPIO pins
GPIO.setup(trig,GPIO.OUT)
GPIO.setup(echo,GPIO.IN)
GPIO.output(trig,False)
time.sleep(1.5) #Delay between detections
GPIO.output(trig,True)
time.sleep(0.00001) #Pulse time = 10us
GPIO.output(trig,False)