class XBeeHandler(Thread):
def __init__(self, inQ, outQ, XBeePort):
super(XBeeHandler, self).__init__()
self.daemon = True
self.name = 'XBH'
self.inQ = inQ
self.outQ = outQ
# Initialize XBee device:
self.device = ZigBeeDevice(XBeePort, 9600)
self.device.open()
self.device.add_data_received_callback(self.receiveCB)
def run(self):
while (True):
msg = self.outQ.get() # Blocking call
self.device.send_data(msg.sender, msg.data)
if DEBUG:
print('XBH - Sent %s bytes to %s' %
(len(msg.data), msg.sender.get_64bit_addr()))
def receiveCB(self, xbee_message):
sender = xbee_message.remote_device
data = xbee_message.data
msg = MSG(sender, data)
self.inQ.put(msg)
if DEBUG:
print('XBH - Received %s bytes from %s' %
(len(msg.data), sender.get_64bit_addr()))
def terminate(self):
self.device.close()
if DEBUG: print('XBH - Closed connection with RF device.')
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")
exit(1)
device.add_data_received_callback(my_data_received_callback)
device.send_data_async(remote_device, "START_PID")
data_set.write("===================================================\n")
while t != 1:
try:
if k == 1:
servo.ChangeDutyCycle(angle)
time.sleep(0.2)
servo.ChangeDutyCycle(0)
k = 0
if Driving_Time == 1:
target_Speed = 12
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()
from time import sleep
# Instantiate device:
XBee_zig = ZigBeeDevice('/dev/tty.SLAB_USBtoUART', 9600) # ('port', baud)
XBee_zig.open() # Opens serial interface to device
# Define callback.
def xbRxCallback(xbee_message):
address = xbee_message.remote_device.get_64bit_addr()
data = xbee_message.data.decode("utf8")
print("Received data from %s: %s" % (address, data))
# Add the callback.
XBee_zig.add_data_received_callback(xbRxCallback)
# Read device information (more getters are availiable):
addr_64 = XBee_zig.get_64bit_addr()
node_id = XBee_zig.get_node_id()
pan_id = XBee_zig.get_pan_id()
print('Opened device with addr')
print(addr_64)
print('and node ID')
print(node_id)
print('on PAN ID')
print(pan_id)
print('listening for messages...')
#msg = XBee_zig.read_data(120);
