From 258ce38ac75dd0a22e34e49a8c0f34e73ebc0ae5 Mon Sep 17 00:00:00 2001
From: Franz <dabuuschti@hotmail.de>
Date: Tue, 26 Jul 2011 14:29:38 +0200
Subject: [PATCH] added libxbee library
---
thirdParty/libxbee/LICENSE | 674 +++++
thirdParty/libxbee/README | 39 +
thirdParty/libxbee/api.c | 2433 +++++++++++++++++
thirdParty/libxbee/api.h | 254 ++
.../libxbee/doc/man/man3/libxbee.3.html | 127 +
.../libxbee/doc/man/man3/xbee_con.3.html | 26 +
.../libxbee/doc/man/man3/xbee_end.3.html | 27 +
.../libxbee/doc/man/man3/xbee_endcon.3.html | 4 +
.../libxbee/doc/man/man3/xbee_flushcon.3.html | 4 +
.../doc/man/man3/xbee_getanalog.3.html | 140 +
.../doc/man/man3/xbee_getdigital.3.html | 134 +
.../doc/man/man3/xbee_getpacket.3.html | 130 +
.../doc/man/man3/xbee_hasanalog.3.html | 4 +
.../doc/man/man3/xbee_hasdigital.3.html | 4 +
.../libxbee/doc/man/man3/xbee_logit.3.html | 27 +
.../libxbee/doc/man/man3/xbee_newcon.3.html | 201 ++
.../doc/man/man3/xbee_nsenddata.3.html | 4 +
.../libxbee/doc/man/man3/xbee_pkt.3.html | 107 +
.../libxbee/doc/man/man3/xbee_senddata.3.html | 129 +
.../libxbee/doc/man/man3/xbee_setup.3.html | 142 +
.../libxbee/doc/man/man3/xbee_setupAPI.3.html | 4 +
.../libxbee/doc/man/man3/xbee_setuplog.3.html | 4 +
.../doc/man/man3/xbee_setuplogAPI.3.html | 4 +
.../doc/man/man3/xbee_vsenddata.3.html | 4 +
thirdParty/libxbee/main.c | 229 ++
thirdParty/libxbee/man/man3/libxbee.3 | 91 +
thirdParty/libxbee/man/man3/xbee_con.3 | 22 +
thirdParty/libxbee/man/man3/xbee_end.3 | 23 +
thirdParty/libxbee/man/man3/xbee_endcon.3 | 1 +
thirdParty/libxbee/man/man3/xbee_flushcon.3 | 1 +
thirdParty/libxbee/man/man3/xbee_getanalog.3 | 96 +
thirdParty/libxbee/man/man3/xbee_getdigital.3 | 91 +
thirdParty/libxbee/man/man3/xbee_getpacket.3 | 88 +
thirdParty/libxbee/man/man3/xbee_hasanalog.3 | 1 +
thirdParty/libxbee/man/man3/xbee_hasdigital.3 | 1 +
thirdParty/libxbee/man/man3/xbee_logit.3 | 23 +
thirdParty/libxbee/man/man3/xbee_newcon.3 | 152 +
thirdParty/libxbee/man/man3/xbee_nsenddata.3 | 1 +
thirdParty/libxbee/man/man3/xbee_pkt.3 | 79 +
thirdParty/libxbee/man/man3/xbee_purgecon.3 | 1 +
thirdParty/libxbee/man/man3/xbee_senddata.3 | 86 +
thirdParty/libxbee/man/man3/xbee_setup.3 | 108 +
thirdParty/libxbee/man/man3/xbee_setupAPI.3 | 1 +
thirdParty/libxbee/man/man3/xbee_setuplog.3 | 1 +
.../libxbee/man/man3/xbee_setuplogAPI.3 | 1 +
thirdParty/libxbee/man/man3/xbee_vsenddata.3 | 1 +
thirdParty/libxbee/notes/Notepad++ Style.xml | 36 +
thirdParty/libxbee/notes/v1-v2.txt | 29 +
thirdParty/libxbee/pdf/api.c.pdf | Bin 0 -> 75665 bytes
thirdParty/libxbee/pdf/api.h.pdf | Bin 0 -> 11188 bytes
thirdParty/libxbee/pdf/main.c.pdf | Bin 0 -> 8923 bytes
thirdParty/libxbee/pdf/xbee.h.pdf | Bin 0 -> 11925 bytes
thirdParty/libxbee/sample/README | 12 +
thirdParty/libxbee/sample/analog.c | 71 +
thirdParty/libxbee/sample/api.c | 42 +
thirdParty/libxbee/sample/atis.c | 81 +
thirdParty/libxbee/sample/atsetup.c | 157 ++
thirdParty/libxbee/sample/callback.c | 88 +
thirdParty/libxbee/sample/digital.c | 146 +
thirdParty/libxbee/sample/digitalout.c | 128 +
thirdParty/libxbee/sample/multi.c | 100 +
thirdParty/libxbee/sample/scan.c | 144 +
thirdParty/libxbee/sample/scan_adv.c | 589 ++++
thirdParty/libxbee/sample/simple.c | 68 +
thirdParty/libxbee/sample/talk_to_me.c | 82 +
thirdParty/libxbee/sample/vb6/README.txt | 8 +
thirdParty/libxbee/sample/vb6/demo/Form1.frm | 64 +
thirdParty/libxbee/sample/vb6/demo/demo.bas | 19 +
thirdParty/libxbee/sample/vb6/demo/demo.vbp | 33 +
thirdParty/libxbee/sample/vb6/libxbee.bas | 285 ++
.../libxbee/sample/vb6/talk_to_me/Form1.frm | 1197 ++++++++
.../sample/vb6/talk_to_me/talk_to_me.bas | 431 +++
.../sample/vb6/talk_to_me/talk_to_me.vbp | 33 +
thirdParty/libxbee/sample/xbee2_rx.c | 60 +
thirdParty/libxbee/sample/xbee2_tx.c | 54 +
thirdParty/libxbee/win32.README.txt | 31 +
thirdParty/libxbee/xbee.h | 218 ++
thirdParty/libxbee/xsys/README | 1 +
thirdParty/libxbee/xsys/linux.c | 148 +
thirdParty/libxbee/xsys/linux.h | 57 +
thirdParty/libxbee/xsys/pdf/linux.c.pdf | Bin 0 -> 8394 bytes
thirdParty/libxbee/xsys/pdf/linux.h.pdf | Bin 0 -> 5205 bytes
thirdParty/libxbee/xsys/pdf/win32.c.pdf | Bin 0 -> 14179 bytes
thirdParty/libxbee/xsys/pdf/win32.def.pdf | Bin 0 -> 3538 bytes
thirdParty/libxbee/xsys/pdf/win32.dll.c.pdf | Bin 0 -> 7893 bytes
thirdParty/libxbee/xsys/pdf/win32.h.pdf | Bin 0 -> 5959 bytes
thirdParty/libxbee/xsys/pdf/win32.rc.pdf | Bin 0 -> 4744 bytes
thirdParty/libxbee/xsys/win32.c | 279 ++
thirdParty/libxbee/xsys/win32.def | 71 +
thirdParty/libxbee/xsys/win32.dll.c | 131 +
thirdParty/libxbee/xsys/win32.h | 73 +
thirdParty/libxbee/xsys/win32.rc | 47 +
92 files changed, 10737 insertions(+)
create mode 100644 thirdParty/libxbee/LICENSE
create mode 100644 thirdParty/libxbee/README
create mode 100644 thirdParty/libxbee/api.c
create mode 100644 thirdParty/libxbee/api.h
create mode 100644 thirdParty/libxbee/doc/man/man3/libxbee.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_con.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_end.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_endcon.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_flushcon.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_getanalog.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_getdigital.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_getpacket.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_hasanalog.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_hasdigital.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_logit.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_newcon.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_nsenddata.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_pkt.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_senddata.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_setup.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_setupAPI.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_setuplog.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_setuplogAPI.3.html
create mode 100644 thirdParty/libxbee/doc/man/man3/xbee_vsenddata.3.html
create mode 100644 thirdParty/libxbee/main.c
create mode 100644 thirdParty/libxbee/man/man3/libxbee.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_con.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_end.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_endcon.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_flushcon.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_getanalog.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_getdigital.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_getpacket.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_hasanalog.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_hasdigital.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_logit.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_newcon.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_nsenddata.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_pkt.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_purgecon.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_senddata.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_setup.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_setupAPI.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_setuplog.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_setuplogAPI.3
create mode 100644 thirdParty/libxbee/man/man3/xbee_vsenddata.3
create mode 100644 thirdParty/libxbee/notes/Notepad++ Style.xml
create mode 100644 thirdParty/libxbee/notes/v1-v2.txt
create mode 100644 thirdParty/libxbee/pdf/api.c.pdf
create mode 100644 thirdParty/libxbee/pdf/api.h.pdf
create mode 100644 thirdParty/libxbee/pdf/main.c.pdf
create mode 100644 thirdParty/libxbee/pdf/xbee.h.pdf
create mode 100644 thirdParty/libxbee/sample/README
create mode 100644 thirdParty/libxbee/sample/analog.c
create mode 100644 thirdParty/libxbee/sample/api.c
create mode 100644 thirdParty/libxbee/sample/atis.c
create mode 100644 thirdParty/libxbee/sample/atsetup.c
create mode 100644 thirdParty/libxbee/sample/callback.c
create mode 100644 thirdParty/libxbee/sample/digital.c
create mode 100644 thirdParty/libxbee/sample/digitalout.c
create mode 100644 thirdParty/libxbee/sample/multi.c
create mode 100644 thirdParty/libxbee/sample/scan.c
create mode 100644 thirdParty/libxbee/sample/scan_adv.c
create mode 100644 thirdParty/libxbee/sample/simple.c
create mode 100644 thirdParty/libxbee/sample/talk_to_me.c
create mode 100644 thirdParty/libxbee/sample/vb6/README.txt
create mode 100644 thirdParty/libxbee/sample/vb6/demo/Form1.frm
create mode 100644 thirdParty/libxbee/sample/vb6/demo/demo.bas
create mode 100644 thirdParty/libxbee/sample/vb6/demo/demo.vbp
create mode 100644 thirdParty/libxbee/sample/vb6/libxbee.bas
create mode 100644 thirdParty/libxbee/sample/vb6/talk_to_me/Form1.frm
create mode 100644 thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.bas
create mode 100644 thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.vbp
create mode 100644 thirdParty/libxbee/sample/xbee2_rx.c
create mode 100644 thirdParty/libxbee/sample/xbee2_tx.c
create mode 100644 thirdParty/libxbee/win32.README.txt
create mode 100644 thirdParty/libxbee/xbee.h
create mode 100644 thirdParty/libxbee/xsys/README
create mode 100644 thirdParty/libxbee/xsys/linux.c
create mode 100644 thirdParty/libxbee/xsys/linux.h
create mode 100644 thirdParty/libxbee/xsys/pdf/linux.c.pdf
create mode 100644 thirdParty/libxbee/xsys/pdf/linux.h.pdf
create mode 100644 thirdParty/libxbee/xsys/pdf/win32.c.pdf
create mode 100644 thirdParty/libxbee/xsys/pdf/win32.def.pdf
create mode 100644 thirdParty/libxbee/xsys/pdf/win32.dll.c.pdf
create mode 100644 thirdParty/libxbee/xsys/pdf/win32.h.pdf
create mode 100644 thirdParty/libxbee/xsys/pdf/win32.rc.pdf
create mode 100644 thirdParty/libxbee/xsys/win32.c
create mode 100644 thirdParty/libxbee/xsys/win32.def
create mode 100644 thirdParty/libxbee/xsys/win32.dll.c
create mode 100644 thirdParty/libxbee/xsys/win32.h
create mode 100644 thirdParty/libxbee/xsys/win32.rc
diff --git a/thirdParty/libxbee/LICENSE b/thirdParty/libxbee/LICENSE
new file mode 100644
index 0000000000..94a9ed024d
--- /dev/null
+++ b/thirdParty/libxbee/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
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+ Everyone is permitted to copy and distribute verbatim copies
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+free software which everyone can redistribute and change under these terms.
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+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
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+Also add information on how to contact you by electronic and paper mail.
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+ This is free software, and you are welcome to redistribute it
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+The hypothetical commands `show w' and `show c' should show the appropriate
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+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
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+may consider it more useful to permit linking proprietary applications with
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+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/thirdParty/libxbee/README b/thirdParty/libxbee/README
new file mode 100644
index 0000000000..a5dbbfe0f3
--- /dev/null
+++ b/thirdParty/libxbee/README
@@ -0,0 +1,39 @@
+Welcome to libxbee!
+
+I have proveded sample code in the ./sample directory. Hopefully this will help
+get you up and running with libxbee. If you would like samples showing a different
+aspect of libxbee, then please do not hesitate to file an 'issue' on the project
+site, and I will get to it ASAP:
+ http://code.google.com/p/libxbee/issues/list
+
+
+Documentation is avaliable via the man page system once you have installed the
+library, or as HTML in the 'doc' directory.
+ $ man libxbee
+
+
+Please note that this project is still in development, so should not be used for
+any purpose other than learning/playing/testing etc... Basically don't use it to
+make money, and then hold me responsible if it breaks!
+
+Feel free to contact me directly with any queries:
+ attie@attie.co.uk
+
+
+For those of you that are planning to use this on an embedded board, I have
+included a small makefile (umakefile) that has only the information needed to
+compile the library. I suggest you use this instead!
+
+=== Installation ===
+To install simply type:
+ $ make install
+
+For more information, or if you can't install it, please see the wiki:
+ http://code.google.com/p/libxbee/wiki/install_libxbee
+
+
+=== Usage ===
+If you are compiling the object file directly into your executable instead
+of making use of the shared library, you must include the following link
+flags:
+ -lpthread -lrt
diff --git a/thirdParty/libxbee/api.c b/thirdParty/libxbee/api.c
new file mode 100644
index 0000000000..ef5923b568
--- /dev/null
+++ b/thirdParty/libxbee/api.c
@@ -0,0 +1,2433 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+const char *SVN_REV = "$Id: api.c 508 2011-06-12 23:22:34Z attie@attie.co.uk $";
+char svn_rev[128] = "\0";
+
+#include "api.h"
+
+const char *xbee_svn_version(void) {
+ if (svn_rev[0] == '\0') {
+ char *t;
+ sprintf(svn_rev,"r%s",&SVN_REV[11]);
+ t = strrchr(svn_rev,' ');
+ if (t) {
+ t[0] = '\0';
+ }
+ }
+ return svn_rev;
+}
+
+const char *xbee_build_info(void) {
+ return "Built on " __DATE__ " @ " __TIME__ " for " HOST_OS;
+}
+
+/* ################################################################# */
+/* ### Memory Handling ############################################# */
+/* ################################################################# */
+
+/* malloc wrapper function */
+static void *Xmalloc2(xbee_hnd xbee, size_t size) {
+ void *t;
+ t = malloc(size);
+ if (!t) {
+ /* uhoh... thats pretty bad... */
+ xbee_perror("libxbee:malloc()");
+ exit(1);
+ }
+ return t;
+}
+
+/* calloc wrapper function */
+static void *Xcalloc2(xbee_hnd xbee, size_t size) {
+ void *t;
+ t = calloc(1, size);
+ if (!t) {
+ /* uhoh... thats pretty bad... */
+ xbee_perror("libxbee:calloc()");
+ exit(1);
+ }
+ return t;
+}
+
+/* realloc wrapper function */
+static void *Xrealloc2(xbee_hnd xbee, void *ptr, size_t size) {
+ void *t;
+ t = realloc(ptr,size);
+ if (!t) {
+ /* uhoh... thats pretty bad... */
+ fprintf(stderr,"libxbee:realloc(): Returned NULL\n");
+ exit(1);
+ }
+ return t;
+}
+
+/* free wrapper function (uses the Xfree macro and sets the pointer to NULL after freeing it) */
+static void Xfree2(void **ptr) {
+ if (!*ptr) return;
+ free(*ptr);
+ *ptr = NULL;
+}
+
+/* ################################################################# */
+/* ### Helper Functions ############################################ */
+/* ################################################################# */
+
+/* #################################################################
+ returns 1 if the packet has data for the digital input else 0 */
+int xbee_hasdigital(xbee_pkt *pkt, int sample, int input) {
+ int mask = 0x0001;
+ if (input < 0 || input > 7) return 0;
+ if (sample >= pkt->samples) return 0;
+
+ mask <<= input;
+ return !!(pkt->IOdata[sample].IOmask & mask);
+}
+
+/* #################################################################
+ returns 1 if the digital input is high else 0 (or 0 if no digital data present) */
+int xbee_getdigital(xbee_pkt *pkt, int sample, int input) {
+ int mask = 0x0001;
+ if (!xbee_hasdigital(pkt,sample,input)) return 0;
+
+ mask <<= input;
+ return !!(pkt->IOdata[sample].IOdigital & mask);
+}
+
+/* #################################################################
+ returns 1 if the packet has data for the analog input else 0 */
+int xbee_hasanalog(xbee_pkt *pkt, int sample, int input) {
+ int mask = 0x0200;
+ if (input < 0 || input > 5) return 0;
+ if (sample >= pkt->samples) return 0;
+
+ mask <<= input;
+ return !!(pkt->IOdata[sample].IOmask & mask);
+}
+
+/* #################################################################
+ returns analog input as a voltage if vRef is non-zero, else raw value (or 0 if no analog data present) */
+double xbee_getanalog(xbee_pkt *pkt, int sample, int input, double Vref) {
+ if (!xbee_hasanalog(pkt,sample,input)) return 0;
+
+ if (Vref) return (Vref / 1023) * pkt->IOdata[sample].IOanalog[input];
+ return pkt->IOdata[sample].IOanalog[input];
+}
+
+/* ################################################################# */
+/* ### XBee Functions ############################################## */
+/* ################################################################# */
+
+static void xbee_logf(xbee_hnd xbee, const char *logformat, const char *file,
+ const int line, const char *function, char *format, ...) {
+ char buf[128];
+ va_list ap;
+ if (!xbee) return;
+ if (!xbee->log) return;
+ va_start(ap,format);
+ vsnprintf(buf,127,format,ap);
+ va_end(ap);
+ fprintf(xbee->log,logformat,file,line,function,buf);
+}
+void xbee_logitf(char *format, ...) {
+ char buf[128];
+ va_list ap;
+ va_start(ap,format);
+ vsnprintf(buf,127,format,ap);
+ va_end(ap);
+ xbee_logit(buf);
+}
+void _xbee_logitf(xbee_hnd xbee, char *format, ...) {
+ char buf[128];
+ va_list ap;
+ va_start(ap,format);
+ vsnprintf(buf,127,format,ap);
+ va_end(ap);
+ _xbee_logit(xbee, buf);
+}
+void xbee_logit(char *str) {
+ _xbee_logit(default_xbee, str);
+}
+void _xbee_logit(xbee_hnd xbee, char *str) {
+ if (!xbee) return;
+ if (!xbee->log) return;
+ xbee_mutex_lock(xbee->logmutex);
+ fprintf(xbee->log,LOG_FORMAT"\n",__FILE__,__LINE__,__FUNCTION__,str);
+ xbee_mutex_unlock(xbee->logmutex);
+}
+
+/* #################################################################
+ xbee_sendAT - INTERNAL
+ allows for an at command to be send, and the reply to be captured */
+static int xbee_sendAT(xbee_hnd xbee, char *command, char *retBuf, int retBuflen) {
+ return xbee_sendATdelay(xbee, 0, command, retBuf, retBuflen);
+}
+static int xbee_sendATdelay(xbee_hnd xbee, int guardTime, char *command, char *retBuf, int retBuflen) {
+ struct timeval to;
+
+ int ret;
+ int bufi = 0;
+
+ /* if there is a guardTime given, then use it and a bit more */
+ if (guardTime) usleep(guardTime * 1200);
+
+ /* get rid of any pre-command sludge... */
+ memset(&to, 0, sizeof(to));
+ ret = xbee_select(xbee,&to);
+ if (ret > 0) {
+ char t[128];
+ while (xbee_read(xbee,t,127));
+ }
+
+ /* send the requested command */
+ xbee_log("sendATdelay: Sending '%s'", command);
+ xbee_write(xbee,command, strlen(command));
+
+ /* if there is a guardTime, then use it */
+ if (guardTime) {
+ usleep(guardTime * 900);
+
+ /* get rid of any post-command sludge... */
+ memset(&to, 0, sizeof(to));
+ ret = xbee_select(xbee,&to);
+ if (ret > 0) {
+ char t[128];
+ while (xbee_read(xbee,t,127));
+ }
+ }
+
+ /* retrieve the data */
+ memset(retBuf, 0, retBuflen);
+ memset(&to, 0, sizeof(to));
+ if (guardTime) {
+ /* select on the xbee fd... wait at most 0.2 the guardTime for the response */
+ to.tv_usec = guardTime * 200;
+ } else {
+ /* or 250ms */
+ to.tv_usec = 250000;
+ }
+ if ((ret = xbee_select(xbee,&to)) == -1) {
+ xbee_perror("libxbee:xbee_sendATdelay()");
+ exit(1);
+ }
+
+ if (!ret) {
+ /* timed out, and there is nothing to be read */
+ xbee_log("sendATdelay: No Data to read - Timeout...");
+ return 1;
+ }
+
+ /* check for any dribble... */
+ do {
+ /* if there is actually no space in the retBuf then break out */
+ if (bufi >= retBuflen - 1) {
+ break;
+ }
+
+ /* read as much data as is possible into retBuf */
+ if ((ret = xbee_read(xbee,&retBuf[bufi], retBuflen - bufi - 1)) == 0) {
+ break;
+ }
+
+ /* advance the 'end of string' pointer */
+ bufi += ret;
+
+ /* wait at most 150ms for any more data */
+ memset(&to, 0, sizeof(to));
+ to.tv_usec = 150000;
+ if ((ret = xbee_select(xbee,&to)) == -1) {
+ xbee_perror("libxbee:xbee_sendATdelay()");
+ exit(1);
+ }
+
+ /* loop while data was read */
+ } while (ret);
+
+ if (!bufi) {
+ xbee_log("sendATdelay: No response...");
+ return 1;
+ }
+
+ /* terminate the string */
+ retBuf[bufi] = '\0';
+
+ xbee_log("sendATdelay: Recieved '%s'",retBuf);
+ return 0;
+}
+
+
+/* #################################################################
+ xbee_start
+ sets up the correct API mode for the xbee
+ cmdSeq = CC
+ cmdTime = GT */
+static int xbee_startAPI(xbee_hnd xbee) {
+ char buf[256];
+
+ if (xbee->cmdSeq == 0 || xbee->cmdTime == 0) return 1;
+
+ /* setup the command sequence string */
+ memset(buf,xbee->cmdSeq,3);
+ buf[3] = '\0';
+
+ /* try the command sequence */
+ if (xbee_sendATdelay(xbee, xbee->cmdTime, buf, buf, sizeof(buf))) {
+ /* if it failed... try just entering 'AT' which should return OK */
+ if (xbee_sendAT(xbee, "AT\r", buf, 4) || strncmp(buf,"OK\r",3)) return 1;
+ } else if (strncmp(&buf[strlen(buf)-3],"OK\r",3)) {
+ /* if data was returned, but it wasn't OK... then something went wrong! */
+ return 1;
+ }
+
+ /* get the current API mode */
+ if (xbee_sendAT(xbee, "ATAP\r", buf, 3)) return 1;
+ buf[1] = '\0';
+ xbee->oldAPI = atoi(buf);
+
+ if (xbee->oldAPI != 2) {
+ /* if it wasnt set to mode 2 already, then set it to mode 2 */
+ if (xbee_sendAT(xbee, "ATAP2\r", buf, 4) || strncmp(buf,"OK\r",3)) return 1;
+ }
+
+ /* quit from command mode, ready for some packets! :) */
+ if (xbee_sendAT(xbee, "ATCN\r", buf, 4) || strncmp(buf,"OK\r",3)) return 1;
+
+ return 0;
+}
+
+/* #################################################################
+ xbee_end
+ resets the API mode to the saved value - you must have called xbee_setup[log]API */
+int xbee_end(void) {
+ return _xbee_end(default_xbee);
+}
+int _xbee_end(xbee_hnd xbee) {
+ int ret = 1;
+ xbee_con *con, *ncon;
+ xbee_pkt *pkt, *npkt;
+ xbee_hnd xbeet;
+
+ ISREADYR(0);
+ xbee_log("Stopping libxbee instance...");
+
+ /* unlink the instance from list... */
+ xbee_log("Unlinking instance from list...");
+ xbee_mutex_lock(xbee_hnd_mutex);
+ if (xbee == default_xbee) {
+ default_xbee = default_xbee->next;
+ if (!default_xbee) {
+ xbee_mutex_destroy(xbee_hnd_mutex);
+ }
+ } else {
+ xbeet = default_xbee;
+ while (xbeet) {
+ if (xbeet->next == xbee) {
+ xbeet->next = xbee->next;
+ break;
+ }
+ xbeet = xbeet->next;
+ }
+ }
+ if (default_xbee) xbee_mutex_unlock(xbee_hnd_mutex);
+
+ /* if the api mode was not 2 to begin with then put it back */
+ if (xbee->oldAPI == 2) {
+ xbee_log("XBee was already in API mode 2, no need to reset");
+ ret = 0;
+ } else {
+ int to = 5;
+
+ con = _xbee_newcon(xbee,'I',xbee_localAT);
+ con->callback = NULL;
+ con->waitforACK = 1;
+ _xbee_senddata(xbee,con,"AP%c",xbee->oldAPI);
+
+ pkt = NULL;
+
+ while (!pkt && to--) {
+ pkt = _xbee_getpacketwait(xbee,con);
+ }
+ if (pkt) {
+ ret = pkt->status;
+ Xfree(pkt);
+ }
+ _xbee_endcon(xbee,con);
+ }
+
+ /* xbee_* functions may no longer run... */
+ xbee->xbee_ready = 0;
+
+ /* nullify everything */
+
+ /* stop listening for data... either after timeout or next char read which ever is first */
+ xbee->run = 0;
+
+ xbee_thread_cancel(xbee->listent,0);
+ xbee_thread_join(xbee->listent);
+
+ xbee_thread_cancel(xbee->threadt,0);
+ xbee_thread_join(xbee->threadt);
+
+ /* free all connections */
+ con = xbee->conlist;
+ xbee->conlist = NULL;
+ while (con) {
+ ncon = con->next;
+ Xfree(con);
+ con = ncon;
+ }
+
+ /* free all packets */
+ xbee->pktlast = NULL;
+ pkt = xbee->pktlist;
+ xbee->pktlist = NULL;
+ while (pkt) {
+ npkt = pkt->next;
+ Xfree(pkt);
+ pkt = npkt;
+ }
+
+ /* destroy mutexes */
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+
+ /* close the serial port */
+ Xfree(xbee->path);
+ if (xbee->tty) xbee_close(xbee->tty);
+
+ /* close log and tty */
+ if (xbee->log) {
+ fflush(xbee->log);
+ xbee_close(xbee->log);
+ }
+ xbee_mutex_destroy(xbee->logmutex);
+
+ Xfree(xbee);
+
+ return ret;
+}
+
+/* #################################################################
+ xbee_setup
+ opens xbee serial port & creates xbee listen thread
+ the xbee must be configured for API mode 2
+ THIS MUST BE CALLED BEFORE ANY OTHER XBEE FUNCTION */
+int xbee_setup(char *path, int baudrate) {
+ return xbee_setuplogAPI(path,baudrate,0,0,0);
+}
+xbee_hnd _xbee_setup(char *path, int baudrate) {
+ return _xbee_setuplogAPI(path,baudrate,0,0,0);
+}
+int xbee_setuplog(char *path, int baudrate, int logfd) {
+ return xbee_setuplogAPI(path,baudrate,logfd,0,0);
+}
+xbee_hnd _xbee_setuplog(char *path, int baudrate, int logfd) {
+ return _xbee_setuplogAPI(path,baudrate,logfd,0,0);
+}
+int xbee_setupAPI(char *path, int baudrate, char cmdSeq, int cmdTime) {
+ return xbee_setuplogAPI(path,baudrate,0,cmdSeq,cmdTime);
+}
+xbee_hnd _xbee_setupAPI(char *path, int baudrate, char cmdSeq, int cmdTime) {
+ return _xbee_setuplogAPI(path,baudrate,0,cmdSeq,cmdTime);
+}
+int xbee_setuplogAPI(char *path, int baudrate, int logfd, char cmdSeq, int cmdTime) {
+ if (default_xbee) return 0;
+ default_xbee = _xbee_setuplogAPI(path,baudrate,logfd,cmdSeq,cmdTime);
+ return (default_xbee?0:-1);
+}
+xbee_hnd _xbee_setuplogAPI(char *path, int baudrate, int logfd, char cmdSeq, int cmdTime) {
+ int ret;
+ xbee_hnd xbee = NULL;
+
+ /* create a new instance */
+ xbee = Xcalloc(sizeof(struct xbee_hnd));
+ xbee->next = NULL;
+
+ xbee_mutex_init(xbee->logmutex);
+#ifdef DEBUG
+ if (!logfd) logfd = 2;
+#endif
+ if (logfd) {
+ xbee->logfd = dup(logfd);
+ xbee->log = fdopen(xbee->logfd,"w");
+ if (!xbee->log) {
+ /* errno == 9 is bad file descriptor (probrably not provided) */
+ if (errno != 9) xbee_perror("xbee_setup(): Failed opening logfile");
+ xbee->logfd = 0;
+ } else {
+#ifdef __GNUC__ /* ---- */
+ /* set to line buffer - ensure lines are written to file when complete */
+ setvbuf(xbee->log,NULL,_IOLBF,BUFSIZ);
+#else /* -------------- */
+ /* Win32 is rubbish... so we have to completely disable buffering... */
+ setvbuf(xbee->log,NULL,_IONBF,BUFSIZ);
+#endif /* ------------- */
+ }
+ }
+
+ xbee_logS("---------------------------------------------------------------------");
+ xbee_logI("libxbee Starting...");
+ xbee_logI("SVN Info: %s",xbee_svn_version());
+ xbee_logI("Build Info: %s",xbee_build_info());
+ xbee_logE("---------------------------------------------------------------------");
+
+ /* setup the connection stuff */
+ xbee->conlist = NULL;
+
+ /* setup the packet stuff */
+ xbee->pktlist = NULL;
+ xbee->pktlast = NULL;
+ xbee->pktcount = 0;
+ xbee->run = 1;
+
+ /* setup the mutexes */
+ if (xbee_mutex_init(xbee->conmutex)) {
+ xbee_perror("xbee_setup():xbee_mutex_init(conmutex)");
+ if (xbee->log) xbee_close(xbee->log);
+ Xfree(xbee);
+ return NULL;
+ }
+ if (xbee_mutex_init(xbee->pktmutex)) {
+ xbee_perror("xbee_setup():xbee_mutex_init(pktmutex)");
+ if (xbee->log) xbee_close(xbee->log);
+ xbee_mutex_destroy(xbee->conmutex);
+ Xfree(xbee);
+ return NULL;
+ }
+ if (xbee_mutex_init(xbee->sendmutex)) {
+ xbee_perror("xbee_setup():xbee_mutex_init(sendmutex)");
+ if (xbee->log) xbee_close(xbee->log);
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ Xfree(xbee);
+ return NULL;
+ }
+
+ /* take a copy of the XBee device path */
+ if ((xbee->path = Xmalloc(sizeof(char) * (strlen(path) + 1))) == NULL) {
+ xbee_perror("xbee_setup():Xmalloc(path)");
+ if (xbee->log) xbee_close(xbee->log);
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee);
+ return NULL;
+ }
+ strcpy(xbee->path,path);
+ if (xbee->log) xbee_log("Opening serial port '%s'...",xbee->path);
+
+ /* call the relevant init function */
+ if ((ret = init_serial(xbee,baudrate)) != 0) {
+ xbee_log("Something failed while opening the serial port...");
+ if (xbee->log) xbee_close(xbee->log);
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+ Xfree(xbee);
+ return NULL;
+ }
+
+ /* when xbee_end() is called, if this is not 2 then ATAP will be set to this value */
+ xbee->oldAPI = 2;
+ xbee->cmdSeq = cmdSeq;
+ xbee->cmdTime = cmdTime;
+ if (xbee->cmdSeq && xbee->cmdTime) {
+ if (xbee_startAPI(xbee)) {
+ if (xbee->log) {
+ xbee_log("Couldn't communicate with XBee...");
+ xbee_close(xbee->log);
+ }
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+#ifdef __GNUC__ /* ---- */
+ close(xbee->ttyfd);
+#endif /* ------------- */
+ xbee_close(xbee->tty);
+ Xfree(xbee);
+ return NULL;
+ }
+ }
+
+ /* allow the listen thread to start */
+ xbee->xbee_ready = -1;
+
+ /* can start xbee_listen thread now */
+ if (xbee_thread_create(xbee->listent, xbee_listen_wrapper, xbee)) {
+ xbee_perror("xbee_setup():xbee_thread_create(listent)");
+ if (xbee->log) xbee_close(xbee->log);
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+#ifdef __GNUC__ /* ---- */
+ close(xbee->ttyfd);
+#endif /* ------------- */
+ xbee_close(xbee->tty);
+ Xfree(xbee);
+ return NULL;
+ }
+
+ /* can start xbee_thread_watch thread thread now */
+ if (xbee_thread_create(xbee->threadt, xbee_thread_watch, xbee)) {
+ xbee_perror("xbee_setup():xbee_thread_create(threadt)");
+ if (xbee->log) xbee_close(xbee->log);
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+#ifdef __GNUC__ /* ---- */
+ close(xbee->ttyfd);
+#endif /* ------------- */
+ xbee_close(xbee->tty);
+ Xfree(xbee);
+ return NULL;
+ }
+
+ usleep(500);
+ while (xbee->xbee_ready != -2) {
+ usleep(500);
+ xbee_log("Waiting for xbee_listen() to be ready...");
+ }
+
+ /* allow other functions to be used! */
+ xbee->xbee_ready = 1;
+
+ xbee_log("Linking xbee instance...");
+ if (!default_xbee) {
+ xbee_mutex_init(xbee_hnd_mutex);
+ xbee_mutex_lock(xbee_hnd_mutex);
+ default_xbee = xbee;
+ xbee_mutex_unlock(xbee_hnd_mutex);
+ } else {
+ xbee_hnd xbeet;
+ xbee_mutex_lock(xbee_hnd_mutex);
+ xbeet = default_xbee;
+ while (xbeet->next) {
+ xbeet = xbeet->next;
+ }
+ xbeet->next = xbee;
+ xbee_mutex_unlock(xbee_hnd_mutex);
+ }
+
+ xbee_log("libxbee: Started!");
+
+ return xbee;
+}
+
+/* #################################################################
+ xbee_con
+ produces a connection to the specified device and frameID
+ if a connection had already been made, then this connection will be returned */
+xbee_con *xbee_newcon(unsigned char frameID, xbee_types type, ...) {
+ xbee_con *ret;
+ va_list ap;
+
+ /* xbee_vnewcon() wants a va_list... */
+ va_start(ap, type);
+ /* hand it over :) */
+ ret = _xbee_vnewcon(default_xbee, frameID, type, ap);
+ va_end(ap);
+ return ret;
+}
+xbee_con *_xbee_newcon(xbee_hnd xbee, unsigned char frameID, xbee_types type, ...) {
+ xbee_con *ret;
+ va_list ap;
+
+ /* xbee_vnewcon() wants a va_list... */
+ va_start(ap, type);
+ /* hand it over :) */
+ ret = _xbee_vnewcon(xbee, frameID, type, ap);
+ va_end(ap);
+ return ret;
+}
+xbee_con *_xbee_vnewcon(xbee_hnd xbee, unsigned char frameID, xbee_types type, va_list ap) {
+ xbee_con *con, *ocon;
+ unsigned char tAddr[8];
+ int t;
+ int i;
+
+ ISREADYR(NULL);
+
+ if (!type || type == xbee_unknown) type = xbee_localAT; /* default to local AT */
+ else if (type == xbee_remoteAT) type = xbee_64bitRemoteAT; /* if remote AT, default to 64bit */
+
+ /* if: 64 bit address expected (2 ints) */
+ if ((type == xbee_64bitRemoteAT) ||
+ (type == xbee_64bitData) ||
+ (type == xbee_64bitIO) ||
+ (type == xbee2_data)) {
+ t = va_arg(ap, int);
+ tAddr[0] = (t >> 24) & 0xFF;
+ tAddr[1] = (t >> 16) & 0xFF;
+ tAddr[2] = (t >> 8) & 0xFF;
+ tAddr[3] = (t ) & 0xFF;
+ t = va_arg(ap, int);
+ tAddr[4] = (t >> 24) & 0xFF;
+ tAddr[5] = (t >> 16) & 0xFF;
+ tAddr[6] = (t >> 8) & 0xFF;
+ tAddr[7] = (t ) & 0xFF;
+
+ /* if: 16 bit address expected (1 int) */
+ } else if ((type == xbee_16bitRemoteAT) ||
+ (type == xbee_16bitData) ||
+ (type == xbee_16bitIO)) {
+ t = va_arg(ap, int);
+ tAddr[0] = (t >> 8) & 0xFF;
+ tAddr[1] = (t ) & 0xFF;
+ tAddr[2] = 0;
+ tAddr[3] = 0;
+ tAddr[4] = 0;
+ tAddr[5] = 0;
+ tAddr[6] = 0;
+ tAddr[7] = 0;
+
+ /* otherwise clear the address */
+ } else {
+ memset(tAddr,0,8);
+ }
+
+ /* lock the connection mutex */
+ xbee_mutex_lock(xbee->conmutex);
+
+ /* are there any connections? */
+ if (xbee->conlist) {
+ con = xbee->conlist;
+ while (con) {
+ /* if: looking for a modemStatus, and the types match! */
+ if ((type == xbee_modemStatus) &&
+ (con->type == type)) {
+ xbee_mutex_unlock(xbee->conmutex);
+ return con;
+
+ /* if: looking for a txStatus and frameIDs match! */
+ } else if ((type == xbee_txStatus) &&
+ (con->type == type) &&
+ (frameID == con->frameID)) {
+ xbee_mutex_unlock(xbee->conmutex);
+ return con;
+
+ /* if: looking for a localAT, and the frameIDs match! */
+ } else if ((type == xbee_localAT) &&
+ (con->type == type) &&
+ (frameID == con->frameID)) {
+ xbee_mutex_unlock(xbee->conmutex);
+ return con;
+
+ /* if: connection types match, the frameIDs match, and the addresses match! */
+ } else if ((type == con->type) &&
+ (frameID == con->frameID) &&
+ (!memcmp(tAddr,con->tAddr,8))) {
+ xbee_mutex_unlock(xbee->conmutex);
+ return con;
+ }
+
+ /* if there are more, move along, dont want to loose that last item! */
+ if (con->next == NULL) break;
+ con = con->next;
+ }
+
+ /* keep hold of the last connection... we will need to link it up later */
+ ocon = con;
+ }
+
+ /* unlock the connection mutex */
+ xbee_mutex_unlock(xbee->conmutex);
+
+ /* create a new connection and set its attributes */
+ con = Xcalloc(sizeof(xbee_con));
+ con->type = type;
+ /* is it a 64bit connection? */
+ if ((type == xbee_64bitRemoteAT) ||
+ (type == xbee_64bitData) ||
+ (type == xbee_64bitIO) ||
+ (type == xbee2_data)) {
+ con->tAddr64 = TRUE;
+ }
+ con->atQueue = 0; /* queue AT commands? */
+ con->txDisableACK = 0; /* disable ACKs? */
+ con->txBroadcastPAN = 0; /* broadcast? */
+ con->frameID = frameID;
+ con->waitforACK = 0;
+ memcpy(con->tAddr,tAddr,8); /* copy in the remote address */
+ xbee_mutex_init(con->callbackmutex);
+ xbee_mutex_init(con->callbackListmutex);
+ xbee_mutex_init(con->Txmutex);
+ xbee_sem_init(con->waitforACKsem);
+
+ if (xbee->log) {
+ switch(type) {
+ case xbee_localAT:
+ xbee_log("New local AT connection!");
+ break;
+ case xbee_16bitRemoteAT:
+ case xbee_64bitRemoteAT:
+ xbee_logc("New %d-bit remote AT connection! (to: ",(con->tAddr64?64:16));
+ for (i=0;i<(con->tAddr64?8:2);i++) {
+ fprintf(xbee->log,(i?":%02X":"%02X"),tAddr[i]);
+ }
+ fprintf(xbee->log,")");
+ xbee_logcf();
+ break;
+ case xbee_16bitData:
+ case xbee_64bitData:
+ xbee_logc("New %d-bit data connection! (to: ",(con->tAddr64?64:16));
+ for (i=0;i<(con->tAddr64?8:2);i++) {
+ fprintf(xbee->log,(i?":%02X":"%02X"),tAddr[i]);
+ }
+ fprintf(xbee->log,")");
+ xbee_logcf();
+ break;
+ case xbee_16bitIO:
+ case xbee_64bitIO:
+ xbee_logc("New %d-bit IO connection! (to: ",(con->tAddr64?64:16));
+ for (i=0;i<(con->tAddr64?8:2);i++) {
+ fprintf(xbee->log,(i?":%02X":"%02X"),tAddr[i]);
+ }
+ fprintf(xbee->log,")");
+ xbee_logcf();
+ break;
+ case xbee2_data:
+ xbee_logc("New Series 2 data connection! (to: ");
+ for (i=0;i<8;i++) {
+ fprintf(xbee->log,(i?":%02X":"%02X"),tAddr[i]);
+ }
+ fprintf(xbee->log,")");
+ xbee_logcf();
+ break;
+ case xbee_txStatus:
+ xbee_log("New Tx status connection!");
+ break;
+ case xbee_modemStatus:
+ xbee_log("New modem status connection!");
+ break;
+ case xbee_unknown:
+ default:
+ xbee_log("New unknown connection!");
+ }
+ }
+
+ /* lock the connection mutex */
+ xbee_mutex_lock(xbee->conmutex);
+
+ /* make it the last in the list */
+ con->next = NULL;
+ /* add it to the list */
+ if (xbee->conlist) {
+ ocon->next = con;
+ } else {
+ xbee->conlist = con;
+ }
+
+ /* unlock the mutex */
+ xbee_mutex_unlock(xbee->conmutex);
+ return con;
+}
+
+/* #################################################################
+ xbee_conflush
+ removes any packets that have been collected for the specified
+ connection */
+void xbee_purgecon(xbee_con *con) {
+ _xbee_purgecon(default_xbee, con);
+}
+void _xbee_purgecon(xbee_hnd xbee, xbee_con *con) {
+ xbee_pkt *r, *p, *n;
+
+ ISREADYP();
+
+ /* lock the packet mutex */
+ xbee_mutex_lock(xbee->pktmutex);
+
+ /* if: there are packets */
+ if ((p = xbee->pktlist) != NULL) {
+ r = NULL;
+ /* get all packets for this connection */
+ do {
+ /* does the packet match the connection? */
+ if (xbee_matchpktcon(xbee,p,con)) {
+ /* if it was the first packet */
+ if (!r) {
+ /* move the chain along */
+ xbee->pktlist = p->next;
+ } else {
+ /* otherwise relink the list */
+ r->next = p->next;
+ }
+ xbee->pktcount--;
+
+ /* free this packet! */
+ n = p->next;
+ Xfree(p);
+ /* move on */
+ p = n;
+ } else {
+ /* move on */
+ r = p;
+ p = p->next;
+ }
+ } while (p);
+ xbee->pktlast = r;
+ }
+
+ /* unlock the packet mutex */
+ xbee_mutex_unlock(xbee->pktmutex);
+}
+
+/* #################################################################
+ xbee_endcon
+ close the unwanted connection
+ free wrapper function (uses the Xfree macro and sets the pointer to NULL after freeing it) */
+void xbee_endcon2(xbee_con **con, int alreadyUnlinked) {
+ _xbee_endcon2(default_xbee, con, alreadyUnlinked);
+}
+void _xbee_endcon2(xbee_hnd xbee, xbee_con **con, int alreadyUnlinked) {
+ xbee_con *t, *u;
+
+ ISREADYP();
+
+ /* lock the connection mutex */
+ xbee_mutex_lock(xbee->conmutex);
+
+ u = t = xbee->conlist;
+ while (t && t != *con) {
+ u = t;
+ t = t->next;
+ }
+ if (!t) {
+ /* this could be true if comming from the destroySelf signal... */
+ if (!alreadyUnlinked) {
+ /* invalid connection given... */
+ if (xbee->log) {
+ xbee_log("Attempted to close invalid connection...");
+ }
+ /* unlock the connection mutex */
+ xbee_mutex_unlock(xbee->conmutex);
+ return;
+ }
+ } else {
+ /* extract this connection from the list */
+ if (t == xbee->conlist) {
+ xbee->conlist = t->next;
+ } else {
+ u->next = t->next;
+ }
+ }
+
+ /* unlock the connection mutex */
+ xbee_mutex_unlock(xbee->conmutex);
+
+ /* check if a callback thread is running... */
+ if (t->callback && xbee_mutex_trylock(t->callbackmutex)) {
+ /* if it is running... tell it to destroy the connection on completion */
+ xbee_log("Attempted to close a connection with active callbacks... "
+ "Connection will be destroyed when callbacks have completeted...");
+ t->destroySelf = 1;
+ return;
+ }
+
+ /* remove all packets for this connection */
+ _xbee_purgecon(xbee,t);
+
+ /* destroy the callback mutex */
+ xbee_mutex_destroy(t->callbackmutex);
+ xbee_mutex_destroy(t->callbackListmutex);
+ xbee_mutex_destroy(t->Txmutex);
+ xbee_sem_destroy(t->waitforACKsem);
+
+ /* free the connection! */
+ Xfree(*con);
+}
+
+/* #################################################################
+ xbee_senddata
+ send the specified data to the provided connection */
+int xbee_senddata(xbee_con *con, char *format, ...) {
+ int ret;
+ va_list ap;
+
+ /* xbee_vsenddata() wants a va_list... */
+ va_start(ap, format);
+ /* hand it over :) */
+ ret = _xbee_vsenddata(default_xbee, con, format, ap);
+ va_end(ap);
+ return ret;
+}
+int _xbee_senddata(xbee_hnd xbee, xbee_con *con, char *format, ...) {
+ int ret;
+ va_list ap;
+
+ /* xbee_vsenddata() wants a va_list... */
+ va_start(ap, format);
+ /* hand it over :) */
+ ret = _xbee_vsenddata(xbee, con, format, ap);
+ va_end(ap);
+ return ret;
+}
+
+int xbee_vsenddata(xbee_con *con, char *format, va_list ap) {
+ return _xbee_vsenddata(default_xbee, con, format, ap);
+}
+int _xbee_vsenddata(xbee_hnd xbee, xbee_con *con, char *format, va_list ap) {
+ unsigned char data[128]; /* max payload is 100 bytes... plus a bit of fluff... */
+ int length;
+
+ /* make up the data and keep the length, its possible there are nulls in there */
+ length = vsnprintf((char *)data, 128, format, ap);
+
+ /* hand it over :) */
+ return _xbee_nsenddata(xbee, con, (char *)data, length);
+}
+
+/* returns:
+ 1 - if NAC was recieved
+ 0 - if packet was successfully sent (or just sent if waitforACK is off)
+ -1 - if there was an error building the packet
+ -2 - if the connection type was unknown */
+int xbee_nsenddata(xbee_con *con, char *data, int length) {
+ return _xbee_nsenddata(default_xbee, con, data, length);
+}
+int _xbee_nsenddata(xbee_hnd xbee, xbee_con *con, char *data, int length) {
+ t_data *pkt;
+ int i;
+ unsigned char buf[128]; /* max payload is 100 bytes... plus a bit for the headers etc... */
+
+ ISREADYR(-1);
+
+ if (!con) return -1;
+ if (con->type == xbee_unknown) return -1;
+ if (length > 127) return -1;
+
+ if (xbee->log) {
+ xbee_logS("--== TX Packet ============--");
+ xbee_logIc("Connection Type: ");
+ switch (con->type) {
+ case xbee_unknown: fprintf(xbee->log,"Unknown"); break;
+ case xbee_localAT: fprintf(xbee->log,"Local AT"); break;
+ case xbee_remoteAT: fprintf(xbee->log,"Remote AT"); break;
+ case xbee_16bitRemoteAT: fprintf(xbee->log,"Remote AT (16-bit)"); break;
+ case xbee_64bitRemoteAT: fprintf(xbee->log,"Remote AT (64-bit)"); break;
+ case xbee_16bitData: fprintf(xbee->log,"Data (16-bit)"); break;
+ case xbee_64bitData: fprintf(xbee->log,"Data (64-bit)"); break;
+ case xbee_16bitIO: fprintf(xbee->log,"IO (16-bit)"); break;
+ case xbee_64bitIO: fprintf(xbee->log,"IO (64-bit)"); break;
+ case xbee2_data: fprintf(xbee->log,"Series 2 Data"); break;
+ case xbee2_txStatus: fprintf(xbee->log,"Series 2 Tx Status"); break;
+ case xbee_txStatus: fprintf(xbee->log,"Tx Status"); break;
+ case xbee_modemStatus: fprintf(xbee->log,"Modem Status"); break;
+ }
+ xbee_logIcf();
+ switch (con->type) {
+ case xbee_localAT: case xbee_remoteAT: case xbee_txStatus: case xbee_modemStatus:
+ break;
+ default:
+ xbee_logIc("Destination: ");
+ for (i=0;i<(con->tAddr64?8:2);i++) {
+ fprintf(xbee->log,(i?":%02X":"%02X"),con->tAddr[i]);
+ }
+ xbee_logIcf();
+ }
+ xbee_logI("Length: %d",length);
+ for (i=0;i<length;i++) {
+ xbee_logIc("%3d | 0x%02X ",i,(unsigned char)data[i]);
+ if ((data[i] > 32) && (data[i] < 127)) {
+ fprintf(xbee->log,"'%c'",data[i]);
+ } else{
+ fprintf(xbee->log," _");
+ }
+ xbee_logIcf();
+ }
+ xbee_logEf();
+ }
+
+ /* ########################################## */
+ /* if: local AT */
+ if (con->type == xbee_localAT) {
+ /* AT commands are 2 chars long (plus optional parameter) */
+ if (length < 2) return -1;
+ if (length > 32) return -1;
+
+ /* use the command? */
+ buf[0] = ((!con->atQueue)?XBEE_LOCAL_ATREQ:XBEE_LOCAL_ATQUE);
+ buf[1] = con->frameID;
+
+ /* copy in the data */
+ for (i=0;i<length;i++) {
+ buf[i+2] = data[i];
+ }
+
+ /* setup the packet */
+ pkt = xbee_make_pkt(xbee, buf, i+2);
+ /* send it on */
+ return _xbee_send_pkt(xbee, pkt, con);
+
+ /* ########################################## */
+ /* if: remote AT */
+ } else if ((con->type == xbee_16bitRemoteAT) ||
+ (con->type == xbee_64bitRemoteAT)) {
+ if (length < 2) return -1; /* at commands are 2 chars long (plus optional parameter) */
+ if (length > 32) return -1;
+ buf[0] = XBEE_REMOTE_ATREQ;
+ buf[1] = con->frameID;
+
+ /* copy in the relevant address */
+ if (con->tAddr64) {
+ memcpy(&buf[2],con->tAddr,8);
+ buf[10] = 0xFF;
+ buf[11] = 0xFE;
+ } else {
+ memset(&buf[2],0,8);
+ memcpy(&buf[10],con->tAddr,2);
+ }
+ /* queue the command? */
+ buf[12] = ((!con->atQueue)?0x02:0x00);
+
+ /* copy in the data */
+ for (i=0;i<length;i++) {
+ buf[i+13] = data[i];
+ }
+
+ /* setup the packet */
+ pkt = xbee_make_pkt(xbee, buf, i+13);
+ /* send it on */
+ return _xbee_send_pkt(xbee, pkt, con);
+
+ /* ########################################## */
+ /* if: 16 or 64bit Data */
+ } else if ((con->type == xbee_16bitData) ||
+ (con->type == xbee_64bitData)) {
+ int offset;
+ if (length > 100) return -1;
+
+ /* if: 16bit Data */
+ if (con->type == xbee_16bitData) {
+ buf[0] = XBEE_16BIT_DATATX;
+ offset = 5;
+ /* copy in the address */
+ memcpy(&buf[2],con->tAddr,2);
+
+ /* if: 64bit Data */
+ } else { /* 64bit Data */
+ buf[0] = XBEE_64BIT_DATATX;
+ offset = 11;
+ /* copy in the address */
+ memcpy(&buf[2],con->tAddr,8);
+ }
+
+ /* copy frameID */
+ buf[1] = con->frameID;
+
+ /* disable ack? broadcast? */
+ buf[offset-1] = ((con->txDisableACK)?0x01:0x00) | ((con->txBroadcastPAN)?0x04:0x00);
+
+ /* copy in the data */
+ for (i=0;i<length;i++) {
+ buf[i+offset] = data[i];
+ }
+
+ /* setup the packet */
+ pkt = xbee_make_pkt(xbee, buf, i+offset);
+ /* send it on */
+ return _xbee_send_pkt(xbee, pkt, con);
+
+ /* ########################################## */
+ /* if: I/O */
+ } else if ((con->type == xbee_64bitIO) ||
+ (con->type == xbee_16bitIO)) {
+ /* not currently implemented... is it even allowed? */
+ if (xbee->log) {
+ xbee_log("******* TODO ********\n");
+ }
+
+ /* ########################################## */
+ /* if: Series 2 Data */
+ } else if (con->type == xbee2_data) {
+ if (length > 72) return -1;
+
+ buf[0] = XBEE2_DATATX;
+ buf[1] = con->frameID;
+
+ /* copy in the relevant address */
+ memcpy(&buf[2],con->tAddr,8);
+ buf[10] = 0xFF;
+ buf[11] = 0xFE;
+
+ /* Maximum Radius/hops */
+ buf[12] = 0x00;
+
+ /* Options */
+ buf[13] = 0x00;
+
+ /* copy in the data */
+ for (i=0;i<length;i++) {
+ buf[i+14] = data[i];
+ }
+
+ /* setup the packet */
+ pkt = xbee_make_pkt(xbee, buf, i+14);
+ /* send it on */
+ return _xbee_send_pkt(xbee, pkt, con);
+ }
+
+ return -2;
+}
+
+/* #################################################################
+ xbee_getpacket
+ retrieves the next packet destined for the given connection
+ once the packet has been retrieved, it is removed for the list! */
+xbee_pkt *xbee_getpacketwait(xbee_con *con) {
+ return _xbee_getpacketwait(default_xbee, con);
+}
+xbee_pkt *_xbee_getpacketwait(xbee_hnd xbee, xbee_con *con) {
+ xbee_pkt *p = NULL;
+ int i = 20;
+
+ /* 50ms * 20 = 1 second */
+ for (; i; i--) {
+ p = _xbee_getpacket(xbee, con);
+ if (p) break;
+ usleep(50000); /* 50ms */
+ }
+
+ return p;
+}
+xbee_pkt *xbee_getpacket(xbee_con *con) {
+ return _xbee_getpacket(default_xbee, con);
+}
+xbee_pkt *_xbee_getpacket(xbee_hnd xbee, xbee_con *con) {
+ xbee_pkt *l, *p, *q;
+
+ ISREADYR(NULL);
+
+ /* lock the packet mutex */
+ xbee_mutex_lock(xbee->pktmutex);
+
+ /* if: there are no packets */
+ if ((p = xbee->pktlist) == NULL) {
+ xbee_mutex_unlock(xbee->pktmutex);
+ /*if (xbee->log) {
+ xbee_log("No packets avaliable...");
+ }*/
+ return NULL;
+ }
+
+ l = NULL;
+ q = NULL;
+ /* get the first avaliable packet for this connection */
+ do {
+ /* does the packet match the connection? */
+ if (xbee_matchpktcon(xbee, p, con)) {
+ q = p;
+ break;
+ }
+ /* move on */
+ l = p;
+ p = p->next;
+ } while (p);
+
+ /* if: no packet was found */
+ if (!q) {
+ xbee_mutex_unlock(xbee->pktmutex);
+ if (xbee->log) {
+ struct timeval tv;
+ xbee_logS("--== Get Packet ==========--");
+ gettimeofday(&tv,NULL);
+ xbee_logE("Didn't get a packet @ %ld.%06ld",tv.tv_sec,tv.tv_usec);
+ }
+ return NULL;
+ }
+
+ /* if it was the first packet */
+ if (l) {
+ /* relink the list */
+ l->next = p->next;
+ if (!l->next) xbee->pktlast = l;
+ } else {
+ /* move the chain along */
+ xbee->pktlist = p->next;
+ if (!xbee->pktlist) {
+ xbee->pktlast = NULL;
+ } else if (!xbee->pktlist->next) {
+ xbee->pktlast = xbee->pktlist;
+ }
+ }
+ xbee->pktcount--;
+
+ /* unlink this packet from the chain! */
+ q->next = NULL;
+
+ if (xbee->log) {
+ struct timeval tv;
+ xbee_logS("--== Get Packet ==========--");
+ gettimeofday(&tv,NULL);
+ xbee_logI("Got a packet @ %ld.%06ld",tv.tv_sec,tv.tv_usec);
+ xbee_logE("Packets left: %d",xbee->pktcount);
+ }
+
+ /* unlock the packet mutex */
+ xbee_mutex_unlock(xbee->pktmutex);
+
+ /* and return the packet (must be free'd by caller!) */
+ return q;
+}
+
+/* #################################################################
+ xbee_matchpktcon - INTERNAL
+ checks if the packet matches the connection */
+static int xbee_matchpktcon(xbee_hnd xbee, xbee_pkt *pkt, xbee_con *con) {
+ /* if: the connection type matches the packet type OR
+ the connection is 16/64bit remote AT, and the packet is a remote AT response */
+ if ((pkt->type == con->type) || /* -- */
+ ((pkt->type == xbee_remoteAT) && /* -- */
+ ((con->type == xbee_16bitRemoteAT) ||
+ (con->type == xbee_64bitRemoteAT)))) {
+
+
+ /* if: is a modem status (there can only be 1 modem status connection) */
+ if (pkt->type == xbee_modemStatus) return 1;
+
+ /* if: the packet is a txStatus or localAT and the frameIDs match */
+ if ((pkt->type == xbee_txStatus) ||
+ (pkt->type == xbee_localAT)) {
+ if (pkt->frameID == con->frameID) {
+ return 1;
+ }
+ /* if: the packet was sent as a 16bit remoteAT, and the 16bit addresss match */
+ } else if ((pkt->type == xbee_remoteAT) &&
+ (con->type == xbee_16bitRemoteAT) &&
+ !memcmp(pkt->Addr16,con->tAddr,2)) {
+ return 1;
+ /* if: the packet was sent as a 64bit remoteAT, and the 64bit addresss match */
+ } else if ((pkt->type == xbee_remoteAT) &&
+ (con->type == xbee_64bitRemoteAT) &&
+ !memcmp(pkt->Addr64,con->tAddr,8)) {
+ return 1;
+ /* if: the packet is 64bit addressed, and the addresses match */
+ } else if (pkt->sAddr64 && !memcmp(pkt->Addr64,con->tAddr,8)) {
+ return 1;
+ /* if: the packet is 16bit addressed, and the addresses match */
+ } else if (!pkt->sAddr64 && !memcmp(pkt->Addr16,con->tAddr,2)) {
+ return 1;
+ } else if (con->type == pkt->type &&
+ (con->type == xbee_16bitData || con->type == xbee_64bitData) &&
+ (pkt->isBroadcastADR || pkt->isBroadcastPAN)) {
+ unsigned char t[8] = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF };
+ if ((con->tAddr64 && !memcmp(con->tAddr,t,8)) ||
+ (!con->tAddr64 && !memcmp(con->tAddr,t,2))) {
+ return 1;
+ }
+ }
+ }
+ return 0;
+}
+
+/* #################################################################
+ xbee_parse_io - INTERNAL
+ parses the data given into the packet io information */
+static int xbee_parse_io(xbee_hnd xbee, xbee_pkt *p, unsigned char *d,
+ int maskOffset, int sampleOffset, int sample) {
+ xbee_sample *s = &(p->IOdata[sample]);
+
+ /* copy in the I/O data mask */
+ s->IOmask = (((d[maskOffset]<<8) | d[maskOffset + 1]) & 0x7FFF);
+
+ /* copy in the digital I/O data */
+ s->IOdigital = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x01FF);
+
+ /* advance over the digital data, if its there */
+ sampleOffset += ((s->IOmask & 0x01FF)?2:0);
+
+ /* copy in the analog I/O data */
+ if (s->IOmask & 0x0200) {
+ s->IOanalog[0] = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x03FF);
+ sampleOffset+=2;
+ }
+ if (s->IOmask & 0x0400) {
+ s->IOanalog[1] = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x03FF);
+ sampleOffset+=2;
+ }
+ if (s->IOmask & 0x0800) {
+ s->IOanalog[2] = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x03FF);
+ sampleOffset+=2;
+ }
+ if (s->IOmask & 0x1000) {
+ s->IOanalog[3] = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x03FF);
+ sampleOffset+=2;
+ }
+ if (s->IOmask & 0x2000) {
+ s->IOanalog[4] = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x03FF);
+ sampleOffset+=2;
+ }
+ if (s->IOmask & 0x4000) {
+ s->IOanalog[5] = (((d[sampleOffset]<<8) | d[sampleOffset+1]) & 0x03FF);
+ sampleOffset+=2;
+ }
+
+ if (xbee->log) {
+ if (s->IOmask & 0x0001)
+ xbee_logI("Digital 0: %c",((s->IOdigital & 0x0001)?'1':'0'));
+ if (s->IOmask & 0x0002)
+ xbee_logI("Digital 1: %c",((s->IOdigital & 0x0002)?'1':'0'));
+ if (s->IOmask & 0x0004)
+ xbee_logI("Digital 2: %c",((s->IOdigital & 0x0004)?'1':'0'));
+ if (s->IOmask & 0x0008)
+ xbee_logI("Digital 3: %c",((s->IOdigital & 0x0008)?'1':'0'));
+ if (s->IOmask & 0x0010)
+ xbee_logI("Digital 4: %c",((s->IOdigital & 0x0010)?'1':'0'));
+ if (s->IOmask & 0x0020)
+ xbee_logI("Digital 5: %c",((s->IOdigital & 0x0020)?'1':'0'));
+ if (s->IOmask & 0x0040)
+ xbee_logI("Digital 6: %c",((s->IOdigital & 0x0040)?'1':'0'));
+ if (s->IOmask & 0x0080)
+ xbee_logI("Digital 7: %c",((s->IOdigital & 0x0080)?'1':'0'));
+ if (s->IOmask & 0x0100)
+ xbee_logI("Digital 8: %c",((s->IOdigital & 0x0100)?'1':'0'));
+ if (s->IOmask & 0x0200)
+ xbee_logI("Analog 0: %d (~%.2fv)",s->IOanalog[0],(3.3/1023)*s->IOanalog[0]);
+ if (s->IOmask & 0x0400)
+ xbee_logI("Analog 1: %d (~%.2fv)",s->IOanalog[1],(3.3/1023)*s->IOanalog[1]);
+ if (s->IOmask & 0x0800)
+ xbee_logI("Analog 2: %d (~%.2fv)",s->IOanalog[2],(3.3/1023)*s->IOanalog[2]);
+ if (s->IOmask & 0x1000)
+ xbee_logI("Analog 3: %d (~%.2fv)",s->IOanalog[3],(3.3/1023)*s->IOanalog[3]);
+ if (s->IOmask & 0x2000)
+ xbee_logI("Analog 4: %d (~%.2fv)",s->IOanalog[4],(3.3/1023)*s->IOanalog[4]);
+ if (s->IOmask & 0x4000)
+ xbee_logI("Analog 5: %d (~%.2fv)",s->IOanalog[5],(3.3/1023)*s->IOanalog[5]);
+ }
+
+ return sampleOffset;
+}
+
+/* #################################################################
+ xbee_listen_stop
+ stops the listen thread after the current packet has been processed */
+void xbee_listen_stop(xbee_hnd xbee) {
+ ISREADYP();
+ xbee->run = 0;
+}
+
+/* #################################################################
+ xbee_listen_wrapper - INTERNAL
+ the xbee_listen wrapper. Prints an error when xbee_listen ends */
+static void xbee_listen_wrapper(xbee_hnd xbee) {
+ int ret;
+
+ /* just falls out if the proper 'go-ahead' isn't given */
+ if (xbee->xbee_ready != -1) return;
+ /* now allow the parent to continue */
+ xbee->xbee_ready = -2;
+
+#ifdef _WIN32 /* ---- */
+ /* win32 requires this delay... no idea why */
+ usleep(1000000);
+#endif /* ----------- */
+
+ while (xbee->run) {
+ ret = xbee_listen(xbee);
+ if (!xbee->run) break;
+ xbee_log("xbee_listen() returned [%d]... Restarting in 25ms!",ret);
+ usleep(25000);
+ }
+}
+
+/* xbee_listen - INTERNAL
+ the xbee xbee_listen thread
+ reads data from the xbee and puts it into a linked list to keep the xbee buffers free */
+static int xbee_listen(xbee_hnd xbee) {
+#define LISTEN_BUFLEN 1024
+ unsigned char c, t, d[LISTEN_BUFLEN];
+ unsigned int l, i, chksum, o;
+ int j;
+ xbee_pkt *p = NULL, *q;
+ xbee_con *con;
+ int hasCon;
+
+ /* do this forever :) */
+ while (xbee->run) {
+ /* clean up any undesired storage */
+ if (p) Xfree(p);
+
+ /* wait for a valid start byte */
+ if ((c = xbee_getrawbyte(xbee)) != 0x7E) {
+ if (xbee->log) xbee_log("***** Unexpected byte (0x%02X)... *****",c);
+ continue;
+ }
+ if (!xbee->run) return 0;
+
+ xbee_logSf();
+ if (xbee->log) {
+ struct timeval tv;
+ xbee_logI("--== RX Packet ===========--");
+ gettimeofday(&tv,NULL);
+ xbee_logI("Got a packet @ %ld.%06ld",tv.tv_sec,tv.tv_usec);
+ }
+
+ /* get the length */
+ l = xbee_getbyte(xbee) << 8;
+ l += xbee_getbyte(xbee);
+
+ /* check it is a valid length... */
+ if (!l) {
+ if (xbee->log) {
+ xbee_logI("Recived zero length packet!");
+ }
+ continue;
+ }
+ if (l > 100) {
+ if (xbee->log) {
+ xbee_logI("Recived oversized packet! Length: %d",l - 1);
+ }
+ }
+ if (l > LISTEN_BUFLEN) {
+ if (xbee->log) {
+ xbee_logI("Recived packet larger than buffer! Discarding...");
+ }
+ continue;
+ }
+
+ if (xbee->log) {
+ xbee_logI("Length: %d",l - 1);
+ }
+
+ /* get the packet type */
+ t = xbee_getbyte(xbee);
+
+ /* start the checksum */
+ chksum = t;
+
+ /* suck in all the data */
+ for (i = 0; l > 1 && i < LISTEN_BUFLEN; l--, i++) {
+ /* get an unescaped byte */
+ c = xbee_getbyte(xbee);
+ d[i] = c;
+ chksum += c;
+ if (xbee->log) {
+ xbee_logIc("%3d | 0x%02X | ",i,c);
+ if ((c > 32) && (c < 127)) fprintf(xbee->log,"'%c'",c); else fprintf(xbee->log," _ ");
+
+ if ((t == XBEE_LOCAL_AT && i == 4) ||
+ (t == XBEE_REMOTE_AT && i == 14) ||
+ (t == XBEE_64BIT_DATARX && i == 10) ||
+ (t == XBEE_16BIT_DATARX && i == 4) ||
+ (t == XBEE_64BIT_IO && i == 13) ||
+ (t == XBEE_16BIT_IO && i == 7)) {
+ /* mark the beginning of the 'data' bytes */
+ fprintf(xbee->log," <-- data starts");
+ } else if (t == XBEE_64BIT_IO) {
+ if (i == 10) fprintf(xbee->log," <-- sample count");
+ else if (i == 11) fprintf(xbee->log," <-- mask (msb)");
+ else if (i == 12) fprintf(xbee->log," <-- mask (lsb)");
+ } else if (t == XBEE_16BIT_IO) {
+ if (i == 4) fprintf(xbee->log," <-- sample count");
+ else if (i == 5) fprintf(xbee->log," <-- mask (msb)");
+ else if (i == 6) fprintf(xbee->log," <-- mask (lsb)");
+ }
+ xbee_logIcf();
+ }
+ }
+ i--; /* it went up too many times!... */
+
+ /* add the checksum */
+ chksum += xbee_getbyte(xbee);
+
+ /* check if the whole packet was recieved, or something else occured... unlikely... */
+ if (l>1) {
+ if (xbee->log) {
+ xbee_logE("Didn't get whole packet... :(");
+ }
+ continue;
+ }
+
+ /* check the checksum */
+ if ((chksum & 0xFF) != 0xFF) {
+ if (xbee->log) {
+ chksum &= 0xFF;
+ xbee_logE("Invalid Checksum: 0x%02X",chksum);
+ }
+ continue;
+ }
+
+ /* make a new packet */
+ p = Xcalloc(sizeof(xbee_pkt));
+ q = NULL;
+ p->datalen = 0;
+
+ /* ########################################## */
+ /* if: modem status */
+ if (t == XBEE_MODEM_STATUS) {
+ if (xbee->log) {
+ xbee_logI("Packet type: Modem Status (0x8A)");
+ xbee_logIc("Event: ");
+ switch (d[0]) {
+ case 0x00: fprintf(xbee->log,"Hardware reset"); break;
+ case 0x01: fprintf(xbee->log,"Watchdog timer reset"); break;
+ case 0x02: fprintf(xbee->log,"Associated"); break;
+ case 0x03: fprintf(xbee->log,"Disassociated"); break;
+ case 0x04: fprintf(xbee->log,"Synchronization lost"); break;
+ case 0x05: fprintf(xbee->log,"Coordinator realignment"); break;
+ case 0x06: fprintf(xbee->log,"Coordinator started"); break;
+ }
+ fprintf(xbee->log,"... (0x%02X)",d[0]);
+ xbee_logIcf();
+ }
+ p->type = xbee_modemStatus;
+
+ p->sAddr64 = FALSE;
+ p->dataPkt = FALSE;
+ p->txStatusPkt = FALSE;
+ p->modemStatusPkt = TRUE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = FALSE;
+
+ /* modem status can only ever give 1 'data' byte */
+ p->datalen = 1;
+ p->data[0] = d[0];
+
+ /* ########################################## */
+ /* if: local AT response */
+ } else if (t == XBEE_LOCAL_AT) {
+ if (xbee->log) {
+ xbee_logI("Packet type: Local AT Response (0x88)");
+ xbee_logI("FrameID: 0x%02X",d[0]);
+ xbee_logI("AT Command: %c%c",d[1],d[2]);
+ xbee_logIc("Status: ");
+ if (d[3] == 0x00) fprintf(xbee->log,"OK");
+ else if (d[3] == 0x01) fprintf(xbee->log,"Error");
+ else if (d[3] == 0x02) fprintf(xbee->log,"Invalid Command");
+ else if (d[3] == 0x03) fprintf(xbee->log,"Invalid Parameter");
+ fprintf(xbee->log," (0x%02X)",d[3]);
+ xbee_logIcf();
+ }
+ p->type = xbee_localAT;
+
+ p->sAddr64 = FALSE;
+ p->dataPkt = FALSE;
+ p->txStatusPkt = FALSE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = FALSE;
+
+ p->frameID = d[0];
+ p->atCmd[0] = d[1];
+ p->atCmd[1] = d[2];
+
+ p->status = d[3];
+
+ /* copy in the data */
+ p->datalen = i-3;
+ for (;i>3;i--) p->data[i-4] = d[i];
+
+ /* ########################################## */
+ /* if: remote AT response */
+ } else if (t == XBEE_REMOTE_AT) {
+ if (xbee->log) {
+ xbee_logI("Packet type: Remote AT Response (0x97)");
+ xbee_logI("FrameID: 0x%02X",d[0]);
+ xbee_logIc("64-bit Address: ");
+ for (j=0;j<8;j++) {
+ fprintf(xbee->log,(j?":%02X":"%02X"),d[1+j]);
+ }
+ xbee_logIcf();
+ xbee_logIc("16-bit Address: ");
+ for (j=0;j<2;j++) {
+ fprintf(xbee->log,(j?":%02X":"%02X"),d[9+j]);
+ }
+ xbee_logIcf();
+ xbee_logI("AT Command: %c%c",d[11],d[12]);
+ xbee_logIc("Status: ");
+ if (d[13] == 0x00) fprintf(xbee->log,"OK");
+ else if (d[13] == 0x01) fprintf(xbee->log,"Error");
+ else if (d[13] == 0x02) fprintf(xbee->log,"Invalid Command");
+ else if (d[13] == 0x03) fprintf(xbee->log,"Invalid Parameter");
+ else if (d[13] == 0x04) fprintf(xbee->log,"No Response");
+ fprintf(xbee->log," (0x%02X)",d[13]);
+ xbee_logIcf();
+ }
+ p->type = xbee_remoteAT;
+
+ p->sAddr64 = FALSE;
+ p->dataPkt = FALSE;
+ p->txStatusPkt = FALSE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = TRUE;
+ p->IOPkt = FALSE;
+
+ p->frameID = d[0];
+
+ p->Addr64[0] = d[1];
+ p->Addr64[1] = d[2];
+ p->Addr64[2] = d[3];
+ p->Addr64[3] = d[4];
+ p->Addr64[4] = d[5];
+ p->Addr64[5] = d[6];
+ p->Addr64[6] = d[7];
+ p->Addr64[7] = d[8];
+
+ p->Addr16[0] = d[9];
+ p->Addr16[1] = d[10];
+
+ p->atCmd[0] = d[11];
+ p->atCmd[1] = d[12];
+
+ p->status = d[13];
+
+ p->samples = 1;
+
+ if (p->status == 0x00 && p->atCmd[0] == 'I' && p->atCmd[1] == 'S') {
+ /* parse the io data */
+ xbee_logI("--- Sample -----------------");
+ xbee_parse_io(xbee, p, d, 15, 17, 0);
+ xbee_logI("----------------------------");
+ } else {
+ /* copy in the data */
+ p->datalen = i-13;
+ for (;i>13;i--) p->data[i-14] = d[i];
+ }
+
+ /* ########################################## */
+ /* if: TX status */
+ } else if (t == XBEE_TX_STATUS) {
+ if (xbee->log) {
+ xbee_logI("Packet type: TX Status Report (0x89)");
+ xbee_logI("FrameID: 0x%02X",d[0]);
+ xbee_logIc("Status: ");
+ if (d[1] == 0x00) fprintf(xbee->log,"Success");
+ else if (d[1] == 0x01) fprintf(xbee->log,"No ACK");
+ else if (d[1] == 0x02) fprintf(xbee->log,"CCA Failure");
+ else if (d[1] == 0x03) fprintf(xbee->log,"Purged");
+ fprintf(xbee->log," (0x%02X)",d[1]);
+ xbee_logIcf();
+ }
+ p->type = xbee_txStatus;
+
+ p->sAddr64 = FALSE;
+ p->dataPkt = FALSE;
+ p->txStatusPkt = TRUE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = FALSE;
+
+ p->frameID = d[0];
+
+ p->status = d[1];
+
+ /* never returns data */
+ p->datalen = 0;
+
+ /* check for any connections waiting for a status update */
+ /* lock the connection mutex */
+ xbee_mutex_lock(xbee->conmutex);
+ xbee_logI("Looking for a connection that wants a status update...");
+ con = xbee->conlist;
+ while (con) {
+ if ((con->frameID == p->frameID) &&
+ (con->ACKstatus == 0xFF)) {
+ xbee_logI("Found @ 0x%08X!",con);
+ con->ACKstatus = p->status;
+ xbee_sem_post(con->waitforACKsem);
+ }
+ con = con->next;
+ }
+
+ /* unlock the connection mutex */
+ xbee_mutex_unlock(xbee->conmutex);
+
+ /* ########################################## */
+ /* if: 16 / 64bit data recieve */
+ } else if ((t == XBEE_64BIT_DATARX) ||
+ (t == XBEE_16BIT_DATARX)) {
+ int offset;
+ if (t == XBEE_64BIT_DATARX) { /* 64bit */
+ offset = 8;
+ } else { /* 16bit */
+ offset = 2;
+ }
+ if (xbee->log) {
+ xbee_logI("Packet type: %d-bit RX Data (0x%02X)",((t == XBEE_64BIT_DATARX)?64:16),t);
+ xbee_logIc("%d-bit Address: ",((t == XBEE_64BIT_DATARX)?64:16));
+ for (j=0;j<offset;j++) {
+ fprintf(xbee->log,(j?":%02X":"%02X"),d[j]);
+ }
+ xbee_logIcf();
+ xbee_logI("RSSI: -%ddB",d[offset]);
+ if (d[offset + 1] & 0x02) xbee_logI("Options: Address Broadcast");
+ if (d[offset + 1] & 0x04) xbee_logI("Options: PAN Broadcast");
+ }
+ p->isBroadcastADR = !!(d[offset+1] & 0x02);
+ p->isBroadcastPAN = !!(d[offset+1] & 0x04);
+ p->dataPkt = TRUE;
+ p->txStatusPkt = FALSE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = FALSE;
+
+ if (t == XBEE_64BIT_DATARX) { /* 64bit */
+ p->type = xbee_64bitData;
+
+ p->sAddr64 = TRUE;
+
+ p->Addr64[0] = d[0];
+ p->Addr64[1] = d[1];
+ p->Addr64[2] = d[2];
+ p->Addr64[3] = d[3];
+ p->Addr64[4] = d[4];
+ p->Addr64[5] = d[5];
+ p->Addr64[6] = d[6];
+ p->Addr64[7] = d[7];
+ } else { /* 16bit */
+ p->type = xbee_16bitData;
+
+ p->sAddr64 = FALSE;
+
+ p->Addr16[0] = d[0];
+ p->Addr16[1] = d[1];
+ }
+
+ /* save the RSSI / signal strength
+ this can be used with printf as:
+ printf("-%ddB\n",p->RSSI); */
+ p->RSSI = d[offset];
+
+ p->status = d[offset + 1];
+
+ /* copy in the data */
+ p->datalen = i-(offset + 1);
+ for (;i>offset + 1;i--) p->data[i-(offset + 2)] = d[i];
+
+ /* ########################################## */
+ /* if: 16 / 64bit I/O recieve */
+ } else if ((t == XBEE_64BIT_IO) ||
+ (t == XBEE_16BIT_IO)) {
+ int offset,i2;
+ if (t == XBEE_64BIT_IO) { /* 64bit */
+ p->type = xbee_64bitIO;
+
+ p->sAddr64 = TRUE;
+
+ p->Addr64[0] = d[0];
+ p->Addr64[1] = d[1];
+ p->Addr64[2] = d[2];
+ p->Addr64[3] = d[3];
+ p->Addr64[4] = d[4];
+ p->Addr64[5] = d[5];
+ p->Addr64[6] = d[6];
+ p->Addr64[7] = d[7];
+
+ offset = 8;
+ p->samples = d[10];
+ } else { /* 16bit */
+ p->type = xbee_16bitIO;
+
+ p->sAddr64 = FALSE;
+
+ p->Addr16[0] = d[0];
+ p->Addr16[1] = d[1];
+
+ offset = 2;
+ p->samples = d[4];
+ }
+ if (p->samples > 1) {
+ p = Xrealloc(p, sizeof(xbee_pkt) + (sizeof(xbee_sample) * (p->samples - 1)));
+ }
+ if (xbee->log) {
+ xbee_logI("Packet type: %d-bit RX I/O Data (0x%02X)",((t == XBEE_64BIT_IO)?64:16),t);
+ xbee_logIc("%d-bit Address: ",((t == XBEE_64BIT_IO)?64:16));
+ for (j = 0; j < offset; j++) {
+ fprintf(xbee->log,(j?":%02X":"%02X"),d[j]);
+ }
+ xbee_logIcf();
+ xbee_logI("RSSI: -%ddB",d[offset]);
+ xbee_logI("Samples: %d",d[offset + 2]);
+ }
+ i2 = offset + 5;
+
+ /* never returns data */
+ p->datalen = 0;
+
+ p->dataPkt = FALSE;
+ p->txStatusPkt = FALSE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = TRUE;
+
+ /* save the RSSI / signal strength
+ this can be used with printf as:
+ printf("-%ddB\n",p->RSSI); */
+ p->RSSI = d[offset];
+
+ p->status = d[offset + 1];
+
+ /* each sample is split into its own packet here, for simplicity */
+ for (o = 0; o < p->samples; o++) {
+ if (i2 >= i) {
+ xbee_logI("Invalid I/O data! Actually contained %d samples...",o);
+ p = Xrealloc(p, sizeof(xbee_pkt) + (sizeof(xbee_sample) * ((o>1)?o:1)));
+ p->samples = o;
+ break;
+ }
+ xbee_logI("--- Sample %3d -------------", o);
+
+ /* parse the io data */
+ i2 = xbee_parse_io(xbee, p, d, offset + 3, i2, o);
+ }
+ xbee_logI("----------------------------");
+
+ /* ########################################## */
+ /* if: Series 2 Transmit status */
+ } else if (t == XBEE2_TX_STATUS) {
+ if (xbee->log) {
+ xbee_logI("Packet type: Series 2 Transmit Status (0x%02X)", t);
+ xbee_logI("FrameID: 0x%02X",d[0]);
+ xbee_logI("16-bit Delivery Address: %02X:%02X",d[1],d[2]);
+ xbee_logI("Transmit Retry Count: %02X",d[3]);
+ xbee_logIc("Delivery Status: ");
+ if (d[4] == 0x00) fprintf(xbee->log,"Success");
+ else if (d[4] == 0x02) fprintf(xbee->log,"CCA Failure");
+ else if (d[4] == 0x15) fprintf(xbee->log,"Invalid Destination");
+ else if (d[4] == 0x21) fprintf(xbee->log,"Network ACK Failure");
+ else if (d[4] == 0x22) fprintf(xbee->log,"Not Joined to Network");
+ else if (d[4] == 0x23) fprintf(xbee->log,"Self-Addressed");
+ else if (d[4] == 0x24) fprintf(xbee->log,"Address Not Found");
+ else if (d[4] == 0x25) fprintf(xbee->log,"Route Not Found");
+ else if (d[4] == 0x74) fprintf(xbee->log,"Data Payload Too Large"); /* ??? */
+ fprintf(xbee->log," (0x%02X)",d[4]);
+ xbee_logIcf();
+
+ xbee_logIc("Discovery Status: ");
+ if (d[5] == 0x00) fprintf(xbee->log,"No Discovery Overhead");
+ else if (d[5] == 0x01) fprintf(xbee->log,"Address Discovery");
+ else if (d[5] == 0x02) fprintf(xbee->log,"Route Discovery");
+ else if (d[5] == 0x03) fprintf(xbee->log,"Address & Route Discovery");
+ fprintf(xbee->log," (0x%02X)",d[5]);
+ xbee_logIcf();
+ }
+
+ p->type = xbee2_txStatus;
+
+ p->sAddr64 = FALSE;
+ p->dataPkt = FALSE;
+ p->txStatusPkt = TRUE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = FALSE;
+
+ p->frameID = d[0];
+
+ p->status = d[4];
+
+ /* never returns data */
+ p->datalen = 0;
+
+ /* ########################################## */
+ /* if: Series 2 data recieve */
+ } else if (t == XBEE2_DATARX) {
+ int offset;
+ offset = 10;
+ if (xbee->log) {
+ xbee_logI("Packet type: Series 2 Data Rx (0x%02X)", t);
+
+ xbee_logIc("64-bit Address: ");
+ for (j=0;j<8;j++) {
+ fprintf(xbee->log,(j?":%02X":"%02X"),d[j]);
+ }
+ xbee_logIcf();
+
+ xbee_logIc("16-bit Address: ");
+ for (j=0;j<2;j++) {
+ fprintf(xbee->log,(j?":%02X":"%02X"),d[j+8]);
+ }
+ xbee_logIcf();
+
+ if (d[offset] & 0x01) xbee_logI("Options: Packet Acknowledged");
+ if (d[offset] & 0x02) xbee_logI("Options: Packet was a broadcast packet");
+ if (d[offset] & 0x20) xbee_logI("Options: Packet Encrypted"); /* ??? */
+ if (d[offset] & 0x40) xbee_logI("Options: Packet from end device"); /* ??? */
+ }
+ p->dataPkt = TRUE;
+ p->txStatusPkt = FALSE;
+ p->modemStatusPkt = FALSE;
+ p->remoteATPkt = FALSE;
+ p->IOPkt = FALSE;
+ p->type = xbee2_data;
+ p->sAddr64 = TRUE;
+
+ p->Addr64[0] = d[0];
+ p->Addr64[1] = d[1];
+ p->Addr64[2] = d[2];
+ p->Addr64[3] = d[3];
+ p->Addr64[4] = d[4];
+ p->Addr64[5] = d[5];
+ p->Addr64[6] = d[6];
+ p->Addr64[7] = d[7];
+
+ p->Addr16[0] = d[8];
+ p->Addr16[1] = d[9];
+
+ p->status = d[offset];
+
+ /* copy in the data */
+ p->datalen = i - (offset + 1);
+ for (;i>offset;i--) {
+ p->data[i-(offset + 1)] = d[i];
+ }
+
+ /* ########################################## */
+ /* if: Unknown */
+ } else {
+ xbee_logE("Packet type: Unknown (0x%02X)",t);
+ continue;
+ }
+ p->next = NULL;
+
+ /* lock the connection mutex */
+ xbee_mutex_lock(xbee->conmutex);
+
+ hasCon = 0;
+ if (p->isBroadcastADR || p->isBroadcastPAN) {
+ unsigned char t[8] = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF };
+ /* if the packet was broadcast, search for a broadcast accepting connection */
+ con = xbee->conlist;
+ while (con) {
+ if (con->type == p->type &&
+ (con->type == xbee_16bitData || con->type == xbee_64bitData) &&
+ ((con->tAddr64 && !memcmp(con->tAddr,t,8)) ||
+ (!con->tAddr64 && !memcmp(con->tAddr,t,2)))) {
+ hasCon = 1;
+ xbee_logI("Found broadcasting connection @ 0x%08X",con);
+ break;
+ }
+ con = con->next;
+ }
+ }
+ if (!hasCon || !con) {
+ con = xbee->conlist;
+ while (con) {
+ if (xbee_matchpktcon(xbee, p, con)) {
+ hasCon = 1;
+ break;
+ }
+ con = con->next;
+ }
+ }
+
+ /* unlock the connection mutex */
+ xbee_mutex_unlock(xbee->conmutex);
+
+ /* if the packet doesn't have a connection, don't add it! */
+ if (!hasCon) {
+ xbee_logE("Connectionless packet... discarding!");
+ continue;
+ }
+
+ /* if the connection has a callback function then it is passed the packet
+ and the packet is not added to the list */
+ if (con && con->callback) {
+ t_callback_list *l, *q;
+
+ xbee_mutex_lock(con->callbackListmutex);
+ l = con->callbackList;
+ q = NULL;
+ while (l) {
+ q = l;
+ l = l->next;
+ }
+ l = Xcalloc(sizeof(t_callback_list));
+ l->pkt = p;
+ if (!con->callbackList || q == NULL) {
+ con->callbackList = l;
+ } else {
+ q->next = l;
+ }
+ xbee_mutex_unlock(con->callbackListmutex);
+
+ xbee_logI("Using callback function!");
+ xbee_logI(" info block @ 0x%08X",l);
+ xbee_logI(" function @ 0x%08X",con->callback);
+ xbee_logI(" connection @ 0x%08X",con);
+ xbee_logE(" packet @ 0x%08X",p);
+
+ /* if the callback thread not still running, then start a new one! */
+ if (!xbee_mutex_trylock(con->callbackmutex)) {
+ xbee_thread_t t;
+ int ret;
+ t_threadList *p, *q;
+ t_CBinfo info;
+ info.xbee = xbee;
+ info.con = con;
+ xbee_log("Starting new callback thread!");
+ if ((ret = xbee_thread_create(t,xbee_callbackWrapper,&info)) != 0) {
+ xbee_mutex_unlock(con->callbackmutex);
+ /* this MAY help with future attempts... */
+ xbee_sem_post(xbee->threadsem);
+ xbee_logS("An error occured while starting thread (%d)... Out of resources?", ret);
+ xbee_logE("This packet has been lost!");
+ continue;
+ }
+ xbee_log("Started thread 0x%08X!", t);
+ xbee_mutex_lock(xbee->threadmutex);
+ p = xbee->threadList;
+ q = NULL;
+ while (p) {
+ q = p;
+ p = p->next;
+ }
+ p = Xcalloc(sizeof(t_threadList));
+ if (q == NULL) {
+ xbee->threadList = p;
+ } else {
+ q->next = p;
+ }
+ p->thread = t;
+ p->next = NULL;
+ xbee_mutex_unlock(xbee->threadmutex);
+ } else {
+ xbee_logE("Using existing callback thread... callback has been scheduled.");
+ }
+ /* prevent the packet from being free'd */
+ p = NULL;
+ continue;
+ }
+
+ /* lock the packet mutex, so we can safely add the packet to the list */
+ xbee_mutex_lock(xbee->pktmutex);
+
+ /* if: the list is empty */
+ if (!xbee->pktlist) {
+ /* start the list! */
+ xbee->pktlist = p;
+ } else if (xbee->pktlast) {
+ /* add the packet to the end */
+ xbee->pktlast->next = p;
+ } else {
+ /* pktlast wasnt set... look for the end and then set it */
+ i = 0;
+ q = xbee->pktlist;
+ while (q->next) {
+ q = q->next;
+ i++;
+ }
+ q->next = p;
+ xbee->pktcount = i;
+ }
+ xbee->pktlast = p;
+ xbee->pktcount++;
+
+ /* unlock the packet mutex */
+ xbee_mutex_unlock(xbee->pktmutex);
+
+ xbee_logI("--========================--");
+ xbee_logE("Packets: %d",xbee->pktcount);
+
+ p = q = NULL;
+ }
+ return 0;
+}
+
+static void xbee_callbackWrapper(t_CBinfo *info) {
+ xbee_hnd xbee;
+ xbee_con *con;
+ xbee_pkt *pkt;
+ t_callback_list *temp;
+ xbee = info->xbee;
+ con = info->con;
+ /* dont forget! the callback mutex is already locked... by the parent thread :) */
+ xbee_mutex_lock(con->callbackListmutex);
+ while (con->callbackList) {
+ /* shift the list along 1 */
+ temp = con->callbackList;
+ con->callbackList = temp->next;
+ xbee_mutex_unlock(con->callbackListmutex);
+ /* get the packet */
+ pkt = temp->pkt;
+
+ xbee_logS("Starting callback function...");
+ xbee_logI(" info block @ 0x%08X",temp);
+ xbee_logI(" function @ 0x%08X",con->callback);
+ xbee_logI(" connection @ 0x%08X",con);
+ xbee_logE(" packet @ 0x%08X",pkt);
+ Xfree(temp);
+ if (con->callback) {
+ con->callback(con,pkt);
+ xbee_log("Callback complete!");
+ if (!con->noFreeAfterCB) Xfree(pkt);
+ } else {
+ xbee_pkt *q;
+ int i;
+ xbee_log("Callback function was removed! Appending packet to main list...");
+ /* lock the packet mutex, so we can safely add the packet to the list */
+ xbee_mutex_lock(xbee->pktmutex);
+
+ /* if: the list is empty */
+ if (!xbee->pktlist) {
+ /* start the list! */
+ xbee->pktlist = pkt;
+ } else if (xbee->pktlast) {
+ /* add the packet to the end */
+ xbee->pktlast->next = pkt;
+ } else {
+ /* pktlast wasnt set... look for the end and then set it */
+ i = 0;
+ q = xbee->pktlist;
+ while (q->next) {
+ q = q->next;
+ i++;
+ }
+ q->next = pkt;
+ xbee->pktcount = i;
+ }
+ xbee->pktlast = pkt;
+ xbee->pktcount++;
+
+ /* unlock the packet mutex */
+ xbee_mutex_unlock(xbee->pktmutex);
+ }
+
+ xbee_mutex_lock(con->callbackListmutex);
+ }
+ xbee_mutex_unlock(con->callbackListmutex);
+
+ xbee_log("Callback thread ending...");
+ /* releasing the thread mutex is the last thing we do! */
+ xbee_mutex_unlock(con->callbackmutex);
+
+ if (con->destroySelf) {
+ _xbee_endcon2(xbee,&con,1);
+ }
+ xbee_sem_post(xbee->threadsem);
+}
+
+/* #################################################################
+ xbee_thread_watch - INTERNAL
+ watches for dead threads and tidies up */
+static void xbee_thread_watch(xbee_hnd xbee) {
+
+#ifdef _WIN32 /* ---- */
+ /* win32 requires this delay... no idea why */
+ usleep(1000000);
+#endif /* ----------- */
+
+ xbee_mutex_init(xbee->threadmutex);
+ xbee_sem_init(xbee->threadsem);
+
+ while (xbee->run) {
+ t_threadList *p, *q, *t;
+ xbee_mutex_lock(xbee->threadmutex);
+ p = xbee->threadList;
+ q = NULL;
+
+ while (p) {
+ t = p;
+ p = p->next;
+ if (!(xbee_thread_tryjoin(t->thread))) {
+ xbee_log("Joined with thread 0x%08X...",t->thread);
+ if (t == xbee->threadList) {
+ xbee->threadList = t->next;
+ } else if (q) {
+ q->next = t->next;
+ }
+ free(t);
+ } else {
+ q = t;
+ }
+ }
+
+ xbee_mutex_unlock(xbee->threadmutex);
+ xbee_sem_wait(xbee->threadsem);
+ usleep(100000); /* 100ms to allow the thread to end before we try to join */
+ }
+
+ xbee_mutex_destroy(xbee->threadmutex);
+ xbee_sem_destroy(xbee->threadsem);
+}
+
+
+/* #################################################################
+ xbee_getbyte - INTERNAL
+ waits for an escaped byte of data */
+static unsigned char xbee_getbyte(xbee_hnd xbee) {
+ unsigned char c;
+
+ /* take a byte */
+ c = xbee_getrawbyte(xbee);
+ /* if its escaped, take another and un-escape */
+ if (c == 0x7D) c = xbee_getrawbyte(xbee) ^ 0x20;
+
+ return (c & 0xFF);
+}
+
+/* #################################################################
+ xbee_getrawbyte - INTERNAL
+ waits for a raw byte of data */
+static unsigned char xbee_getrawbyte(xbee_hnd xbee) {
+ int ret;
+ unsigned char c = 0x00;
+
+ /* the loop is just incase there actually isnt a byte there to be read... */
+ do {
+ /* wait for a read to be possible */
+ if ((ret = xbee_select(xbee,NULL)) == -1) {
+ xbee_perror("libxbee:xbee_getrawbyte()");
+ exit(1);
+ }
+ if (!xbee->run) break;
+ if (ret == 0) continue;
+
+ /* read 1 character */
+ if (xbee_read(xbee,&c,1) == 0) {
+ /* for some reason no characters were read... */
+ if (xbee_ferror(xbee) || xbee_feof(xbee)) {
+ xbee_log("Error or EOF detected");
+ fprintf(stderr,"libxbee:xbee_read(): Error or EOF detected\n");
+ exit(1); /* this should have something nicer... */
+ }
+ /* no error... try again */
+ usleep(10);
+ continue;
+ }
+ } while (0);
+
+ return (c & 0xFF);
+}
+
+/* #################################################################
+ _xbee_send_pkt - INTERNAL
+ sends a complete packet of data */
+static int _xbee_send_pkt(xbee_hnd xbee, t_data *pkt, xbee_con *con) {
+ int retval = 0;
+
+ /* lock connection mutex */
+ xbee_mutex_lock(con->Txmutex);
+ /* lock the send mutex */
+ xbee_mutex_lock(xbee->sendmutex);
+
+ /* write and flush the data */
+ xbee_write(xbee,pkt->data,pkt->length);
+
+ /* unlock the mutex */
+ xbee_mutex_unlock(xbee->sendmutex);
+
+ xbee_logSf();
+ if (xbee->log) {
+ int i,x,y;
+ /* prints packet in hex byte-by-byte */
+ xbee_logIc("TX Packet:");
+ for (i=0,x=0,y=0;i<pkt->length;i++,x--) {
+ if (x == 0) {
+ fprintf(xbee->log,"\n 0x%04X | ",y);
+ x = 0x8;
+ y += x;
+ }
+ if (x == 4) {
+ fprintf(xbee->log," ");
+ }
+ fprintf(xbee->log,"0x%02X ",pkt->data[i]);
+ }
+ xbee_logIcf();
+ }
+ xbee_logEf();
+
+ if (con->waitforACK &&
+ ((con->type == xbee_16bitData) ||
+ (con->type == xbee_64bitData))) {
+ con->ACKstatus = 0xFF; /* waiting */
+ xbee_log("Waiting for ACK/NAK response...");
+ xbee_sem_wait1sec(con->waitforACKsem);
+ switch (con->ACKstatus) {
+ case 0: xbee_log("ACK recieved!"); break;
+ case 1: xbee_log("NAK recieved..."); break;
+ case 2: xbee_log("CCA failure..."); break;
+ case 3: xbee_log("Purged..."); break;
+ case 255: default: xbee_log("Timeout...");
+ }
+ if (con->ACKstatus) retval = 1; /* error */
+ }
+
+ /* unlock connection mutex */
+ xbee_mutex_unlock(con->Txmutex);
+
+ /* free the packet */
+ Xfree(pkt);
+
+ return retval;
+}
+
+/* #################################################################
+ xbee_make_pkt - INTERNAL
+ adds delimiter field
+ calculates length and checksum
+ escapes bytes */
+static t_data *xbee_make_pkt(xbee_hnd xbee, unsigned char *data, int length) {
+ t_data *pkt;
+ unsigned int l, i, o, t, x, m;
+ char d = 0;
+
+ /* check the data given isnt too long
+ 100 bytes maximum payload + 12 bytes header information */
+ if (length > 100 + 12) return NULL;
+
+ /* calculate the length of the whole packet
+ start, length (MSB), length (LSB), DATA, checksum */
+ l = 3 + length + 1;
+
+ /* prepare memory */
+ pkt = Xcalloc(sizeof(t_data));
+
+ /* put start byte on */
+ pkt->data[0] = 0x7E;
+
+ /* copy data into packet */
+ for (t = 0, i = 0, o = 1, m = 1; i <= length; o++, m++) {
+ /* if: its time for the checksum */
+ if (i == length) d = M8((0xFF - M8(t)));
+ /* if: its time for the high length byte */
+ else if (m == 1) d = M8(length >> 8);
+ /* if: its time for the low length byte */
+ else if (m == 2) d = M8(length);
+ /* if: its time for the normal data */
+ else if (m > 2) d = data[i];
+
+ x = 0;
+ /* check for any escapes needed */
+ if ((d == 0x11) || /* XON */
+ (d == 0x13) || /* XOFF */
+ (d == 0x7D) || /* Escape */
+ (d == 0x7E)) { /* Frame Delimiter */
+ l++;
+ pkt->data[o++] = 0x7D;
+ x = 1;
+ }
+
+ /* move data in */
+ pkt->data[o] = ((!x)?d:d^0x20);
+ if (m > 2) {
+ i++;
+ t += d;
+ }
+ }
+
+ /* remember the length */
+ pkt->length = l;
+
+ return pkt;
+}
diff --git a/thirdParty/libxbee/api.h b/thirdParty/libxbee/api.h
new file mode 100644
index 0000000000..692bd7b165
--- /dev/null
+++ b/thirdParty/libxbee/api.h
@@ -0,0 +1,254 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <stdarg.h>
+
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <signal.h>
+
+#ifdef __GNUC__ /* ---- */
+#include <unistd.h>
+#include <termios.h>
+#define __USE_GNU
+#include <pthread.h>
+#undef __USE_GNU
+#include <sys/time.h>
+#else /* -------------- */
+#include <Windows.h>
+#include <io.h>
+#include <time.h>
+#include <sys/timeb.h>
+#endif /* ------------- */
+
+#ifdef __UMAKEFILE
+ #define HOST_OS "Embedded"
+#elif defined(__GNUC__)
+ #define HOST_OS "Linux"
+#elif defined(_WIN32)
+ #define HOST_OS "Win32"
+#else
+ #define HOST_OS "UNKNOWN"
+#endif
+
+#define TRUE 1
+#define FALSE 0
+
+#define M8(x) (x & 0xFF)
+
+/* various connection types */
+#define XBEE_LOCAL_AT 0x88
+#define XBEE_LOCAL_ATREQ 0x08
+#define XBEE_LOCAL_ATQUE 0x09
+
+#define XBEE_REMOTE_AT 0x97
+#define XBEE_REMOTE_ATREQ 0x17
+
+#define XBEE_MODEM_STATUS 0x8A
+
+/* XBee Series 1 stuff */
+#define XBEE_TX_STATUS 0x89
+#define XBEE_64BIT_DATATX 0x00
+#define XBEE_64BIT_DATARX 0x80
+#define XBEE_16BIT_DATATX 0x01
+#define XBEE_16BIT_DATARX 0x81
+#define XBEE_64BIT_IO 0x82
+#define XBEE_16BIT_IO 0x83
+
+/* XBee Series 2 stuff */
+#define XBEE2_DATATX 0x10
+#define XBEE2_DATARX 0x90
+#define XBEE2_TX_STATUS 0x8B
+
+typedef struct xbee_hnd* xbee_hnd;
+
+#define __LIBXBEE_API_H
+#include "xbee.h"
+
+typedef struct t_threadList t_threadList;
+struct t_threadList {
+ xbee_thread_t thread;
+ t_threadList *next;
+};
+
+struct xbee_hnd {
+ xbee_file_t tty;
+#ifdef __GNUC__ /* ---- */
+ int ttyfd;
+#else /* -------------- */
+ int ttyr;
+ int ttyw;
+ int ttyeof;
+
+ OVERLAPPED ttyovrw;
+ OVERLAPPED ttyovrr;
+ OVERLAPPED ttyovrs;
+#endif /* ------------- */
+
+ char *path; /* serial port path */
+
+ xbee_mutex_t logmutex;
+ FILE *log;
+ int logfd;
+
+ xbee_mutex_t conmutex;
+ xbee_con *conlist;
+
+ xbee_mutex_t pktmutex;
+ xbee_pkt *pktlist;
+ xbee_pkt *pktlast;
+ int pktcount;
+
+ xbee_mutex_t sendmutex;
+
+ xbee_thread_t listent;
+
+ xbee_thread_t threadt;
+ xbee_mutex_t threadmutex;
+ xbee_sem_t threadsem;
+ t_threadList *threadList;
+
+ int run;
+
+ int oldAPI;
+ char cmdSeq;
+ int cmdTime;
+
+ /* ready flag.
+ needs to be set to -1 so that the listen thread can begin. */
+ volatile int xbee_ready;
+
+ xbee_hnd next;
+};
+xbee_hnd default_xbee = NULL;
+xbee_mutex_t xbee_hnd_mutex;
+
+typedef struct t_data t_data;
+struct t_data {
+ unsigned char data[128];
+ unsigned int length;
+};
+
+typedef struct t_LTinfo t_LTinfo;
+struct t_LTinfo {
+ int i;
+ xbee_hnd xbee;
+};
+
+typedef struct t_CBinfo t_CBinfo;
+struct t_CBinfo {
+ xbee_hnd xbee;
+ xbee_con *con;
+};
+
+typedef struct t_callback_list t_callback_list;
+struct t_callback_list {
+ xbee_pkt *pkt;
+ t_callback_list *next;
+};
+
+static void *Xmalloc2(xbee_hnd xbee, size_t size);
+static void *Xcalloc2(xbee_hnd xbee, size_t size);
+static void *Xrealloc2(xbee_hnd xbee, void *ptr, size_t size);
+static void Xfree2(void **ptr);
+#define Xmalloc(x) Xmalloc2(xbee,(x))
+#define Xcalloc(x) Xcalloc2(xbee,(x))
+#define Xrealloc(x,y) Xrealloc2(xbee,(x),(y))
+#define Xfree(x) Xfree2((void **)&x)
+
+/* usage:
+ xbee_logSf() lock the log
+ xbee_logEf() unlock the log
+
+ xbee_log() lock print with \n unlock # to print a single line
+ xbee_logc() lock print with no \n # to print a single line with a custom ending
+ xbee_logcf() print \n unlock # to end a custom-ended single line
+
+ xbee_logS() lock print with \n # to start a continuous block
+ xbee_logI() print with \n # to continue a continuous block
+ xbee_logIc() print with no \n # to continue a continuous block with a custom ending
+ xbee_logIcf() print \n # to continue a continuous block with ended custom-ended line
+ xbee_logE() print with \n unlock # to end a continuous block
+*/
+static void xbee_logf(xbee_hnd xbee, const char *logformat, const char *file,
+ const int line, const char *function, char *format, ...);
+#define LOG_FORMAT "[%s:%d] %s(): %s"
+
+#define xbee_logSf() if (xbee->log) { xbee_mutex_lock(xbee->logmutex); }
+#define xbee_logEf() if (xbee->log) { xbee_mutex_unlock(xbee->logmutex); }
+
+#define xbee_log(...) if (xbee->log) { xbee_logSf(); xbee_logf(xbee,LOG_FORMAT"\n",__FILE__,__LINE__,__FUNCTION__,__VA_ARGS__); xbee_logEf(); }
+#define xbee_logc(...) if (xbee->log) { xbee_logSf(); xbee_logf(xbee,LOG_FORMAT ,__FILE__,__LINE__,__FUNCTION__,__VA_ARGS__); }
+#define xbee_logcf() if (xbee->log) { fprintf(xbee->log, "\n"); xbee_logEf(); }
+
+#define xbee_logS(...) if (xbee->log) { xbee_logSf(); xbee_logf(xbee,LOG_FORMAT"\n",__FILE__,__LINE__,__FUNCTION__,__VA_ARGS__); }
+#define xbee_logI(...) if (xbee->log) { xbee_logf(xbee,LOG_FORMAT"\n",__FILE__,__LINE__,__FUNCTION__,__VA_ARGS__); }
+#define xbee_logIc(...) if (xbee->log) { xbee_logf(xbee,LOG_FORMAT ,__FILE__,__LINE__,__FUNCTION__,__VA_ARGS__); }
+#define xbee_logIcf() if (xbee->log) { fprintf(xbee->log, "\n"); }
+#define xbee_logE(...) if (xbee->log) { xbee_logf(xbee,LOG_FORMAT"\n",__FILE__,__LINE__,__FUNCTION__,__VA_ARGS__); xbee_logEf(); }
+
+#define xbee_perror(str) \
+ if (xbee->log) xbee_logI("%s:%s",str,strerror(errno)); \
+ perror(str);
+
+static int xbee_startAPI(xbee_hnd xbee);
+
+static int xbee_sendAT(xbee_hnd xbee, char *command, char *retBuf, int retBuflen);
+static int xbee_sendATdelay(xbee_hnd xbee, int guardTime, char *command, char *retBuf, int retBuflen);
+
+static int xbee_parse_io(xbee_hnd xbee, xbee_pkt *p, unsigned char *d,
+ int maskOffset, int sampleOffset, int sample);
+
+static void xbee_thread_watch(xbee_hnd xbee);
+static void xbee_listen_wrapper(xbee_hnd xbee);
+static int xbee_listen(xbee_hnd xbee);
+static unsigned char xbee_getbyte(xbee_hnd xbee);
+static unsigned char xbee_getrawbyte(xbee_hnd xbee);
+static int xbee_matchpktcon(xbee_hnd xbee, xbee_pkt *pkt, xbee_con *con);
+
+static t_data *xbee_make_pkt(xbee_hnd xbee, unsigned char *data, int len);
+static int _xbee_send_pkt(xbee_hnd xbee, t_data *pkt, xbee_con *con);
+static void xbee_callbackWrapper(t_CBinfo *info);
+
+/* these functions can be found in the xsys files */
+static int init_serial(xbee_hnd xbee, int baudrate);
+static int xbee_select(xbee_hnd xbee, struct timeval *timeout);
+
+#ifdef __GNUC__ /* ---- */
+#include "xsys/linux.c"
+#else /* -------------- */
+#include "xsys\win32.c"
+#endif /* ------------- */
+
+#ifndef Win32Message
+#define Win32Message()
+#endif
+
+#define ISREADY(a) if (!xbee || !xbee->xbee_ready) { \
+ if (stderr) fprintf(stderr,"libxbee: Run xbee_setup() first!...\n"); \
+ Win32Message(); \
+ a; \
+ }
+#define ISREADYP() ISREADY(return)
+#define ISREADYR(a) ISREADY(return a)
diff --git a/thirdParty/libxbee/doc/man/man3/libxbee.3.html b/thirdParty/libxbee/doc/man/man3/libxbee.3.html
new file mode 100644
index 0000000000..57b7f6a0c5
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/libxbee.3.html
@@ -0,0 +1,127 @@
+<HTML><HEAD><TITLE>Manpage of LIBXBEE</TITLE>
+</HEAD><BODY>
+<H1>LIBXBEE</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+libxbee
+<A NAME="lbAC"> </A>
+<H2>DESCRIPTION</H2>
+
+libxbee is a C library to aid the use of Series 1 Digi XBee radios running in API mode (AP=2).
+<P>
+I have tried to keep flexibility to a maximum.
+By allowing connections to individual nodes to be created you don't have to address each packet,
+or filter through incomming packets to get at the one you are after. This is all taken care of
+for you by
+<B>libxbee!</B>
+
+<P>
+libxbee is still in development, so if you find any bugs or have any enhancement requests, please
+feel free to submit an issue on the project page:
+
+<PRE>
+<A HREF="http://code.google.com/p/libxbee/">http://code.google.com/p/libxbee/</A>
+</PRE>
+
+
+or contact me (Attie) directly:
+
+<PRE>
+<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>
+</PRE>
+
+
+<A NAME="lbAD"> </A>
+<H2>MAN PAGES</H2>
+
+Documentation is avaliable via the following man pages, or by example in the 'sample' folder in the SVN repository
+
+<P>
+<B><A HREF="../man3/xbee_pkt.3.html">xbee_pkt</A></B>(3) - libxbee's packet structure
+
+<B><A HREF="../man3/xbee_con.3.html">xbee_con</A></B>(3) - libxbee's connection structure
+
+<P>
+<B><A HREF="../man3/xbee_setup.3.html">xbee_setup</A></B>(3) - function to setup libxbee (and its variants)
+
+<B><A HREF="../man3/xbee_end.3.html">xbee_end</A></B>(3) - function to end the libxbee session and close any open handles
+
+<P>
+<B><A HREF="../man3/xbee_logit.3.html">xbee_logit</A></B>(3) - function that allows the user to add to the xbee log output
+
+<P>
+<B><A HREF="../man3/xbee_newcon.3.html">xbee_newcon</A></B>(3) - function to create a new connection
+
+<B><A HREF="../man3/xbee_flushcon.3.html">xbee_flushcon</A></B>(3) - function to flush packets from a connection
+
+<B><A HREF="../man3/xbee_endcon.3.html">xbee_endcon</A></B>(3) - function to end a connection
+
+<P>
+<B><A HREF="../man3/xbee_senddata.3.html">xbee_senddata</A></B>(3) - function to send data to a remote XBee (and its variants)
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3) - function to get a packet from a connection (and its variants)
+
+<P>
+<B><A HREF="../man3/xbee_hasdigital.3.html">xbee_hasdigital</A></B>(3) - function to check if digital sample is in the packet
+
+<B><A HREF="../man3/xbee_getdigital.3.html">xbee_getdigital</A></B>(3) - function to get digital sample from the packet
+
+<P>
+<B><A HREF="../man3/xbee_hasanalog.3.html">xbee_hasanalog</A></B>(3) - function to check if analog sample is in the packet
+
+<B><A HREF="../man3/xbee_getanalog.3.html">xbee_getanalog</A></B>(3) - function to get the analog sample from the packet
+
+
+
+<A NAME="lbAE"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/xbee_pkt.3.html">xbee_pkt</A></B>(3),
+
+<B><A HREF="../man3/xbee_con.3.html">xbee_con</A></B>(3),
+
+<B><A HREF="../man3/xbee_setup.3.html">xbee_setup</A></B>(3),
+
+<B><A HREF="../man3/xbee_end.3.html">xbee_end</A></B>(3),
+
+<B><A HREF="../man3/xbee_logit.3.html">xbee_logit</A></B>(3),
+
+<B><A HREF="../man3/xbee_newcon.3.html">xbee_newcon</A></B>(3),
+
+<B><A HREF="../man3/xbee_flushcon.3.html">xbee_flushcon</A></B>(3),
+
+<B><A HREF="../man3/xbee_endcon.3.html">xbee_endcon</A></B>(3),
+
+<B><A HREF="../man3/xbee_senddata.3.html">xbee_senddata</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3),
+
+<B><A HREF="../man3/xbee_hasdigital.3.html">xbee_hasdigital</A></B>(3),
+
+<B><A HREF="../man3/xbee_getdigital.3.html">xbee_getdigital</A></B>(3),
+
+<B><A HREF="../man3/xbee_hasanalog.3.html">xbee_hasanalog</A></B>(3),
+
+<B><A HREF="../man3/xbee_getanalog.3.html">xbee_getanalog</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAD">MAN PAGES</A><DD>
+<DT><A HREF="#lbAE">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_con.3.html b/thirdParty/libxbee/doc/man/man3/xbee_con.3.html
new file mode 100644
index 0000000000..9990d7f2e3
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_con.3.html
@@ -0,0 +1,26 @@
+<HTML><HEAD><TITLE>Manpage of LIBXBEE</TITLE>
+</HEAD><BODY>
+<H1>LIBXBEE</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+libxbee
+<P>
+This page has not been written yet...
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_end.3.html b/thirdParty/libxbee/doc/man/man3/xbee_end.3.html
new file mode 100644
index 0000000000..7eaa6c2701
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_end.3.html
@@ -0,0 +1,27 @@
+<HTML><HEAD><TITLE>Manpage of LIBXBEE</TITLE>
+</HEAD><BODY>
+<H1>LIBXBEE</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+libxbee
+<P>
+This page has not been written yet...
+<P>
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_endcon.3.html b/thirdParty/libxbee/doc/man/man3/xbee_endcon.3.html
new file mode 100644
index 0000000000..d7250a3cc4
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_endcon.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_endcon.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_flushcon.3.html b/thirdParty/libxbee/doc/man/man3/xbee_flushcon.3.html
new file mode 100644
index 0000000000..1d046d7921
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_flushcon.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_flushcon.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_getanalog.3.html b/thirdParty/libxbee/doc/man/man3/xbee_getanalog.3.html
new file mode 100644
index 0000000000..1883c3262e
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_getanalog.3.html
@@ -0,0 +1,140 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_GETPACKET</TITLE>
+</HEAD><BODY>
+<H1>XBEE_GETPACKET</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_hasanalog, xbee_getanalog
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+<P>
+<B>int xbee_hasanalog(xbee_pkt *</B><I>pkt</I><B>,int </B><I>sample</I><B>, int </B><I>input</I><B>);</B>
+
+<P>
+<B>double xbee_getanalog(xbee_pkt *</B><I>pkt</I><B>,int </B><I>sample</I><B>, int </B><I>input</I><B>, double </B><I>Vref</I><B>);</B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+The
+<B>xbee_hasanalog</B>()
+
+function will check the packet for the presence of an analog sample on the specified input.
+<P>
+The
+<B>xbee_getanalog</B>()
+
+function will read the packet and return the sample value for the specified analog input.
+<P>
+They both take 3 arguments, with the same purposes.
+<P>
+The argument
+<I>pkt</I>
+
+points to a packet that was previously retrieved with
+<B>xbee_getpacket</B>()
+
+<P>
+The argument
+<I>sample</I>
+
+selects the sample within the packet to use.
+<P>
+The argument
+<I>input</I>
+
+specifies which input you are interested in testing.
+<P>
+<B>xbee_getanalog</B>()
+
+also takes a fourth argument that allows you to provide a
+<I>Vref</I>
+
+value. This allows the function to convert the raw ADC value into a voltage for you.
+<A NAME="lbAE"> </A>
+<H2>RETURN VALUE</H2>
+
+The
+<B>xbee_hasanalog</B>()
+
+function will return
+<B>1</B>
+
+if the provided packet has sample data for the specified input, otherwise
+<B>0</B>.
+
+<P>
+The
+<B>xbee_getanalog</B>()
+
+function will return the raw ADC value (0 - 1023) if the provided packet has sample data for the specified input and Vref was given as zero.
+If Vref was non-zero, then the return value will be the voltage read.
+A
+<B>-1</B>
+
+will be returned if the packet does not contain sample data.
+<P>
+<A NAME="lbAF"> </A>
+<H2>EXAMPLE</H2>
+
+To read sample data from previously made connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_pkt *pkt;
+double Vref = 3.3;
+if ((pkt = xbee_getpacket(con)) != NULL) {
+ if (xbee_hasanalog(pkt,0,0)) {
+ printf("A0 read %fv,xbee_getanalog(pkt,0,0,Vref));
+ } else {
+ printf("No A0 data);
+ }
+ free(pkt);
+}
+</PRE>
+
+
+<A NAME="lbAG"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAH"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_pkt.3.html">xbee_pkt</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3),
+
+<B><A HREF="../man3/xbee_hasdigital.3.html">xbee_hasdigital</A></B>(3),
+
+<B><A HREF="../man3/xbee_getdigital.3.html">xbee_getdigital</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">RETURN VALUE</A><DD>
+<DT><A HREF="#lbAF">EXAMPLE</A><DD>
+<DT><A HREF="#lbAG">AUTHOR</A><DD>
+<DT><A HREF="#lbAH">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_getdigital.3.html b/thirdParty/libxbee/doc/man/man3/xbee_getdigital.3.html
new file mode 100644
index 0000000000..2df9136221
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_getdigital.3.html
@@ -0,0 +1,134 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_GETPACKET</TITLE>
+</HEAD><BODY>
+<H1>XBEE_GETPACKET</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_hasdigital, xbee_getdigital
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+<P>
+<B>int xbee_hasdigital(xbee_pkt *</B><I>pkt</I><B>, int </B><I>sample</I><B>, int </B><I>input</I><B>);</B>
+
+<P>
+<B>int xbee_getdigital(xbee_pkt *</B><I>pkt</I><B>, int </B><I>sample</I><B>, int </B><I>input</I><B>);</B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+The
+<B>xbee_hasdigital</B>()
+
+function will check the packet for the presence of a given sample on the specified input.
+<P>
+The
+<B>xbee_getdigital</B>()
+
+function will read the packet and return the sample value for the specified input.
+<P>
+They both take 3 arguments, with the same purposes.
+<P>
+The argument
+<I>pkt</I>
+
+points to a packet that was previously retrieved with
+<B>xbee_getpacket</B>()
+
+<P>
+The argument
+<I>sample</I>
+
+selects the sample within the packet to use.
+<P>
+The argument
+<I>input</I>
+
+specifies which input you are interested in testing.
+<A NAME="lbAE"> </A>
+<H2>RETURN VALUE</H2>
+
+The
+<B>xbee_hasdigital</B>()
+
+function will return
+<B>1</B>
+
+if the provided packet has sample data for the specified input, otherwise
+<B>0</B>.
+
+<P>
+The
+<B>xbee_getdigital</B>()
+
+function will return
+<B>1</B>
+
+if the provided packet has sample data for the specified input and the sample was HIGH.
+A
+<B>0</B>
+
+will be returned if the sample was LOW, or the packet does not contain sample data.
+<P>
+<A NAME="lbAF"> </A>
+<H2>EXAMPLE</H2>
+
+To read sample data from previously made connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_pkt *pkt;
+if ((pkt = xbee_getpacket(con)) != NULL) {
+ if (xbee_hasdigital(pkt,0,0)) {
+ printf("D0 read %d,xbee_getdigital(pkt,0));
+ } else {
+ printf("No D0 data);
+ }
+ free(pkt);
+}
+</PRE>
+
+
+<A NAME="lbAG"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAH"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_pkt.3.html">xbee_pkt</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3),
+
+<B><A HREF="../man3/xbee_hasanalog.3.html">xbee_hasanalog</A></B>(3),
+
+<B><A HREF="../man3/xbee_getanalog.3.html">xbee_getanalog</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">RETURN VALUE</A><DD>
+<DT><A HREF="#lbAF">EXAMPLE</A><DD>
+<DT><A HREF="#lbAG">AUTHOR</A><DD>
+<DT><A HREF="#lbAH">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_getpacket.3.html b/thirdParty/libxbee/doc/man/man3/xbee_getpacket.3.html
new file mode 100644
index 0000000000..45063f7736
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_getpacket.3.html
@@ -0,0 +1,130 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_GETPACKET</TITLE>
+</HEAD><BODY>
+<H1>XBEE_GETPACKET</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_getpacket
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+<P>
+<B>xbee_pkt *xbee_getpacket(xbee_con *</B><I>con</I><B>);</B>
+
+<P>
+<B>xbee_pkt *xbee_getpacketwait(xbee_con *</B><I>con</I><B>);</B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+The
+<B>xbee_getpacket</B>()
+
+function will return the next avaliable packet for the provided connection.
+It takes 1 argument.
+<P>
+The argument
+<I>con</I>
+
+points to a connection made previously with
+<B>xbee_newcon</B>().
+
+<P>
+The
+<B>xbee_getpacketwait</B>()
+
+function behaves the same, but will wait for an internally specified time for a packet to arrive (currently around 1 second).
+<A NAME="lbAE"> </A>
+<H2>RETURN VALUE</H2>
+
+Upon successful return, this function returns the packet, having unlinked it from the internal list of packets.
+You must keep hold of the packet until you are finished with it, and then you must
+<B>free</B>()
+
+it to prevent memory leaks.
+<P>
+If a packet was not avaliable for the provided connection, a
+<B>NULL</B>
+
+is returned.
+<P>
+If an error occured a
+<B>NULL</B>
+
+is also returned (though unlikely).
+<P>
+For more information on the structure of the packet, please see
+<B><A HREF="../man3/xbee_pkt.3.html">xbee_pkt</A></B>(3)
+
+<P>
+For information on using callback functions with connections instead, please see
+<B><A HREF="../man3/xbee_con.3.html">xbee_con</A></B>(3)
+
+<A NAME="lbAF"> </A>
+<H2>EXAMPLE</H2>
+
+To recieve a packet from a previously made connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_pkt *pkt;
+if ((pkt = xbee_getpacket(con)) != NULL) {
+ /* process packet... */
+ free(pkt);
+}
+</PRE>
+
+
+<A NAME="lbAG"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAH"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_setup.3.html">xbee_setup</A></B>(3),
+
+<B><A HREF="../man3/xbee_newcon.3.html">xbee_newcon</A></B>(3),
+
+<B><A HREF="../man3/xbee_senddata.3.html">xbee_senddata</A></B>(3),
+
+<B><A HREF="../man3/xbee_pkt.3.html">xbee_pkt</A></B>(3),
+
+<B><A HREF="../man3/xbee_con.3.html">xbee_con</A></B>(3),
+
+<B><A HREF="../man3/xbee_hasDigital.3.html">xbee_hasDigital</A></B>(3),
+
+<B><A HREF="../man3/xbee_getDigital.3.html">xbee_getDigital</A></B>(3),
+
+<B><A HREF="../man3/xbee_hasAnalog.3.html">xbee_hasAnalog</A></B>(3),
+
+<B><A HREF="../man3/xbee_getAnalog.3.html">xbee_getAnalog</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">RETURN VALUE</A><DD>
+<DT><A HREF="#lbAF">EXAMPLE</A><DD>
+<DT><A HREF="#lbAG">AUTHOR</A><DD>
+<DT><A HREF="#lbAH">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_hasanalog.3.html b/thirdParty/libxbee/doc/man/man3/xbee_hasanalog.3.html
new file mode 100644
index 0000000000..e2c495c41a
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_hasanalog.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_hasanalog.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_hasdigital.3.html b/thirdParty/libxbee/doc/man/man3/xbee_hasdigital.3.html
new file mode 100644
index 0000000000..9774f40817
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_hasdigital.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_hasdigital.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_logit.3.html b/thirdParty/libxbee/doc/man/man3/xbee_logit.3.html
new file mode 100644
index 0000000000..7eaa6c2701
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_logit.3.html
@@ -0,0 +1,27 @@
+<HTML><HEAD><TITLE>Manpage of LIBXBEE</TITLE>
+</HEAD><BODY>
+<H1>LIBXBEE</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+libxbee
+<P>
+This page has not been written yet...
+<P>
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_newcon.3.html b/thirdParty/libxbee/doc/man/man3/xbee_newcon.3.html
new file mode 100644
index 0000000000..32f085b268
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_newcon.3.html
@@ -0,0 +1,201 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_NEWCON</TITLE>
+</HEAD><BODY>
+<H1>XBEE_NEWCON</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_newcon
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+<P>
+<B>xbee_con *xbee_newcon(unsigned char </B><I>frameID</I><B>, xbee_types </B><I>type</I><B>, ...);</B>
+
+<P>
+<B>void xbee_flushcon(xbee_con *</B><I>con</I><B>);</B>
+
+<P>
+<B>void xbee_endcon(xbee_con *</B><I>con</I><B>);</B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+The
+<B>xbee_newcon</B>()
+
+function will setup a new connection with the specified settings.
+It takes at least 2 arguments, and possibly up to 4 depending on the
+<I>type.</I>
+
+<P>
+<B>NOTE:</B>
+
+Packets will only be collected when they match an active connection.
+You must setup a connection in order to recieve packets.
+<P>
+The argument
+<I>frameID</I>
+
+allows similar functionality to that of TCP/IP port numbers. This is 1 character (or 8-bit integer) that
+identifies where the data is coming from or going to.
+
+The
+<I>type</I>
+
+specifies the type of connection you would like. The following types are avaliable:
+<DL COMPACT>
+<DT><B>xbee_localAT</B>
+
+<DD>
+communicates AT commands with the local XBee
+<DT><B>xbee_txStatus</B>
+
+<DD>
+recieves transmit status information from the local XBee
+<DT><B>xbee_modemStatus</B>
+
+<DD>
+recieves modem status information from the local XBee
+<DT><B>xbee_16bitRemoteAT</B>
+
+<DD>
+communicates AT commands with a remote node (using 16-bit addressing)
+<DT><B>xbee_64bitRemoteAT</B>
+
+<DD>
+communicates AT commands with a remote node (using 64-bit addressing)
+<DT><B>xbee_16bitData</B>
+
+<DD>
+sends/recieves data through a remote node (using 16-bit addressing)
+<DT><B>xbee_64bitData</B>
+
+<DD>
+sends/recieves data through a remote node (using 64-bit addressing)
+<DT><B>xbee_16bitIO</B>
+
+<DD>
+sends/recieves I/O data through a remote node (using 16-bit addressing)
+<DT><B>xbee_64bitIO</B>
+
+<DD>
+sends/recieves I/O data through a remote node (using 64-bit addressing)
+</DL>
+<P>
+
+If you are using
+<B>xbee_localAT</B>, <B>xbee_txStatus</B> or <B>xbee_modemStatus</B>
+
+then only the
+<I>frameID</I>
+
+and
+<I>type</I>
+
+arguments are required.
+<P>
+If you are using any 16-bit connection, you must also specify 1 right aligned integer,
+containing the 16-bit address (e.g. 0x1234).
+<P>
+If you are using any 64-bit connection, you must also specify 2 integers containing the
+64-bit address, first the high 32-bits, then the low 32-bits.
+<P>
+The
+<B>xbee_flushcon</B>()
+
+function is very basic. It removes any packets that have been collected in the buffer for the specified connection.
+<P>
+The
+<B>xbee_endcon</B>()
+
+function is used to end a connection. This will stop collecting packets for the given connection, and remove any packets from the buffer.
+<A NAME="lbAE"> </A>
+<H2>RETURN VALUE</H2>
+
+A pointer to the connection is returned. A connection can only be made once, using the same
+<I>type</I>
+
+,
+<I>frameID</I>
+
+and address (if needed). The second call using the same parameters will return the same
+connection.
+<P>
+For information on using callback functions for packet handling please see
+<B><A HREF="../man3/xbee_con.3.html">xbee_con</A></B>(3)
+
+<A NAME="lbAF"> </A>
+<H2>EXAMPLE</H2>
+
+To create a local AT connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_con *con;
+con = xbee_newcon('A', xbee_localAT);
+</PRE>
+
+
+<P>
+To create a 16-bit Data connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_con *con;
+con = xbee_newcon('A', xbee_16bitData, 0x1234);
+</PRE>
+
+
+<P>
+To create a 64-bit Data connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_con *con;
+con = xbee_newcon('A', xbee_64bitData, 0x0013A200, 0x40081826);
+</PRE>
+
+
+<A NAME="lbAG"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAH"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_setup.3.html">xbee_setup</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3),
+
+<B><A HREF="../man3/xbee_con.3.html">xbee_con</A></B>(3),
+
+<B><A HREF="../man3/xbee_senddata.3.html">xbee_senddata</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">RETURN VALUE</A><DD>
+<DT><A HREF="#lbAF">EXAMPLE</A><DD>
+<DT><A HREF="#lbAG">AUTHOR</A><DD>
+<DT><A HREF="#lbAH">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_nsenddata.3.html b/thirdParty/libxbee/doc/man/man3/xbee_nsenddata.3.html
new file mode 100644
index 0000000000..3da3c6f217
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_nsenddata.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_nsenddata.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_pkt.3.html b/thirdParty/libxbee/doc/man/man3/xbee_pkt.3.html
new file mode 100644
index 0000000000..1859405aa7
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_pkt.3.html
@@ -0,0 +1,107 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_PKT</TITLE>
+</HEAD><BODY>
+<H1>XBEE_PKT</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_pkt
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+This is the packet structure. If you want to get more advanced information from connections (such as RSSI) then this is where it lives.
+<P>
+
+<PRE>
+struct xbee_pkt {
+ unsigned char frameID; /* AT Status */
+ unsigned char atCmd[2]; /* AT */
+ unsigned char status; /* AT Data Status */ /* status / options */
+ unsigned char Addr64[8]; /* AT Data */
+ unsigned char Addr16[2]; /* AT Data */
+ unsigned char data[128]; /* AT Data */
+ unsigned char RSSI; /* Data */
+ unsigned int datalen;
+
+ /* X A5 A4 A3 A2 A1 A0 D8 D7 D6 D5 D4 D3 D2 D1 D0 */
+ unsigned short IOmask; /* IO */
+
+ /* X X X X X X X D8 D7 D6 D5 D4 D3 D2 D1 D0 */
+ unsigned short IOdata; /* IO */
+
+ /* X X X X X D D D D D D D D D D D */
+ unsigned short IOanalog[6]; /* IO */
+};
+typedef struct xbee_pkt xbee_pkt;
+</PRE>
+
+
+<P>
+Most of these fields are fairly self explanatory, however some need attention brought to them
+and others need explaining. I will touch on the most important here:
+<DL COMPACT>
+<DT><B>atCmd</B>
+
+<DD>
+This is the 2 character identifier for the AT command response you just recieved.
+Of course if you didnt setup an AT connection, you should never see, or try to see data here.
+<DT><B>Addr64</B> and <B>Addr16</B>
+
+<DD>
+These contain the address of the XBee that you recieved the packet from. You should really know this
+because you setup the connection. However remote AT packets will contain both 16 and 64 bit
+addresses.
+<DT><B>data</B>
+
+<DD>
+This is the data you just recieved. Either the AT reponse, or the data from the remote XBee node.
+<DT><B>datalen</B>
+
+<DD>
+Would you be suprised if I told you this is how much data there is?... Dont try and
+<B>printf</B>()
+
+the
+<B>data</B>
+
+as it isn't null terminated. Use this for processing instead.
+
+
+</DL>
+<A NAME="lbAE"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAF"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">AUTHOR</A><DD>
+<DT><A HREF="#lbAF">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_senddata.3.html b/thirdParty/libxbee/doc/man/man3/xbee_senddata.3.html
new file mode 100644
index 0000000000..31baf1c73b
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_senddata.3.html
@@ -0,0 +1,129 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_SENDDATA</TITLE>
+</HEAD><BODY>
+<H1>XBEE_SENDDATA</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_senddata, xbee_vsenddata
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+<P>
+<B>int xbee_senddata(xbee_con *</B><I>con</I><B>, char *</B><I>format</I><B>, ...);</B>
+
+<P>
+<B>int xbee_nsenddata(xbee_con *</B><I>con</I><B>, char *</B><I>data</I><B>, int </B><I>length</I><B>);</B>
+
+<P>
+<B>#include <<A HREF="file:/usr/include/stdarg.h">stdarg.h</A>></B>
+
+<P>
+<B>int xbee_vsenddata(xbee_con *</B><I>con</I><B>, char *</B><I>format</I><B>, va_list </B><I>ap</I><B>);</B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+The
+<B>xbee_senddata</B>()
+
+function will send data via a provided connection.
+It takes at least 2 arguments, and possibly more depending on the format string.
+<P>
+The argument
+<I>con</I>
+
+points to a connection made previously with
+<B>xbee_newcon</B>().
+
+<P>
+The
+<I>format</I>
+
+string and any following parameters are passed to
+<B>sprintf</B>()
+
+within these functions.
+Please see the
+<B><A HREF="../man3/printf.3.html">printf</A></B>(3)
+
+man page for more information.
+<P>
+If you are using
+<B>xbee_nsenddata</B>()
+
+you must provide a character array of the data, and the data's length.
+<P>
+If you are using
+<B>xbee_vsenddata</B>()
+
+you must provide a va_list. See
+<B><A HREF="../man3/stdarg.3.html">stdarg</A></B>(3).
+
+<A NAME="lbAE"> </A>
+<H2>RETURN VALUE</H2>
+
+Upon successful completion, these functions return 0.
+<P>
+If an invalid packet or connection was provided, -1 is returned.
+<P>
+If an unknown error occured, -2 is returned.
+<P>
+If
+<I>con</I>
+
+has
+<I>waitforACK</I>
+
+enabled, then these functions return 1 when an ACK was not recieved within 1 second.
+<A NAME="lbAF"> </A>
+<H2>EXAMPLE</H2>
+
+To send the string "Hello World!" through a previously made connection:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+xbee_senddata(con,"Hello World!");
+</PRE>
+
+
+<A NAME="lbAG"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAH"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_setup.3.html">xbee_setup</A></B>(3),
+
+<B><A HREF="../man3/xbee_newcon.3.html">xbee_newcon</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">RETURN VALUE</A><DD>
+<DT><A HREF="#lbAF">EXAMPLE</A><DD>
+<DT><A HREF="#lbAG">AUTHOR</A><DD>
+<DT><A HREF="#lbAH">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_setup.3.html b/thirdParty/libxbee/doc/man/man3/xbee_setup.3.html
new file mode 100644
index 0000000000..5b69945a51
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_setup.3.html
@@ -0,0 +1,142 @@
+<HTML><HEAD><TITLE>Manpage of XBEE_SETUP</TITLE>
+</HEAD><BODY>
+<H1>XBEE_SETUP</H1>
+Section: Linux Programmer's Manual (3)<BR>Updated: 2009-11-01<BR><A HREF="#index">Index</A>
+<A HREF="../index.html">Return to Main Contents</A><HR>
+
+<A NAME="lbAB"> </A>
+<H2>NAME</H2>
+
+xbee_setup
+<A NAME="lbAC"> </A>
+<H2>SYNOPSIS</H2>
+
+<B>#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>></B>
+
+<P>
+<B>int xbee_setup(char *</B><I>path</I><B>, int </B><I>baudrate</I><B>);</B>
+
+<P>
+<B>int xbee_setuplog(char *</B><I>path</I><B>, int </B><I>baudrate</I><B>, int </B><I>logfd</I><B>);</B>
+
+<P>
+<B>int xbee_setupAPI(char *</B><I>path</I><B>, char </B><I>cmdSeq</I><B>, int </B><I>cmdTime</I><B>);</B>
+
+<P>
+<B>int xbee_setuplogAPI(char *</B><I>path</I><B>, int </B><I>baudrate</I><B>, int </B><I>logfd</I><B>, char </B><I>cmdSeq</I><B>, int </B><I>cmdTime</I><B>);</B>
+
+
+<A NAME="lbAD"> </A>
+<H2>DESCRIPTION</H2>
+
+<P>
+<B>A VERSION OF THIS FUNCTION MUST BE CALLED BEFORE ANY OTHER libxbee FUNCTION!</B>
+
+The
+<B>xbee_setup</B>()
+
+function will setup libxbee so that it can handle an XBee.
+It takes 2 arguments.
+<P>
+The argument
+<I>path</I>
+
+is the path to the serial port that the XBee is connected to (e.g. /dev/ttyUSB0).
+<P>
+The
+<I>baudrate</I>
+
+is the baud rate that the local XBee is configured to run at. The following are avaliable:
+
+<PRE>
+<B>1200</B>
+<B>2400</B>
+<B>4800</B>
+<B>9600</B>
+<B>19200</B>
+<B>38400</B>
+<B>57600</B>
+<B>115200</B> - this is potentially unstable (read the XBee manual to find out why...)
+</PRE>
+
+
+<P>
+Using
+<B>xbee_setuplog</B>()
+
+is exactly the same, but instead you give an open file descriptor. All log messages will be written to this file (you can use stderr or stdout if you want!).
+<P>
+Using
+<B>xbee_setupAPI</B>()
+
+is exactly the same, but instead you provide the 'Command Sequence' character and the 'Guard Time' that your local XBee has been configured with.
+libxbee will then place your XBee in API mode 2, and when you call xbee_end() it will return your XBee to its previous API mode.
+<P>
+Using
+<B>xbee_setuplogAPI</B>()
+
+is simply a combination of
+<B>xbee_setuplog</B>()
+
+and
+<B>xbee_setupAPI</B>()
+
+<A NAME="lbAE"> </A>
+<H2>RETURN VALUE</H2>
+
+If any error occures,
+<B>-1</B>
+
+is returned. Otherwise
+<B>0</B>
+
+is returned.
+<A NAME="lbAF"> </A>
+<H2>EXAMPLE</H2>
+
+To setup libxbee to use /dev/ttyUSB0 at 57600 baud:
+
+<PRE>
+#include <<A HREF="file:/usr/include/xbee.h">xbee.h</A>>
+if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ printf("Oh no...);
+ <A HREF="../man1/exit.1.html">exit</A>(1);
+}
+</PRE>
+
+
+<A NAME="lbAG"> </A>
+<H2>AUTHOR</H2>
+
+Attie Grande <<A HREF="mailto:attie@attie.co.uk">attie@attie.co.uk</A>>
+<A NAME="lbAH"> </A>
+<H2>SEE ALSO</H2>
+
+<B><A HREF="../man3/libxbee.3.html">libxbee</A></B>(3),
+
+<B><A HREF="../man3/xbee_newcon.3.html">xbee_newcon</A></B>(3),
+
+<B><A HREF="../man3/xbee_getpacket.3.html">xbee_getpacket</A></B>(3),
+
+<B><A HREF="../man3/xbee_senddata.3.html">xbee_senddata</A></B>(3)
+
+<P>
+
+<HR>
+<A NAME="index"> </A><H2>Index</H2>
+<DL>
+<DT><A HREF="#lbAB">NAME</A><DD>
+<DT><A HREF="#lbAC">SYNOPSIS</A><DD>
+<DT><A HREF="#lbAD">DESCRIPTION</A><DD>
+<DT><A HREF="#lbAE">RETURN VALUE</A><DD>
+<DT><A HREF="#lbAF">EXAMPLE</A><DD>
+<DT><A HREF="#lbAG">AUTHOR</A><DD>
+<DT><A HREF="#lbAH">SEE ALSO</A><DD>
+</DL>
+<HR>
+This document was created by
+<A HREF="http://localhost/cgi-bin/man/man2html">man2html</A>,
+using the manual pages.<BR>
+Time: 00:08:23 GMT, March 30, 2011
+</BODY>
+</HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_setupAPI.3.html b/thirdParty/libxbee/doc/man/man3/xbee_setupAPI.3.html
new file mode 100644
index 0000000000..158f1857c9
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_setupAPI.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_setupAPI.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_setuplog.3.html b/thirdParty/libxbee/doc/man/man3/xbee_setuplog.3.html
new file mode 100644
index 0000000000..16accc5713
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_setuplog.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_setuplog.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_setuplogAPI.3.html b/thirdParty/libxbee/doc/man/man3/xbee_setuplogAPI.3.html
new file mode 100644
index 0000000000..801cbfaf90
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_setuplogAPI.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_setuplogAPI.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/doc/man/man3/xbee_vsenddata.3.html b/thirdParty/libxbee/doc/man/man3/xbee_vsenddata.3.html
new file mode 100644
index 0000000000..5a9b7d948c
--- /dev/null
+++ b/thirdParty/libxbee/doc/man/man3/xbee_vsenddata.3.html
@@ -0,0 +1,4 @@
+<HTML><HEAD><TITLE>Invalid Manpage</TITLE></HEAD>
+<BODY>
+<H1>Invalid Manpage</H1>
+The requested file ./man/man3/xbee_vsenddata.3 is not a valid (unformatted) man page.</BODY></HTML>
diff --git a/thirdParty/libxbee/main.c b/thirdParty/libxbee/main.c
new file mode 100644
index 0000000000..7dcacafa7e
--- /dev/null
+++ b/thirdParty/libxbee/main.c
@@ -0,0 +1,229 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "xbee.h"
+
+int main(int argc, char *argv[]) {
+ xbee_con *con, *con2;
+ xbee_pkt *pkt, *p;
+
+ if (xbee_setuplog("/dev/ttyUSB0",57600,2) == -1) {
+ perror("xbee_setuplog()");
+ exit(1);
+ }
+ if (argc >= 2 && !strcmp(argv[1],"sleep")) {
+ for (;;) {
+ sleep(86400); /* sleep for a day... forever :) */
+ }
+ }
+
+ /*if ((con = xbee_newcon(NULL,'X',xbee_localAT)) == (void *)-1) {
+ printf("error creating connection...\n");
+ exit(1);
+ }
+
+ while(1){sleep(10);}
+
+ xbee_senddata(con,"CH%c",0x0C);
+ sleep(1);
+ xbee_senddata(con,"ID%c%c",0x33, 0x32);
+ sleep(1);
+ xbee_senddata(con,"DH%c%c%c%c",0x00,0x00,0x00,0x00);
+ sleep(1);
+ xbee_senddata(con,"DL%c%c%c%c",0x00,0x00,0x00,0x00);
+ sleep(1);
+ xbee_senddata(con,"MY%c%c",0x00,0x00);
+ sleep(1);
+ // SH - read only
+ // SL - read only
+ xbee_senddata(con,"RR%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"RN%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"MM%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"NT%c",0x19);
+ sleep(1);
+ xbee_senddata(con,"NO%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"CE%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"SC%c%c",0x1F,0xFE);
+ sleep(1);
+ xbee_senddata(con,"SD%c",0x04);
+ sleep(1);
+ xbee_senddata(con,"A1%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"A2%c",0x00);
+ sleep(1);
+ // AI - read only
+ xbee_senddata(con,"EE%c",0x00);
+ sleep(1);
+ //xbee_senddata(con,"KY%c",0x00);
+ //sleep(1);
+ xbee_senddata(con,"NI%s","TIGGER");
+ sleep(1);
+ xbee_senddata(con,"PL%c",0x04);
+ sleep(1);
+ xbee_senddata(con,"CA%c",0x2C);
+ sleep(1);
+ xbee_senddata(con,"SM%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"ST%c%c",0x13,0x88);
+ sleep(1);
+ xbee_senddata(con,"SP%c%c",0x00,0x00);
+ sleep(1);
+ xbee_senddata(con,"DP%c%c",0x03,0xE8);
+ sleep(1);
+ xbee_senddata(con,"SO%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"BD%c",0x06);
+ sleep(1);
+ xbee_senddata(con,"RO%c",0x03);
+ sleep(1);
+ xbee_senddata(con,"AP%c",0x02);
+ sleep(1);
+ xbee_senddata(con,"PR%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"D8%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"D7%c",0x01);
+ sleep(1);
+ xbee_senddata(con,"D6%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"D5%c",0x01);
+ sleep(1);
+ xbee_senddata(con,"D4%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"D3%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"D2%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"D1%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"D0%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"IU%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"IT%c",0x01);
+ sleep(1);
+ xbee_senddata(con,"IC%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"IR%c%c",0x00,0x00);
+ sleep(1);
+ xbee_senddata(con,"IA%c%c%c%c%c%c%c%c",0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF);
+ sleep(1);
+ xbee_senddata(con,"T0%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T1%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T2%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T3%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T4%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T5%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T6%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"T7%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"P0%c",0x01);
+ sleep(1);
+ xbee_senddata(con,"P1%c",0x00);
+ sleep(1);
+ xbee_senddata(con,"PT%c",0xFF);
+ sleep(1);
+ xbee_senddata(con,"RP%c",0x28);
+ sleep(1);
+ // VR - read only
+ // HV - read only
+ // DB - read only
+ // EC - read only
+ // EA - read only
+ // DD - read only
+ xbee_senddata(con,"CT%c",0x64);
+ sleep(1);
+ xbee_senddata(con,"GT%c%c",0x03,0xE8);
+ sleep(1);
+ xbee_senddata(con,"CC%c",0x2B);
+ sleep(1);
+
+ sleep(10);
+ */
+
+ /* test 64bit IO and Data */
+ con = xbee_newcon('I',xbee_64bitIO, 0x0013A200, 0x403af247);
+ con2 = xbee_newcon('I',xbee_64bitData, 0x0013A200, 0x403af247);
+
+ while (1) {
+ while ((pkt = xbee_getpacket(con)) != NULL) {
+ int i;
+ for (i = 0; i < pkt->samples; i++) {
+ int m;
+ for (m = 0; m <= 8; m++) {
+ if (xbee_hasdigital(pkt,i,m)) printf("D%d: %d ",m,xbee_getdigital(pkt,i,m));
+ }
+#define Vref 3.23
+ for (m = 0; m <= 5; m++) {
+ if (xbee_hasanalog(pkt,i,m)) printf("A%d: %.2fv ",m,xbee_getanalog(pkt,i,m,Vref));
+ }
+ printf("\n");
+ }
+ if (xbee_senddata(con2, "the time is %d\r", time(NULL))) {
+ printf("Error: xbee_senddata\n");
+ return 1;
+ }
+ free(pkt);
+ if (p) {
+ switch (p->status) {
+ case 0x01: printf("XBee: txStatus: No ACK\n"); break;
+ case 0x02: printf("XBee: txStatus: CCA Failure\n"); break;
+ case 0x03: printf("XBee: txStatus: Purged\n"); break;
+ }
+ free(p);
+ }
+ }
+ while ((pkt = xbee_getpacket(con2)) != NULL) {
+ printf("he said '%s'\n", pkt->data);
+ if (xbee_senddata(con2, "you said '%s'\r", pkt->data)) {
+ printf("Error: xbee_senddata\n");
+ return 1;
+ }
+ free(pkt);
+ if (p) {
+ switch (p->status) {
+ case 0x01: printf("XBee: txStatus: No ACK\n"); break;
+ case 0x02: printf("XBee: txStatus: CCA Failure\n"); break;
+ case 0x03: printf("XBee: txStatus: Purged\n"); break;
+ }
+ free(p);
+ }
+ }
+ usleep(100);
+ }
+
+ return 0;
+}
diff --git a/thirdParty/libxbee/man/man3/libxbee.3 b/thirdParty/libxbee/man/man3/libxbee.3
new file mode 100644
index 0000000000..6bcb978f6f
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/libxbee.3
@@ -0,0 +1,91 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH LIBXBEE 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+libxbee
+.SH DESCRIPTION
+libxbee is a C library to aid the use of Series 1 Digi XBee radios running in API mode (AP=2).
+.sp
+I have tried to keep flexibility to a maximum.
+By allowing connections to individual nodes to be created - you don't have to address each packet,
+or filter through incomming packets to get at the one you are after. This is all taken care of
+for you by
+.BR libxbee
+!
+.sp
+libxbee is still in development, so if you find any bugs or have any enhancement requests, please
+feel free to submit an issue on the project page:
+.in +4n
+.nf
+http://code.google.com/p/libxbee/
+.fi
+.in
+or contact me (Attie) directly:
+.in +4n
+.nf
+attie@attie.co.uk
+.fi
+.in
+.SH "MAN PAGES"
+Documentation is avaliable via the following man pages, or by example in the 'sample' folder in the SVN repository
+.in +4n
+.sp
+.BR xbee_pkt "(3) - libxbee's packet structure"
+.sp 0
+.BR xbee_con "(3) - libxbee's connection structure"
+.sp
+.BR xbee_setup "(3) - function to setup libxbee (and its variants)"
+.sp 0
+.BR xbee_end "(3) - function to end the libxbee session and close any open handles"
+.sp
+.BR xbee_logit "(3) - function that allows the user to add to the xbee log output"
+.sp
+.BR xbee_newcon "(3) - function to create a new connection"
+.sp 0
+.BR xbee_purgecon "(3) - function to purge packets from a connection"
+.sp 0
+.BR xbee_endcon "(3) - function to end a connection"
+.sp
+.BR xbee_senddata "(3) - function to send data to a remote XBee (and its variants)"
+.sp 0
+.BR xbee_getpacket "(3) - function to get a packet from a connection (and its variants)"
+.sp
+.BR xbee_hasdigital "(3) - function to check if digital sample is in the packet"
+.sp 0
+.BR xbee_getdigital "(3) - function to get digital sample from the packet"
+.sp
+.BR xbee_hasanalog "(3) - function to check if analog sample is in the packet"
+.sp 0
+.BR xbee_getanalog "(3) - function to get the analog sample from the packet"
+.fi
+.in
+.SH "SEE ALSO"
+.BR xbee_pkt (3),
+.BR xbee_con (3),
+.BR xbee_setup (3),
+.BR xbee_end (3),
+.BR xbee_logit (3),
+.BR xbee_newcon (3),
+.BR xbee_flushcon (3),
+.BR xbee_endcon (3),
+.BR xbee_senddata (3),
+.BR xbee_getpacket (3),
+.BR xbee_hasdigital (3),
+.BR xbee_getdigital (3),
+.BR xbee_hasanalog (3),
+.BR xbee_getanalog (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_con.3 b/thirdParty/libxbee/man/man3/xbee_con.3
new file mode 100644
index 0000000000..37e7705044
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_con.3
@@ -0,0 +1,22 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH LIBXBEE 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+libxbee
+.sp
+This page has not been written yet...
diff --git a/thirdParty/libxbee/man/man3/xbee_end.3 b/thirdParty/libxbee/man/man3/xbee_end.3
new file mode 100644
index 0000000000..5fd1de5127
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_end.3
@@ -0,0 +1,23 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH LIBXBEE 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+libxbee
+.sp
+This page has not been written yet...
+
diff --git a/thirdParty/libxbee/man/man3/xbee_endcon.3 b/thirdParty/libxbee/man/man3/xbee_endcon.3
new file mode 100644
index 0000000000..e64ccedb26
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_endcon.3
@@ -0,0 +1 @@
+.so man3/xbee_newcon.3
diff --git a/thirdParty/libxbee/man/man3/xbee_flushcon.3 b/thirdParty/libxbee/man/man3/xbee_flushcon.3
new file mode 100644
index 0000000000..e64ccedb26
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_flushcon.3
@@ -0,0 +1 @@
+.so man3/xbee_newcon.3
diff --git a/thirdParty/libxbee/man/man3/xbee_getanalog.3 b/thirdParty/libxbee/man/man3/xbee_getanalog.3
new file mode 100644
index 0000000000..f7bc1d0c72
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_getanalog.3
@@ -0,0 +1,96 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_GETPACKET 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_hasanalog, xbee_getanalog
+.SH SYNOPSIS
+.B #include <xbee.h>
+.sp
+.BI "int xbee_hasanalog(xbee_pkt *" pkt ", int " sample ", int " input ");"
+.sp
+.BI "double xbee_getanalog(xbee_pkt *" pkt ", int " sample ", int " input ", double " Vref ");"
+.ad b
+.SH DESCRIPTION
+The
+.BR xbee_hasanalog ()
+function will check the packet for the presence of an analog sample on the specified input.
+.sp
+The
+.BR xbee_getanalog ()
+function will read the packet and return the sample value for the specified analog input.
+.sp
+They both take 3 arguments, with the same purposes.
+.sp
+The argument
+.I pkt
+points to a packet that was previously retrieved with
+.BR xbee_getpacket ()
+.sp
+The argument
+.I sample
+selects the sample within the packet to use.
+.sp
+The argument
+.I input
+specifies which input you are interested in testing.
+.sp
+.BR xbee_getanalog ()
+also takes a fourth argument that allows you to provide a
+.I Vref
+value. This allows the function to convert the raw ADC value into a voltage for you.
+.SH "RETURN VALUE"
+The
+.BR xbee_hasanalog ()
+function will return
+.B 1
+if the provided packet has sample data for the specified input, otherwise
+.BR 0 .
+.sp
+The
+.BR xbee_getanalog ()
+function will return the raw ADC value (0 - 1023) if the provided packet has sample data for the specified input and Vref was given as zero.
+If Vref was non-zero, then the return value will be the voltage read.
+A
+.B -1
+will be returned if the packet does not contain sample data.
+.sp
+.SH EXAMPLE
+To read sample data from previously made connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_pkt *pkt;
+double Vref = 3.3;
+if ((pkt = xbee_getpacket(con)) != NULL) {
+ if (xbee_hasanalog(pkt,0,0)) {
+ printf("A0 read %fv\\n",xbee_getanalog(pkt,0,0,Vref));
+ } else {
+ printf("No A0 data\\n");
+ }
+ free(pkt);
+}
+.fi
+.in
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_pkt (3),
+.BR xbee_getpacket (3),
+.BR xbee_hasdigital (3),
+.BR xbee_getdigital (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_getdigital.3 b/thirdParty/libxbee/man/man3/xbee_getdigital.3
new file mode 100644
index 0000000000..4a0af65b50
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_getdigital.3
@@ -0,0 +1,91 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_GETPACKET 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_hasdigital, xbee_getdigital
+.SH SYNOPSIS
+.B #include <xbee.h>
+.sp
+.BI "int xbee_hasdigital(xbee_pkt *" pkt ", int " sample ", int " input ");"
+.sp
+.BI "int xbee_getdigital(xbee_pkt *" pkt ", int " sample ", int " input ");"
+.ad b
+.SH DESCRIPTION
+The
+.BR xbee_hasdigital ()
+function will check the packet for the presence of a given sample on the specified input.
+.sp
+The
+.BR xbee_getdigital ()
+function will read the packet and return the sample value for the specified input.
+.sp
+They both take 3 arguments, with the same purposes.
+.sp
+The argument
+.I pkt
+points to a packet that was previously retrieved with
+.BR xbee_getpacket ()
+.sp
+The argument
+.I sample
+selects the sample within the packet to use.
+.sp
+The argument
+.I input
+specifies which input you are interested in testing.
+.SH "RETURN VALUE"
+The
+.BR xbee_hasdigital ()
+function will return
+.B 1
+if the provided packet has sample data for the specified input, otherwise
+.BR 0 .
+.sp
+The
+.BR xbee_getdigital ()
+function will return
+.B 1
+if the provided packet has sample data for the specified input and the sample was HIGH.
+A
+.B 0
+will be returned if the sample was LOW, or the packet does not contain sample data.
+.sp
+.SH EXAMPLE
+To read sample data from previously made connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_pkt *pkt;
+if ((pkt = xbee_getpacket(con)) != NULL) {
+ if (xbee_hasdigital(pkt,0,0)) {
+ printf("D0 read %d\n",xbee_getdigital(pkt,0));
+ } else {
+ printf("No D0 data\n");
+ }
+ free(pkt);
+}
+.fi
+.in
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_pkt (3),
+.BR xbee_getpacket (3),
+.BR xbee_hasanalog (3),
+.BR xbee_getanalog (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_getpacket.3 b/thirdParty/libxbee/man/man3/xbee_getpacket.3
new file mode 100644
index 0000000000..a458e49602
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_getpacket.3
@@ -0,0 +1,88 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_GETPACKET 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_getpacket, xbee_getpacketwait
+.SH SYNOPSIS
+.B #include <xbee.h>
+.sp
+.BI "xbee_pkt *xbee_getpacket(xbee_con *" con ");"
+.sp
+.BI "xbee_pkt *xbee_getpacketwait(xbee_con *" con ");"
+.ad b
+.SH DESCRIPTION
+The
+.BR xbee_getpacket ()
+function will return the next avaliable packet for the provided connection.
+It takes 1 argument.
+.sp
+The argument
+.I con
+points to a connection made previously with
+.BR xbee_newcon ().
+.sp
+The
+.BR xbee_getpacketwait ()
+function behaves the same, but will wait for an internally specified time for a packet to arrive (currently around 1 second).
+.SH "RETURN VALUE"
+Upon successful return, this function returns the packet, having unlinked it from the internal list.
+You must keep hold of the packet until you are finished with it, and then you must
+.BR free ()
+it to prevent memory leaks.
+.sp
+If a packet was not avaliable for the provided connection, a
+.B NULL
+is returned.
+.sp
+If an error occured a
+.B NULL
+is also returned (though unlikely).
+.sp
+For more information on the structure of the packet, please see
+.BR xbee_pkt (3)
+.sp
+For information on using callback functions with connections instead, please see
+.BR xbee_con (3)
+or
+.B callback.c
+in the SVN sample directory.
+.SH EXAMPLE
+To recieve a packet from a previously made connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_pkt *pkt;
+if ((pkt = xbee_getpacket(con)) != NULL) {
+ /* process packet... */
+ free(pkt);
+}
+.fi
+.in
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_setup (3),
+.BR xbee_newcon (3),
+.BR xbee_senddata (3),
+.BR xbee_pkt (3),
+.BR xbee_con (3),
+.BR xbee_hasDigital (3),
+.BR xbee_getDigital (3),
+.BR xbee_hasAnalog (3),
+.BR xbee_getAnalog (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_hasanalog.3 b/thirdParty/libxbee/man/man3/xbee_hasanalog.3
new file mode 100644
index 0000000000..402a3f266f
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_hasanalog.3
@@ -0,0 +1 @@
+.so man3/xbee_getanalog.3
diff --git a/thirdParty/libxbee/man/man3/xbee_hasdigital.3 b/thirdParty/libxbee/man/man3/xbee_hasdigital.3
new file mode 100644
index 0000000000..5557111123
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_hasdigital.3
@@ -0,0 +1 @@
+.so man3/xbee_getdigital.3
diff --git a/thirdParty/libxbee/man/man3/xbee_logit.3 b/thirdParty/libxbee/man/man3/xbee_logit.3
new file mode 100644
index 0000000000..5fd1de5127
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_logit.3
@@ -0,0 +1,23 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH LIBXBEE 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+libxbee
+.sp
+This page has not been written yet...
+
diff --git a/thirdParty/libxbee/man/man3/xbee_newcon.3 b/thirdParty/libxbee/man/man3/xbee_newcon.3
new file mode 100644
index 0000000000..2ec511278d
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_newcon.3
@@ -0,0 +1,152 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_NEWCON 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_newcon, xbee_purgecon, xbee_endcon
+.SH SYNOPSIS
+.B #include <xbee.h>
+.sp
+.BI "xbee_con *xbee_newcon(unsigned char " frameID ", xbee_types " type ", ...);"
+.sp
+.BI "void xbee_purgecon(xbee_con *" con ");"
+.sp
+.BI "void xbee_endcon(xbee_con *" con ");"
+.ad b
+.SH DESCRIPTION
+The
+.BR xbee_newcon ()
+function will setup a new connection with the specified settings.
+It takes at least 2 arguments, and potentially up to 4 depending on the
+.I type.
+.sp
+.B NOTE:
+Packets will only be collected when they match an active connection.
+You must setup a connection in order to recieve packets.
+.sp
+The argument
+.I frameID
+allows similar functionality to that of TCP/IP port numbers. This is 1
+.I unsigned char
+(or 8-bit integer) that identifies where the data is coming from or going to.
+.s
+The
+.I type
+specifies the type of connection you would like. The following types are avaliable:
+.TP
+.B xbee_localAT
+communicates AT commands with the local XBee
+.TP
+.B xbee_txStatus
+recieves transmit status information from the local XBee
+.TP
+.B xbee_modemStatus
+recieves modem status information from the local XBee
+.TP
+.B xbee_16bitRemoteAT
+communicates AT commands with a remote node (using 16-bit addressing)
+.TP
+.B xbee_64bitRemoteAT
+communicates AT commands with a remote node (using 64-bit addressing)
+.TP
+.B xbee_16bitData
+sends/recieves data through a remote node (using 16-bit addressing)
+.TP
+.B xbee_64bitData
+sends/recieves data through a remote node (using 64-bit addressing)
+.TP
+.B xbee_16bitIO
+sends/recieves I/O data through a remote node (using 16-bit addressing)
+.TP
+.B xbee_64bitIO
+sends/recieves I/O data through a remote node (using 64-bit addressing)
+.TP
+.B xbee2_data
+sends/recieves data using a Series 2 XBee (uses 64-bit addressing)
+.TP
+.B xbee2_txStatus
+recieves transmit status information from the local Series 2 XBee
+.PP
+If you are using
+.BR xbee_localAT ", " xbee_txStatus ", " xbee2_txStatus " or " xbee_modemStatus
+then only the
+.I frameID
+and
+.I type
+arguments are required.
+.sp
+If you are using any 16-bit connection, you must also specify 1 right aligned integer,
+containing the 16-bit address (e.g. 0x1234).
+.sp
+If you are using any 64-bit connection, you must also specify 2 integers containing the
+64-bit address, first the high 32-bits, then the low 32-bits.
+.sp
+The
+.BR xbee_purgecon ()
+function is very basic. It removes any packets that have been collected in the buffer for the specified connection.
+.sp
+The
+.BR xbee_endcon ()
+function is used to end a connection. This will stop collecting packets for the given connection, and remove any packets from the buffer.
+.SH "RETURN VALUE"
+A pointer to the connection is returned. A connection can only be made once, using the same
+.I type
+,
+.I frameID
+and address (if needed). The second call using the same parameters will return the same
+connection.
+.sp
+For information on using callback functions for packet handling please see
+.BR xbee_con (3)
+or
+.B callback.c
+in the SVN sample directory.
+.SH EXAMPLE
+To create a local AT connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_con *con;
+con = xbee_newcon('A', xbee_localAT);
+.fi
+.in
+.sp
+To create a 16-bit Data connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_con *con;
+con = xbee_newcon('A', xbee_16bitData, 0x1234);
+.fi
+.in
+.sp
+To create a 64-bit Data connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_con *con;
+con = xbee_newcon('A', xbee_64bitData, 0x0013A200, 0x40081826);
+.fi
+.in
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_setup (3),
+.BR xbee_getpacket (3),
+.BR xbee_con (3),
+.BR xbee_senddata (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_nsenddata.3 b/thirdParty/libxbee/man/man3/xbee_nsenddata.3
new file mode 100644
index 0000000000..b36885d854
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_nsenddata.3
@@ -0,0 +1 @@
+.so man3/xbee_senddata.3
diff --git a/thirdParty/libxbee/man/man3/xbee_pkt.3 b/thirdParty/libxbee/man/man3/xbee_pkt.3
new file mode 100644
index 0000000000..d5e269c13c
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_pkt.3
@@ -0,0 +1,79 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_PKT 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_pkt
+.SH SYNOPSIS
+.B #include <xbee.h>
+.ad b
+.SH DESCRIPTION
+This is the packet structure. If you want to get more advanced information from connections (such as RSSI) then this is where it lives.
+.sp
+.in +4n
+.nf
+struct xbee_pkt {
+ unsigned char frameID; /* AT Status */
+ unsigned char atCmd[2]; /* AT */
+ unsigned char status; /* AT Data Status */ /* status / options */
+ unsigned char Addr64[8]; /* AT Data */
+ unsigned char Addr16[2]; /* AT Data */
+ unsigned char data[128]; /* AT Data */
+ unsigned char RSSI; /* Data */
+ unsigned int datalen;
+
+ /* X A5 A4 A3 A2 A1 A0 D8 D7 D6 D5 D4 D3 D2 D1 D0 */
+ unsigned short IOmask; /* IO */
+
+ /* X X X X X X X D8 D7 D6 D5 D4 D3 D2 D1 D0 */
+ unsigned short IOdata; /* IO */
+
+ /* X X X X X D D D D D D D D D D D */
+ unsigned short IOanalog[6]; /* IO */
+};
+typedef struct xbee_pkt xbee_pkt;
+.fi
+.in
+.sp
+Most of these fields are fairly self explanatory, however some need attention brought to them
+and others need explaining. I will touch on the most important here:
+.TP
+.B atCmd
+This is the 2 character identifier for the AT command response you just recieved.
+Of course if you didnt setup an AT connection, you should never see, or try to see data here.
+.TP
+.BR Addr64 " and " Addr16
+These contain the address of the XBee that you recieved the packet from. You should really know this
+because you setup the connection. However remote AT packets will contain both 16 and 64 bit
+addresses.
+.TP
+.B data
+This is the data you just recieved. Either the AT reponse, or the data from the remote XBee node.
+.TP
+.B datalen
+Would you be suprised if I told you this is how much data there is?... Dont try and
+.BR printf ()
+the
+.B data
+as it isn't null terminated. Use this for processing instead.
+.fi
+.in
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_getpacket (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_purgecon.3 b/thirdParty/libxbee/man/man3/xbee_purgecon.3
new file mode 100644
index 0000000000..e64ccedb26
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_purgecon.3
@@ -0,0 +1 @@
+.so man3/xbee_newcon.3
diff --git a/thirdParty/libxbee/man/man3/xbee_senddata.3 b/thirdParty/libxbee/man/man3/xbee_senddata.3
new file mode 100644
index 0000000000..10296bb8c1
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_senddata.3
@@ -0,0 +1,86 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_SENDDATA 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_senddata, xbee_nsenddata, xbee_vsenddata
+.SH SYNOPSIS
+.B #include <xbee.h>
+.sp
+.BI "int xbee_senddata(xbee_con *" con ", char *" format ", ...);"
+.sp
+.BI "int xbee_nsenddata(xbee_con *" con ", char *" data ", int " length ");"
+.sp
+.B #include <stdarg.h>
+.sp
+.BI "int xbee_vsenddata(xbee_con *" con ", char *" format ", va_list " ap ");
+.ad b
+.SH DESCRIPTION
+The
+.BR xbee_senddata ()
+function will send data via a provided connection.
+It takes at least 2 arguments, and possibly more depending on the format string.
+.sp
+The argument
+.I con
+points to a connection made previously with
+.BR xbee_newcon ().
+.sp
+The
+.I format
+string and any following parameters are passed to
+.BR snprintf ()
+within these functions.
+Please see the
+.BR printf (3)
+man page for more information.
+.sp
+If you are using
+.BR xbee_nsenddata ()
+you must provide a character array of the data, and the data's length.
+.sp
+If you are using
+.BR xbee_vsenddata ()
+you must provide a va_list. See
+.BR stdarg (3).
+.SH "RETURN VALUE"
+Upon successful completion, these functions return 0.
+.sp
+If an invalid packet or connection was provided, -1 is returned.
+.sp
+If an unknown error occured, -2 is returned.
+.sp
+If
+.I con
+has
+.I waitforACK
+enabled, then these functions return 1 when an ACK was not recieved within 1 second.
+.SH EXAMPLE
+To send the string "Hello World!" through a previously made connection:
+.in +4n
+.nf
+#include <xbee.h>
+xbee_senddata(con,"Hello World!");
+.fi
+.in
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_setup (3),
+.BR xbee_newcon (3),
+.BR xbee_getpacket (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_setup.3 b/thirdParty/libxbee/man/man3/xbee_setup.3
new file mode 100644
index 0000000000..2628c46f71
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_setup.3
@@ -0,0 +1,108 @@
+.\" libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+.\" running in API mode (AP=2).
+.\"
+.\" Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+.\"
+.\" This program is free software: you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation, either version 3 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful,
+.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+.\" GNU General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License
+.\" along with this program. If not, see <http://www.gnu.org/licenses/>.
+.TH XBEE_SETUP 3 2009-11-01 "GNU" "Linux Programmer's Manual"
+.SH NAME
+xbee_setup, xbee_setuplog, xbee_setupAPI, xbee_setuplogAPI
+.SH SYNOPSIS
+.B #include <xbee.h>
+.sp
+.BI "int xbee_setup(char *" path ", int " baudrate ");"
+.sp
+.BI "int xbee_setuplog(char *" path ", int " baudrate ", int " logfd ");"
+.sp
+.BI "int xbee_setupAPI(char *" path ", int " baudrate ", char " cmdSeq ", int " cmdTime ");"
+.sp
+.BI "int xbee_setuplogAPI(char *" path ", int " baudrate ", int " logfd ", char " cmdSeq ", int " cmdTime ");"
+.ad b
+.SH DESCRIPTION
+.sp
+.B A VERSION OF THIS FUNCTION MUST BE CALLED BEFORE ANY OTHER libxbee FUNCTION!
+The
+.BR xbee_setup ()
+function will setup libxbee so that it can handle an XBee.
+It takes 2 arguments.
+.sp
+The argument
+.I path
+is the path to the serial port that the XBee is connected to (e.g. /dev/ttyUSB0).
+.sp
+The
+.I baudrate
+is the baud rate that the local XBee is configured to run at. The following are avaliable:
+.in +2n
+.nf
+.B 1200
+.B 2400
+.B 4800
+.B 9600
+.B 19200
+.B 38400
+.B 57600
+.BR 115200 " - this is potentially unstable (read the XBee manual to find out why...)"
+.fi
+.in
+.sp
+Using
+.BR xbee_setuplog ()
+is exactly the same, but instead you give an open file descriptor. All log messages will be written to this file (you can use stderr or stdout if you want!). NOTE: The file descriptor is
+.BR dup ()'ed
+before use, so you may close it immediately. Providing a value of
+.B 0
+will disable the log output.
+.sp
+Using
+.BR xbee_setupAPI ()
+is exactly the same, but instead you provide the 'Command Sequence' character and the 'Guard Time' that your local XBee has been configured with.
+libxbee will then place your XBee in API mode 2, and when you call
+.BR xbee_end ()
+it will return your XBee to its previous API mode.
+.sp
+Using
+.BR xbee_setuplogAPI ()
+is simply a combination of
+.BR xbee_setuplog ()
+and
+.BR xbee_setupAPI ()
+.SH "RETURN VALUE"
+If any error occures,
+.B -1
+is returned. Otherwise
+.B 0
+is returned.
+.SH EXAMPLE
+To setup libxbee to use /dev/ttyUSB0 at 57600 baud:
+.in +4n
+.nf
+#include <xbee.h>
+if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ printf("Oh no...\n");
+ exit(1);
+}
+.fi
+.in
+.SH NOTE
+If libxbee is compiled with
+.B DEBUG
+defined, then the log output will ALWAYS be enabled. If no file descriptor is provided, then stderr will be used.
+.SH AUTHOR
+Attie Grande <attie@attie.co.uk>
+.SH "SEE ALSO"
+.BR libxbee (3),
+.BR xbee_newcon (3),
+.BR xbee_getpacket (3),
+.BR xbee_senddata (3)
diff --git a/thirdParty/libxbee/man/man3/xbee_setupAPI.3 b/thirdParty/libxbee/man/man3/xbee_setupAPI.3
new file mode 100644
index 0000000000..56a5fcac56
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_setupAPI.3
@@ -0,0 +1 @@
+.so man3/xbee_setup.3
diff --git a/thirdParty/libxbee/man/man3/xbee_setuplog.3 b/thirdParty/libxbee/man/man3/xbee_setuplog.3
new file mode 100644
index 0000000000..56a5fcac56
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_setuplog.3
@@ -0,0 +1 @@
+.so man3/xbee_setup.3
diff --git a/thirdParty/libxbee/man/man3/xbee_setuplogAPI.3 b/thirdParty/libxbee/man/man3/xbee_setuplogAPI.3
new file mode 100644
index 0000000000..56a5fcac56
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_setuplogAPI.3
@@ -0,0 +1 @@
+.so man3/xbee_setup.3
diff --git a/thirdParty/libxbee/man/man3/xbee_vsenddata.3 b/thirdParty/libxbee/man/man3/xbee_vsenddata.3
new file mode 100644
index 0000000000..b36885d854
--- /dev/null
+++ b/thirdParty/libxbee/man/man3/xbee_vsenddata.3
@@ -0,0 +1 @@
+.so man3/xbee_senddata.3
diff --git a/thirdParty/libxbee/notes/Notepad++ Style.xml b/thirdParty/libxbee/notes/Notepad++ Style.xml
new file mode 100644
index 0000000000..5e56ab9ce3
--- /dev/null
+++ b/thirdParty/libxbee/notes/Notepad++ Style.xml
@@ -0,0 +1,36 @@
+<NotepadPlus>
+ <UserLang name="libxbee" ext="xbl">
+ <Settings>
+ <Global caseIgnored="no" />
+ <TreatAsSymbol comment="no" commentLine="no" />
+ <Prefix words1="no" words2="no" words3="no" words4="no" />
+ </Settings>
+ <KeywordLists>
+ <Keywords name="Delimiters">000000</Keywords>
+ <Keywords name="Folder+"></Keywords>
+ <Keywords name="Folder-"></Keywords>
+ <Keywords name="Operators"></Keywords>
+ <Keywords name="Comment"></Keywords>
+ <Keywords name="Words1">_xbee_nsenddata(): xbee_send_pkt():</Keywords>
+ <Keywords name="Words2">xbee_listen():</Keywords>
+ <Keywords name="Words3">_xbee_logit():</Keywords>
+ <Keywords name="Words4">_xbee_getpacket():</Keywords>
+ </KeywordLists>
+ <Styles>
+ <WordsStyle name="DEFAULT" styleID="11" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="FOLDEROPEN" styleID="12" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="FOLDERCLOSE" styleID="13" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="KEYWORD1" styleID="5" fgColor="000000" bgColor="D1FFC8" fontStyle="0" />
+ <WordsStyle name="KEYWORD2" styleID="6" fgColor="000000" bgColor="FFDBDB" fontStyle="0" />
+ <WordsStyle name="KEYWORD3" styleID="7" fgColor="000000" bgColor="C7D0FE" fontStyle="0" />
+ <WordsStyle name="KEYWORD4" styleID="8" fgColor="000000" bgColor="FFC1C1" fontStyle="0" />
+ <WordsStyle name="COMMENT" styleID="1" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="COMMENT LINE" styleID="2" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="NUMBER" styleID="4" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="OPERATOR" styleID="10" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="DELIMINER1" styleID="14" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="DELIMINER2" styleID="15" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ <WordsStyle name="DELIMINER3" styleID="16" fgColor="000000" bgColor="FFFFFF" fontStyle="0" />
+ </Styles>
+ </UserLang>
+</NotepadPlus>
diff --git a/thirdParty/libxbee/notes/v1-v2.txt b/thirdParty/libxbee/notes/v1-v2.txt
new file mode 100644
index 0000000000..cb2e1c923d
--- /dev/null
+++ b/thirdParty/libxbee/notes/v1-v2.txt
@@ -0,0 +1,29 @@
+XBee
+0x8A* Modem Status
+0x08* AT Command
+0x09* AT Command (Queue)
+0x88* AT Command Response
+0x17* Remote AT Command Request
+0x97* Remote AT Command Response
+0x00* Tx Request (64-bit)
+0x01* Tx Request (16-bit)
+0x89* Tx Status
+0x80* Rx Data (64-bit)
+0x81* Rx Data (16-bit)
+
+XBee 2.5
+0x8A* Modem Status
+0x08* AT Command
+0x09* AT Command (Queue)
+0x88* AT Command Response
+0x17* Remote AT Command Request
+0x97* Remote AT Command Response
+0x10* ZigBee Transmit Request
+0x11 Explicit Addressing ZigBee Command Frame
+0x8B* ZigBee Transmit Status
+0x90* ZigBee Recieve Packet
+0x91 ZigBee Explicit Rx
+0x92 ZigBee IO Data Sample Rx
+0x94 Xbee Sensor Read
+0x95 Node Identification
+
diff --git a/thirdParty/libxbee/pdf/api.c.pdf b/thirdParty/libxbee/pdf/api.c.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc8c75af3cb7130fa8716de8a733fd3a3fe13ba3
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zdNzW=tmr>98+z9MUpREm0cZOMlxRswPn4~TJKF^^zwDuZ|2ZAm|0;QW+>zD*Fc2yL
zIA8vLJU{_{eqMf{HSi}52IEJUKIae6`6mtSxd6Jt`5O%k6NI5loqy1vLg+H;?=&#@
zyz2Wq4Js&r-pBt=g9$<Ypb0?*(Dyg~&L_kxgswyWLE{tn!>$lN?;k!3@%~AJ3H_U~
z2?_ln3*+Pe!v<6k_J_{`eCV^xKm7v>pfl$mK7)n+puq(GjDZ0E`ElUyvM_W2|49>q
z2>cT_Fgm1v(geW2;f8WY*f}EI(FY44NZZa2iOvlm`V8iRJ~^G&u|SZbv$YHGJnhkk
zFhv=lu_&J$A5@Z8PzEd{BqPfYmEjeT<bw&y!33oQ1mvJFS@{2*!}Pq~_dp@sQ5Ok`
Qo)!EM05h|!x*XvD0H!RWi~s-t
literal 0
HcmV?d00001
diff --git a/thirdParty/libxbee/sample/README b/thirdParty/libxbee/sample/README
new file mode 100644
index 0000000000..3610d03469
--- /dev/null
+++ b/thirdParty/libxbee/sample/README
@@ -0,0 +1,12 @@
+To use these samples, you must first install libxbee.
+To install, simply type `make install` and provide the root password.
+
+If you cannot install the library for any reason, follow these instructions:
+ http://code.google.com/p/libxbee/wiki/install_libxbee#But_I_can't_install_it!
+
+The compile line can be found at the top of the source files, surrounded by #ifdef
+and #endif. These allow us to run the source file as a shell script. Simply type
+`sh simple.c` to compile the simple sample.
+If you do not have the library installed, you must edit the compile line, or type
+it by hand.
+ gcc <sample_file>.c ../obj/api.o -o <sample_file> -lpthread -lrt
diff --git a/thirdParty/libxbee/sample/analog.c b/thirdParty/libxbee/sample/analog.c
new file mode 100644
index 0000000000..84069e39a2
--- /dev/null
+++ b/thirdParty/libxbee/sample/analog.c
@@ -0,0 +1,71 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will output the voltage read from analog 0 */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <xbee.h>
+
+/* set this to the voltage measured between GND and Vref - 3.3 is a good place to start */
+#define Vref 3.3
+
+int main(int argc, char *argv[]) {
+ xbee_con *con;
+ xbee_pkt *pkt;
+ int i;
+
+ /* setup libxbee */
+ if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ return 1;
+ }
+
+ /* get a connection to the remote XBee */
+ con = xbee_newcon('I',xbee_64bitIO, 0x13A200, 0x403CB26A);
+ /* do this forever! */
+ while (1) {
+ /* get as many packets as we can */
+ while ((pkt = xbee_getpacket(con)) != NULL) {
+ for (i = 0; i < pkt->samples; i++) {
+ /* did we get a value for A0? */
+ if (!xbee_hasanalog(pkt,i,0)) {
+ /* there was no data for A0 in the packet */
+ printf("A0: -- No Data --\n");
+ continue;
+ }
+ /* print out the reading in raw, and adjusted */
+ printf("A0: %.0f (~%.2fv)\n",
+ xbee_getanalog(pkt,i,0,0),
+ xbee_getanalog(pkt,i,0,Vref));
+ fflush(stdout);
+ }
+ /* release the packet */
+ free(pkt);
+ }
+ usleep(100);
+ }
+
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/api.c b/thirdParty/libxbee/sample/api.c
new file mode 100644
index 0000000000..cff70bf1ae
--- /dev/null
+++ b/thirdParty/libxbee/sample/api.c
@@ -0,0 +1,42 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee -g
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will show you how to seup the xbee and ensure that it is in API mode */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <xbee.h>
+
+int main(int argc, char *argv[]) {
+ /* the extra arguments are the CC ('+' by default) and GT (1000) by default AT values */
+ xbee_setuplogAPI("/dev/ttyUSB0",57600,2,'+',1000);
+
+ /* now we can do our stuff! */
+ sleep(10);
+
+ /* calling xbee_end() will return the xbee to its previous API mode */
+ xbee_end();
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/atis.c b/thirdParty/libxbee/sample/atis.c
new file mode 100644
index 0000000000..66946f1848
--- /dev/null
+++ b/thirdParty/libxbee/sample/atis.c
@@ -0,0 +1,81 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will output the voltage read from analog 0 */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <xbee.h>
+
+/* set this to the voltage measured between GND and Vref - 3.3 is a good place to start */
+#define Vref 3.3
+
+int main(int argc, char *argv[]) {
+ xbee_con *con;
+ xbee_pkt *pkt;
+
+ /* setup libxbee */
+ if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ printf("xbee_setup failed...\n");
+ return 1;
+ }
+
+ /* create an AT connection */
+ con = xbee_newcon('I',xbee_64bitRemoteAT,0x13A200,0x403CB26A);
+
+ /* do this forever! */
+ for (;;) {
+ /* request samples now! */
+ xbee_senddata(con,"IS");
+ /* get as many packets as we can */
+ while ((pkt = xbee_getpacketwait(con)) != NULL) {
+ if (pkt) {
+ if (pkt->status != 0x00) {
+ /* if the return status was not 0x00 (OK) then the request failed... */
+ printf("Sample A0: -- Request Failed --\n");
+ } else {
+ if (!xbee_hasanalog(pkt,0,0)) {
+ /* there was no data for A0 in the packet */
+ printf("Sample A0: -- No Data --\n");
+ } else {
+ /* it appears that there is sample data for A0! */
+ printf("Sample A0: %.0f (~%.2fv)\n",
+ xbee_getanalog(pkt,0,0,0),
+ xbee_getanalog(pkt,0,0,Vref));
+ }
+ }
+ /* dont forget to free the packet! */
+ free(pkt);
+ } else {
+ /* couldnt get a packet */
+ printf("Sample A0: -- No Packet Returned --\n");
+ }
+ }
+ /* wait a second for the next sample */
+ sleep(1);
+ }
+
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/atsetup.c b/thirdParty/libxbee/sample/atsetup.c
new file mode 100644
index 0000000000..13afbe4169
--- /dev/null
+++ b/thirdParty/libxbee/sample/atsetup.c
@@ -0,0 +1,157 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will setup certain AT parameters of the local XBee unit */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <xbee.h>
+
+/* con = connection to use
+ cmd = 2 character command string, eg NI
+ parameter = NULL - no parameter
+ !NULL - command parameter, either NULL terminated string, or block of memory
+ length = 0 - use parameter as NULL terminated string
+ !0 - use 'length' bytes from parameter
+ ret = NULL - don't return anything
+ !NULL - pointer to pointer. doAT will allocate memory, you must free it!
+ str = return data pointer
+
+ returns the length of the data in ret, or -ve for error */
+int doAT(xbee_con *con, char *cmd, char *parameter, int length, unsigned char **ret) {
+ xbee_pkt *pkt;
+ if (con->type != xbee_localAT && con->type != xbee_16bitRemoteAT && con->type != xbee_64bitRemoteAT) {
+ printf("Thats not an AT connection!...\n");
+ return -1;
+ }
+ if (strlen(cmd) != 2) {
+ printf("Invalid command: \"%s\"\n",cmd);
+ return -2;
+ }
+ if (parameter == NULL) {
+ xbee_senddata(con,"%s",cmd);
+ } else if (length != 0) {
+ char *tmp;
+ if ((tmp = malloc(1024)) == NULL) {
+ printf("Failed to get memory!\n");
+ return -3;
+ }
+ snprintf(tmp,1024,"%s",cmd);
+ memcpy(&(tmp[2]),parameter,(length>1022)?1022:length);
+ xbee_nsenddata(con,tmp,length+2);
+ free(tmp);
+ } else {
+ xbee_senddata(con,"%s%s",cmd,parameter);
+ }
+ pkt = xbee_getpacketwait(con);
+ if (pkt == NULL) {
+ printf("Failed to set %s!\n",cmd);
+ return -4;
+ }
+ if (pkt->status != 0) {
+ printf("An error occured while setting %s!\n",cmd);
+ return -5;
+ }
+ if (ret && pkt->datalen > 0) {
+ *ret = realloc(*ret,sizeof(char) * (pkt->datalen + 1));
+ memcpy(*ret,pkt->data,pkt->datalen);
+ (*ret)[pkt->datalen] = '\0';
+ free(pkt);
+ return pkt->datalen;
+ }
+ free(pkt);
+ return 0;
+}
+
+int main(int argc, char *argv[]) {
+ xbee_con *con;
+ int ret,i;
+ unsigned char *str = NULL;
+
+ if (argc != 2) {
+ printf("Usage: %s <newname>\n",argv[0]);
+ return 1;
+ }
+
+ /* setup libxbee */
+ if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ printf("xbee_setup failed...\n");
+ return 1;
+ }
+
+ /* create an AT connection */
+ con = xbee_newcon('I',xbee_localAT);
+ /*con = xbee_newcon('I',xbee_64bitRemoteAT,0x13A200,0x403CB26A);*/
+
+
+ /* get the node's address! */
+ if ((ret = doAT(con,"SH",NULL,0,&str)) < 0) return 1;
+ if (ret == 4) {
+ printf("SH: 0x%02X%02X%02X%02X\n", str[0], str[1], str[2], str[3]);
+ }
+ if ((ret = doAT(con,"SL",NULL,0,&str)) < 0) return 1;
+ if (ret == 4) {
+ printf("SL: 0x%02X%02X%02X%02X\n", str[0], str[1], str[2], str[3]);
+ }
+
+ /* set the power level - 2 methods, i prefer the first but it generates compile warnings :( */
+ /*if ((ret = doAT(con,"PL",&((unsigned char[]){4}),1,&str)) < 0) return 1;*/
+ /*{
+ char t[] = {0};
+ if ((ret = doAT(con,"PL",t,1,&str)) < 0) return 1;
+ }*/
+
+ /* get the power level */
+ if ((ret = doAT(con,"PL",NULL,0,&str)) < 0) return 1;
+ if (ret == 1) {
+ printf("PL: 0x%02X\n", str[0]);
+ }
+
+ /* get NI */
+ if ((ret = doAT(con,"NI",NULL,0,&str)) < 0) return 1;
+ if (ret > 0) {
+ printf("NI: ");
+ for (i = 0; i < ret; i++) {
+ printf("%c",(str[i]>=32 && str[i]<=126)?str[i]:'.');
+ }
+ printf("\n");
+ }
+
+ printf("Setting NI to '%s': ",(argc!=2)?"MyNode":argv[1]);
+ if ((ret = doAT(con,"NI",(argc!=2)?"MyNode":argv[1],0,NULL)) < 0) return 1;
+ printf("OK\n");
+
+ if ((ret = doAT(con,"NI",NULL,0,&str)) < 0) return 1;
+ if (ret > 0) {
+ printf("NI: ");
+ for (i = 0; i < ret; i++) {
+ printf("%c",(str[i]>=32 && str[i]<=126)?str[i]:'.');
+ }
+ printf("\n");
+ }
+
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/callback.c b/thirdParty/libxbee/sample/callback.c
new file mode 100644
index 0000000000..9e48276b0f
--- /dev/null
+++ b/thirdParty/libxbee/sample/callback.c
@@ -0,0 +1,88 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will return any recieved data, using a callback function */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <xbee.h>
+
+void sighandler(int sig) {
+ xbee_pkt *pkt;
+ if (sig == SIGINT) {
+ xbee_end();
+ exit(0);
+ }
+}
+
+void callback(xbee_con *con, xbee_pkt *pkt) {
+ int ret;
+ /* print the recieved data */
+ printf("Rx: %s\n",pkt->data);
+ /* say thank you */
+ if ((ret = xbee_senddata(con,"%s",pkt->data)) != 0) {
+ printf("xbee_senddata: Error %d... Retrying!\n",ret);
+ if ((ret = xbee_senddata(con,"%s",pkt->data)) != 0) {
+ printf("xbee_senddata: Error %d... Data lost!\n",ret);
+ } else {
+ printf("xbee_senddata: Success after retry!\n",ret);
+ }
+ }
+free(pkt);
+}
+
+int main(int argc, char *argv[]) {
+ xbee_con *con;
+ xbee_pkt *pkt, *rpkt;
+
+ /* setup the xbee */
+ //if (xbee_setupAPI("/dev/ttyUSB0",57600,'+',250) == -1) {
+ //if (xbee_setuplogAPI("/dev/ttyUSB0",57600,2,'+',250) == -1) {
+ if (xbee_setuplog("/dev/ttyUSB0",57600,2) == -1) {
+ /* oh no... it failed */
+ printf("xbee_setup() failed...\n");
+ exit(1);
+ }
+
+ /* handle ^C */
+ signal(SIGINT, sighandler);
+
+ /* setup a connection */
+ con = xbee_newcon('I',xbee_64bitData, 0x0013A200, 0x40081826);
+ con->waitforACK = 1;
+ con->callback = callback;
+
+ printf("Waiting...\n");
+
+ /* do nothing forever! */
+ for (;;) {
+ sleep(86400); /* 24hrs */
+ }
+
+ /* shouldn't ever get here but... */
+ return 0;
+}
+
diff --git a/thirdParty/libxbee/sample/digital.c b/thirdParty/libxbee/sample/digital.c
new file mode 100644
index 0000000000..4b0c9f6331
--- /dev/null
+++ b/thirdParty/libxbee/sample/digital.c
@@ -0,0 +1,146 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee -g
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will control digital output pins of a chosen node */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <xbee.h>
+
+int mode;
+char bitmask;
+char outputs;
+
+void sighandler(int sig) {
+ if (sig == SIGINT) {
+ xbee_end();
+ exit(0);
+ }
+}
+
+void doneCB(xbee_con *con, xbee_pkt *pkt) {
+ /* this packet should be confirmation... */
+ xbee_end();
+ exit(0);
+}
+void doCB(xbee_con *con, xbee_pkt *pkt) {
+ int i,m;
+ outputs = pkt->IOdata[0].IOdigital;
+ printf("\n 7 6 5 4 3 2 1 0\n");
+ printf("Current output state: ");
+ for (i = 0; i < 8; i++) {
+ if (xbee_hasdigital(pkt,0,7-i)) {
+ if (xbee_getdigital(pkt,0,7-i)) {
+ printf(" 1");
+ } else {
+ printf(" 0");
+ }
+ } else {
+ printf(" x");
+ }
+ }
+ printf("\n");
+ switch (mode) {
+ case 0: outputs |= bitmask; break;
+ case 1: outputs &= ~bitmask; break;
+ case 2: default:
+ xbee_end();
+ exit(0);
+ }
+ m = outputs;
+ printf("New output state: ");
+ for (i = 0; i < 8; i++) {
+ if (xbee_hasdigital(pkt,0,7-i)) {
+ if (m & 0x80) {
+ printf(" 1");
+ } else {
+ printf(" 0");
+ }
+ } else {
+ printf(" x");
+ }
+ m <<= 1;
+ }
+ printf("\n\n");
+ con->callback = doneCB;
+ xbee_senddata(con,"IO%c",outputs);
+}
+
+void usage(char *argv0) {
+ printf("Usage: %s <query>\n",argv0);
+ printf("Usage: %s <on|off> <port[0-7]>[port[0-7]]...\n",argv0);
+ exit(1);
+}
+int main(int argc, char *argv[]) {
+ xbee_con *con;
+
+ if (argc < 2) usage(argv[0]);
+
+ if (!strcasecmp(argv[1],"on")) {
+ mode = 0;
+ } else if (!strcasecmp(argv[1],"off")) {
+ mode = 1;
+ } else if (!strcasecmp(argv[1],"query")) {
+ mode = 2;
+ } else usage(argv[0]);
+
+ if (mode != 2) {
+ int i;
+ char *c;
+ bitmask = 0;
+ c = argv[2];
+ while (*c != '\0') {
+ *c -= '0';
+ if ((*c >= 0) && (*c <= 7)) {
+ bitmask |= 0x01 << *c;
+ } else {
+ usage(argv[0]);
+ }
+ c++;
+ }
+ }
+
+ /* setup libxbee */
+ if (xbee_setupAPI("/dev/ttyUSB0",57600,'+',250) == -1) {
+ return 1;
+ }
+
+ /* handle ^C */
+ signal(SIGINT, sighandler);
+
+ /* get a connection to the remote XBee */
+ con = xbee_newcon('I',xbee_64bitRemoteAT, 0x0013A200, 0x403CB26B);
+ con->waitforACK = 1;
+ con->callback = doCB;
+
+ xbee_senddata(con,"IS");
+
+ /* timeout after 1 second... */
+ sleep(1);
+
+ xbee_end();
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/digitalout.c b/thirdParty/libxbee/sample/digitalout.c
new file mode 100644
index 0000000000..46db084f13
--- /dev/null
+++ b/thirdParty/libxbee/sample/digitalout.c
@@ -0,0 +1,128 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will control the digital 0 output from the keyboard. Type:
+ 0, <RETURN> - off
+ 1, <RETURN> - on
+ q, <RETURN> - quit */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include <xbee.h>
+
+int main(int argc,char *argv[]) {
+ xbee_con *con;
+ xbee_pkt *pkt;
+
+ printf("Hello\n");
+
+ if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ printf("failed to setup xbee\n");
+ return 1;
+ }
+
+ con = xbee_newcon('R',xbee_64bitRemoteAT,0x0013a200,0x403af247);
+ if (!con) {
+ printf("no connection returned\n");
+ return 1;
+ }
+
+ for (;;) {
+
+ xbee_senddata(con,"D0");
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("no packet returned from state probe\n");
+ return 1;
+ }
+
+ if (pkt->status != 0) {
+ printf("state probe failed (ret=0x%02X - ",pkt->status);
+ switch (pkt->status) {
+ case 0x1: printf("Error"); break;
+ case 0x2: printf("Invalid Command"); break;
+ case 0x3: printf("Invalid Parameter"); break;
+ case 0x4: printf("No Response"); break;
+ default: printf("Unknown"); break;
+ }
+ printf(")\n");
+ return 1;
+ }
+
+ if (pkt->datalen != 1) {
+ printf("unexpected datalen from state probe\n");
+ return 1;
+ }
+
+ if (pkt->data[0] == 0x05) {
+ printf("this port is currently ON\n");
+ } else if (pkt->data[0] == 0x04) {
+ printf("this port is currently OFF\n");
+ } else {
+ printf("this port is currently in an unknown state\n");
+ return 1;
+ }
+ free(pkt);
+ pkt = NULL;
+
+ recharprompt:
+ printf("--> ");
+ rechar:
+ switch(getchar()) {
+ case 'q': case 'Q':
+ printf("byebye\n");
+ return 0;
+ case '0':
+ printf("turning off...\n");
+ xbee_senddata(con,"D0%c",0x04);
+ break;
+ case '1':
+ printf("turning on...\n");
+ xbee_senddata(con,"D0%c",0x05);
+ break;
+ case '\n': goto rechar;
+ default: goto recharprompt;
+ }
+
+ if ((pkt = xbee_getpacketwait(con)) != NULL) {
+ if (pkt->status != 0) {
+ printf("state set failed (ret=0x%02X - ",pkt->status);
+ switch (pkt->status) {
+ case 0x1: printf("Error"); break;
+ case 0x2: printf("Invalid Command"); break;
+ case 0x3: printf("Invalid Parameter"); break;
+ case 0x4: printf("No Response"); break;
+ default: printf("Unknown"); break;
+ }
+ printf(")\n");
+ return 1;
+ }
+ }
+
+ }
+
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/multi.c b/thirdParty/libxbee/sample/multi.c
new file mode 100644
index 0000000000..107f88f6e9
--- /dev/null
+++ b/thirdParty/libxbee/sample/multi.c
@@ -0,0 +1,100 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee -g
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will make use of multiple instances of libxbee and send messages between the attached XBees */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <xbee.h>
+
+int mode;
+char bitmask;
+char outputs;
+
+xbee_hnd xbee1;
+xbee_hnd xbee2;
+
+void sighandler(int sig) {
+ if (sig == SIGINT) {
+ _xbee_end(xbee1);
+ _xbee_end(xbee2);
+ exit(0);
+ }
+}
+
+void xbee1CB(xbee_con *con, xbee_pkt *pkt) {
+ char data[128];
+ snprintf(data,pkt->datalen+1,"%s",pkt->data);
+ printf("XBee1: Rx[%3d]: %s\n",pkt->datalen,data);
+}
+
+void xbee2CB(xbee_con *con, xbee_pkt *pkt) {
+ char data[128];
+ snprintf(data,pkt->datalen+1,"%s",pkt->data);
+ printf("XBee2: Rx[%3d]: %s\n",pkt->datalen,data);
+}
+
+int main(int argc, char *argv[]) {
+ xbee_con *con1;
+ xbee_con *con2;
+
+ if (!(xbee1 = _xbee_setuplogAPI("/dev/ttyUSB0",57600,3,'+',250))) {
+ //if (!(xbee1 = _xbee_setupAPI("/dev/ttyUSB0",57600,'+',250))) {
+ printf("xbee1: setup error...\n");
+ return 1;
+ }
+ if (!(xbee2 = _xbee_setuplogAPI("/dev/ttyUSB1",57600,4,'+',250))) {
+ //if (!(xbee2 = _xbee_setupAPI("/dev/ttyUSB1",57600,'+',250))) {
+ printf("xbee2: setup error...\n");
+ return 1;
+ }
+
+ /* handle ^C */
+ signal(SIGINT, sighandler);
+
+ con1 = _xbee_newcon(xbee1,'1',xbee_64bitData, 0x0013A200, 0x40081826);
+ con1->waitforACK = 1;
+ con1->callback = xbee1CB;
+
+ con2 = _xbee_newcon(xbee2,'2',xbee_64bitData, 0x0013A200, 0x404B75DE);
+ con2->waitforACK = 1;
+ con2->callback = xbee2CB;
+
+ while (1) {
+ printf("xbee1: Tx\n");
+ _xbee_logit(xbee1,"xbee1: Tx");
+ _xbee_logit(xbee2,"xbee1: Tx");
+ _xbee_senddata(xbee1,con1,"Hello");
+ usleep(1000000);
+ printf("xbee2: Tx\n");
+ _xbee_logit(xbee1,"xbee2: Tx");
+ _xbee_logit(xbee2,"xbee2: Tx");
+ _xbee_senddata(xbee2,con2,"Hi There!");
+ usleep(1000000);
+ }
+
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/scan.c b/thirdParty/libxbee/sample/scan.c
new file mode 100644
index 0000000000..4546887f9e
--- /dev/null
+++ b/thirdParty/libxbee/sample/scan.c
@@ -0,0 +1,144 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will scan the currently configured channel for all nodes,
+ returning the values of a few useful settings */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <unistd.h>
+#include <xbee.h>
+
+#define MAXNODES 100
+
+int main(int argc, char *argv[]) {
+ int i;
+ int saidfull = 0;
+ int ATNT = 0x19; /* node discover timeout */
+ int ATNTc; /* counter */
+
+ int nodes = 0;
+ char addrs[MAXNODES][8];
+
+ xbee_con *con;
+ xbee_pkt *pkt, *rpkt;
+
+ time_t ttime;
+ char stime[32];
+
+ /* setup libxbee */
+ if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ return 1;
+ }
+
+ /* grab a local AT connection */
+ con = xbee_newcon('I',xbee_localAT);
+
+ /* get the ND timeout */
+ xbee_senddata(con,"NT");
+ if ((rpkt = xbee_getpacketwait(con)) == NULL) {
+ printf("XBee didnt return a result for NT\n");
+ return 1;
+ }
+ ATNT = rpkt->data[0];
+ free(rpkt);
+
+ while (1) {
+ /* send a ND - Node Discover request */
+ xbee_senddata(con,"ND");
+ /* only wait for a bit longer than the ND timeout */
+ ATNTc = ATNT + 10;
+ /* loop until the end packet has been received or timeout reached */
+ while (ATNTc--) {
+ /* get a packet */
+ pkt = xbee_getpacketwait(con);
+ /* check a packet was returned, and that its one we are after... */
+ if (pkt && !memcmp(pkt->atCmd,"ND",2)) {
+ /* is this the end packet? you can tell from the 0 datalen */
+ if (pkt->datalen == 0) {
+ /* free the packet */
+ free(pkt);
+ break;
+ } else {
+ /* check if we know this node already */
+ for (i = 0; i < nodes; i++) {
+ /* the 64bit address will match one in the list */
+ if (!memcmp(&(pkt->data[2]),&(addrs[i]),8)) break;
+ }
+ ttime = time(NULL);
+ strftime(stime,32,"%I:%M:%S %p",gmtime(&ttime));
+ /* is there space for another? */
+ if ((i == nodes) &&
+ (nodes == MAXNODES) &&
+ (!saidfull)) {
+ printf("MAXNODES reached... Can't add more...\r");
+ /* flush so the change is seen! */
+ fflush(stdout);
+ saidfull = 1;
+ } else {
+ /* is this a rewrite? */
+ if (i != nodes) {
+ /* find the line to edit */
+ printf("%c[%dA",27,nodes-i);
+ /* clear the line */
+ printf("%c[2K",27);
+ }
+ /* write out the info */
+ memcpy(&(addrs[nodes]),&(pkt->data[2]),8);
+ printf("MY: 0x%02X%02X ",pkt->data[0],pkt->data[1]);
+ printf("SH: 0x%02X%02X%02X%02X ",pkt->data[2],pkt->data[3],pkt->data[4],pkt->data[5]);
+ printf("SL: 0x%02X%02X%02X%02X ",pkt->data[6],pkt->data[7],pkt->data[8],pkt->data[9]);
+ printf("dB: -%2d ",pkt->data[10]);
+ printf("NI: %-20s ",&(pkt->data[11]));
+ printf("@: %s",stime);
+ /* is this a rewrite? */
+ if (i != nodes) {
+ /* go back the the bottom */
+ printf("%c[%dB\r",27,nodes-i);
+ } else {
+ /* new line is only wanted for new nodes */
+ printf("\n");
+ /* if not, then add 1 to the number of nodes! */
+ nodes++;
+ }
+ }
+ /* flush so the change is seen! */
+ fflush(stdout);
+ }
+ /* free the packet */
+ free(pkt);
+ }
+ /* sleep for 100ms (same as NT steps) */
+ usleep(100000);
+ }
+ /* try again! */
+ usleep(100000);
+ }
+
+ return 0;
+}
+
diff --git a/thirdParty/libxbee/sample/scan_adv.c b/thirdParty/libxbee/sample/scan_adv.c
new file mode 100644
index 0000000000..d3360222cc
--- /dev/null
+++ b/thirdParty/libxbee/sample/scan_adv.c
@@ -0,0 +1,589 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will scan all possible channels for remote nodes and return
+ the value of a few useful settings */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <unistd.h>
+#include <signal.h>
+#include <xbee.h>
+
+#define MAXNODES 100
+
+int ATCH = 0x0C; /* origional channel number */
+int ATNT = 0x19; /* node discover timeout */
+int ATNTc; /* node discover timeout counter */
+int BREAK = 0;
+xbee_con *con;
+
+void sighandler(int sig) {
+ xbee_pkt *pkt;
+ if (sig == SIGINT) {
+ BREAK = 1;
+ /* wait for the rest of the timeout... */
+ printf("\r%c[2KWaiting for node discover command to timeout...",27);
+ fflush(stdout);
+ for (; ATNTc; ATNTc--) {
+ usleep(100000);
+ }
+ /* Restore the XBee's channel setting */
+ printf("\r%c[2KRestoring channel to 0x%02X...",27,ATCH);
+ fflush(stdout);
+ if (xbee_senddata(con,"CH%c",ATCH)) {
+ printf("xbee_senddata: Error\n");
+ exit(1);
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\r%c[2K*** XBee didnt return a result for CH... ***\nPlease manually reset your channel to 0x%02X\n",27,ATCH);
+ }
+ if (pkt->status) {
+ printf("\r%c[2K*** An error occured while restoring the channel setting... ***\nPlease manually reset your channel to 0x%02X\n",27,ATCH);
+ } else {
+ printf("\nDone!\n");
+ }
+ free(pkt);
+ /* Restore the terminal */
+ printf("%c[?25h%c[0m",27,27);
+ fflush(stdout);
+ exit(0);
+ }
+}
+
+int main(int argc, char *argv[]) {
+ int i;
+ int saidfull = 0;
+ int ATCHc; /* current channel number */
+ int XBeePro = 0; /* XBee pro? */
+
+ int nodes = 0;
+ unsigned char addrs[MAXNODES][19]; /* 0-7 : 64 bit address
+ 8 : channel
+ 9-10 : id
+ 11 : baud
+ 12 : API
+ 13-14: HV
+ 15-16: VR
+ 17 : CC
+ 18 : mask - not address */
+
+ xbee_pkt *pkt, *rpkt;
+
+ time_t ttime;
+ char stime[32];
+
+ /* handle ^C */
+ signal(SIGINT, sighandler);
+
+ /* setup libxbee */
+ if (xbee_setupAPI("/dev/ttyUSB0",57600,'+',250) == -1) {
+ return 1;
+ }
+
+ /* grab a local AT connection */
+ con = xbee_newcon('I',xbee_localAT);
+
+ /* get the current channel */
+ if (xbee_senddata(con,"CH")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("XBee didnt return a result for CH\n");
+ return 1;
+ }
+ ATCH = pkt->data[0];
+ free(pkt);
+
+ /* XBee - 0x0B - 0x1A
+ XBee Pro - 0x0C - 0x17 */
+ if (xbee_senddata(con,"CH%c",0x0B)) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("XBee didnt return a result for CH\n");
+ return 1;
+ }
+ /* did that fail? */
+ if (pkt->status == 0) {
+ /* nope.. its not a pro */
+ printf("Using XBee (not Pro) channels (0x0B - 0x1A)...\n");
+ XBeePro = 0;
+ ATCHc = 0x0B;
+ } else {
+ /* yup... its a pro */
+ printf("Using XBee Pro channels (0x0C - 0x17)...\n");
+ XBeePro = 1;
+ ATCHc = 0x0C;
+ }
+ free(pkt);
+
+ /* find and print data for the local node */
+ printf("\n%c[31mCH:%c[32m 0x%02X ",27,27,ATCH);
+ if (xbee_senddata(con,"ID")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for ID\n");
+ return 1;
+ }
+ printf("%c[31mID:%c[32m 0x%02X%02X ",27,27,pkt->data[0],pkt->data[1]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"MY")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for MY\n");
+ return 1;
+ }
+ printf("%c[31mMY:%c[32m 0x%02X%02X ",27,27,pkt->data[0],pkt->data[1]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"SH")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for SH\n");
+ return 1;
+ }
+ printf("%c[31mSH:%c[32m 0x%02X%02X%02X%02X ",27,27,pkt->data[0],pkt->data[1],pkt->data[2],pkt->data[3]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"SL")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for SL\n");
+ return 1;
+ }
+ printf("%c[31mSL:%c[32m 0x%02X%02X%02X%02X ",27,27,pkt->data[0],pkt->data[1],pkt->data[2],pkt->data[3]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"BD")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for BD\n");
+ return 1;
+ }
+ printf("%c[31mBD:%c[32m ",27,27);
+ /* print the baud rate */
+ switch (pkt->data[3]) {
+ case 0: printf(" 1200"); break;
+ case 1: printf(" 2400"); break;
+ case 2: printf(" 4800"); break;
+ case 3: printf(" 9600"); break;
+ case 4: printf(" 19200"); break;
+ case 5: printf(" 38400"); break;
+ case 6: printf(" 57600"); break;
+ case 7: printf("115200"); break;
+ default: printf(" other"); break;
+ }
+ printf(" ");
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"AP")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for AP\n");
+ return 1;
+ }
+ printf("%c[31mAP:%c[32m 0x%02X ",27,27,pkt->data[0]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"HV")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for HV\n");
+ return 1;
+ }
+ printf("%c[31mHV:%c[32m 0x%02X%02X ",27,27,pkt->data[0],pkt->data[1]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"VR")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for VR\n");
+ return 1;
+ }
+ printf("%c[31mVR:%c[32m 0x%02X%02X ",27,27,pkt->data[0],pkt->data[1]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"CC")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for CC\n");
+ return 1;
+ }
+ printf("%c[31mCC:%c[32m '%c' (0x%02X) ",27,27,pkt->data[0],pkt->data[0]);
+ free(pkt);
+ /* ### */
+ if (xbee_senddata(con,"NI")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("\nXBee didnt return a result for NI\n");
+ return 1;
+ }
+ printf("%c[31mNI:%c[32m %-20s ",27,27,pkt->data);
+ free(pkt);
+ /* ### */
+ printf("%c[95m* This is the lobal XBee *",27);
+
+ printf("%c[34m\n---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------%c[0m\n\n",27,27);
+
+ /* get the ND timeout */
+ if (xbee_senddata(con,"NT")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if ((pkt = xbee_getpacketwait(con)) == NULL) {
+ printf("XBee didnt return a result for NT\n");
+ return 1;
+ }
+ ATNT = pkt->data[0];
+ free(pkt);
+
+ printf("%c[?25l",27);
+ fflush(stdout);
+
+ usleep(100000);
+
+ while (!BREAK) {
+ /* set the channel to scan */
+ if (xbee_senddata(con,"CH%c",ATCHc)) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ pkt = xbee_getpacketwait(con);
+ if (!pkt || pkt->status) {
+ printf("\nXBee didnt return a result for CH\n");
+ return 1;
+ }
+ free(pkt);
+ printf("%c[2KScanning channel 0x%02X...\r",27,ATCHc);
+ fflush(stdout);
+ /* send a ND - Node Discover request */
+ if (!xbee_senddata(con,"ND")) {
+ /* only wait for a bit longer than the ND timeout */
+ ATNTc = ATNT + 10;
+ /* loop until the end packet has been received or timeout reached */
+ while (!BREAK && ATNTc--) {
+ /* get a packet */
+ pkt = xbee_getpacket(con);
+ /* check a packet was returned, and that its one we are after... */
+ if (pkt && !memcmp(pkt->atCmd,"ND",2)) {
+ /* is this the end packet? you can tell from the 0 datalen */
+ if (pkt->datalen == 0) {
+ /* free the packet */
+ free(pkt);
+ break;
+ } else {
+ /* check if we know this node already */
+ for (i = 0; i < nodes; i++) {
+ /* the 64bit address will match one in the list */
+ if (!memcmp(&(pkt->data[2]),&(addrs[i][0]),8)) break;
+ }
+ ttime = time(NULL);
+ strftime(stime,32,"%I:%M:%S %p",gmtime(&ttime));
+ /* is there space for another? */
+ if ((i == nodes) &&
+ (nodes == MAXNODES) &&
+ (!saidfull)) {
+ printf("%c[2KMAXNODES reached... Can't add more...\r",27);
+ /* flush so the change is seen! */
+ fflush(stdout);
+ saidfull = 1;
+ } else {
+ /* is this a rewrite? */
+ if (i != nodes) {
+ /* find the line to edit */
+ printf("%c[%dA",27,nodes-i+1);
+ /* clear the line */
+ printf("%c[2K",27);
+ } else {
+ /* fill the blank line */
+ printf("%c[%dA",27,1);
+ }
+ /* save the channel */
+ addrs[i][8] = ATCHc;
+ /* write out the info */
+ printf("%c[31mCH:%c[32m 0x%02X ",27,27,ATCHc);
+ printf("%c[31mID:%c[32m 0x",27,27);
+ if (i == nodes || !(addrs[i][18] & 0x80)) {
+ printf("....");
+ } else {
+ printf("%02X%02X",addrs[i][9],addrs[i][10]);
+ }
+ printf(" ");
+ printf("%c[31mMY:%c[32m 0x%02X%02X ",27,27,pkt->data[0],pkt->data[1]);
+ printf("%c[31mSH:%c[32m 0x%02X%02X%02X%02X ",27,27,pkt->data[2],pkt->data[3],pkt->data[4],pkt->data[5]);
+ printf("%c[31mSL:%c[32m 0x%02X%02X%02X%02X ",27,27,pkt->data[6],pkt->data[7],pkt->data[8],pkt->data[9]);
+ printf("%c[31mBD:%c[32m ",27,27);
+ if (i == nodes || !(addrs[i][18] & 0x40)) {
+ printf("......");
+ } else {
+ switch (addrs[i][11]) {
+ case 0: printf(" 1200"); break;
+ case 1: printf(" 2400"); break;
+ case 2: printf(" 4800"); break;
+ case 3: printf(" 9600"); break;
+ case 4: printf(" 19200"); break;
+ case 5: printf(" 38400"); break;
+ case 6: printf(" 57600"); break;
+ case 7: printf("115200"); break;
+ default: printf(" other"); break;
+ }
+ }
+ printf(" ");
+ printf("%c[31mAP:%c[32m 0x",27,27);
+ if (i == nodes || !(addrs[i][18] & 0x20)) {
+ printf("..");
+ } else {
+ printf("%02X",addrs[i][12]);
+ }
+ printf(" ");
+ printf("%c[31mHV:%c[32m 0x",27,27);
+ if (i == nodes || !(addrs[i][18] & 0x10)) {
+ printf("....");
+ } else {
+ printf("%02X%02X",addrs[i][13],addrs[i][14]);
+ }
+ printf(" ");
+ printf("%c[31mVR:%c[32m 0x",27,27);
+ if (i == nodes || !(addrs[i][18] & 0x08)) {
+ printf("....");
+ } else {
+ printf("%02X%02X",addrs[i][15],addrs[i][16]);
+ }
+ printf(" ");
+ printf("%c[31mCC:%c[32m ",27,27);
+ if (i == nodes || !(addrs[i][18] & 0x04)) {
+ printf(" . (0x..)");
+ } else {
+ printf("'%c' (0x%02X)",addrs[i][17],addrs[i][17]);
+ }
+ printf(" ");
+ printf("%c[31mNI:%c[32m %-20s ",27,27,&(pkt->data[11]));
+ printf("%c[31mdB:%c[32m -%2d ",27,27,pkt->data[10]);
+ printf("%c[31m@:%c[32m %s",27,27,stime);
+ /* is this a rewrite? */
+ if (i != nodes) {
+ /* go back the the bottom */
+ printf("%c[%dB\r",27,nodes-i+1);
+ } else {
+ /* if its new... save the address */
+ memcpy(&(addrs[nodes][0]),&(pkt->data[2]),8);
+ /* turn off all the flags */
+ addrs[nodes][18] = 0;
+ /* new line is only wanted for new nodes */
+ printf("\n%c[2K\n%c[0m",27,27);
+ /* if not, then add 1 to the number of nodes! */
+ nodes++;
+ }
+ printf("%c[0m%c[2KScanning channel 0x%02X...\r",27,27,ATCHc);
+ fflush(stdout);
+ }
+ /* flush so the change is seen! */
+ fflush(stdout);
+ }
+ /* free the packet */
+ free(pkt);
+ }
+ /* sleep for 100ms (same as NT steps */
+ usleep(100000);
+ }
+ }
+ fflush(stdout);
+ /* check for all nodes on this channel, and get thier pan id */
+ for (i = 0; i < nodes; i++) {
+ int first = 1;
+ if (addrs[i][8] == ATCHc) {
+ xbee_con *tcon;
+ unsigned int dh,dl;
+ if (first) {
+ printf("%c[2KGathering settings for nodes on channel 0x%02X...\r",27,ATCHc);
+ first = 0;
+ }
+ /* get the address, and turn it the right way up! */
+ memcpy(&dh,&(addrs[i][0]),4);
+ dh = ((dh & 0xFF) << 24) | ((dh & 0xFF00) << 8) | ((dh & 0xFF0000) >> 8) | ((dh & 0xFF000000) >> 24);
+ memcpy(&dl,&(addrs[i][4]),4);
+ dl = ((dl & 0xFF) << 24) | ((dl & 0xFF00) << 8) | ((dl & 0xFF0000) >> 8) | ((dl & 0xFF000000) >> 24);
+ /* setup a connection the the remote node */
+ if ((tcon = xbee_newcon('I',xbee_64bitRemoteAT,dh,dl)) != NULL) {
+ /* find the line to edit */
+ printf("\r%c[%dA",27,nodes-i+1);
+
+ /* in this case we dont care if we dont get a response packet... */
+ if (xbee_senddata(tcon,"ID")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
+ /* move over the ID column */
+ printf("\r%c[18C",27);
+ /* print the ID */
+ printf("%c[32m%02X%02X%c[0m",27,rpkt->data[0],rpkt->data[1],27);
+ addrs[i][9] = rpkt->data[0];
+ addrs[i][10] = rpkt->data[1];
+ /* turn on the flag */
+ addrs[i][18] |= 0x80;
+ free(rpkt);
+ }
+
+ /* in this case we dont care if we dont get a response packet... */
+ if (xbee_senddata(tcon,"BD")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
+ /* move over the BD column */
+ printf("\r%c[80C",27);
+ if ((rpkt->data[0] != 0x00) || (rpkt->data[1] != 0x00) || (rpkt->data[2] != 0x00) || ((rpkt->data[3] & 0xF8) != 0x00)) {
+ addrs[i][11] = 8;
+ } else {
+ addrs[i][11] = rpkt->data[3];
+ }
+ /* turn on the flag */
+ addrs[i][18] |= 0x40;
+ /* print the baud rate */
+ printf("%c[32m",27);
+ switch (addrs[i][11]) {
+ case 0: printf(" 1200"); break;
+ case 1: printf(" 2400"); break;
+ case 2: printf(" 4800"); break;
+ case 3: printf(" 9600"); break;
+ case 4: printf(" 19200"); break;
+ case 5: printf(" 38400"); break;
+ case 6: printf(" 57600"); break;
+ case 7: printf("115200"); break;
+ default: printf(" other"); break;
+ }
+ printf("%c[0m",27);
+ free(rpkt);
+ }
+ /* in this case we dont care if we dont get a response packet... */
+ if (xbee_senddata(tcon,"AP")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
+ /* move over the AP column */
+ printf("\r%c[96C",27);
+ /* print the ID */
+ printf("%c[32m%02X%c[0m",27,rpkt->data[0],27);
+ addrs[i][12] = rpkt->data[0];
+ /* turn on the flag */
+ addrs[i][18] |= 0x20;
+ free(rpkt);
+ }
+ /* in this case we dont care if we dont get a response packet... */
+ if (xbee_senddata(tcon,"HV")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
+ /* move over the HV column */
+ printf("\r%c[108C",27);
+ /* print the ID */
+ printf("%c[32m%02X%02X%c[0m",27,rpkt->data[0],rpkt->data[1],27);
+ addrs[i][13] = rpkt->data[0];
+ addrs[i][14] = rpkt->data[1];
+ /* turn on the flag */
+ addrs[i][18] |= 0x10;
+ free(rpkt);
+ }
+ /* in this case we dont care if we dont get a response packet... */
+ if (xbee_senddata(tcon,"VR")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
+ /* move over the VR column */
+ printf("\r%c[122C",27);
+ /* print the ID */
+ printf("%c[32m%02X%02X%c[0m",27,rpkt->data[0],rpkt->data[1],27);
+ addrs[i][15] = rpkt->data[0];
+ addrs[i][16] = rpkt->data[1];
+ /* turn on the flag */
+ addrs[i][18] |= 0x08;
+ free(rpkt);
+ }
+ /* in this case we dont care if we dont get a response packet... */
+ if (xbee_senddata(tcon,"CC")) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ if (((rpkt = xbee_getpacketwait(tcon)) != NULL) && (rpkt->status == 0)) {
+ /* move over the CC column */
+ printf("\r%c[134C",27);
+ /* print the ID */
+ printf("%c[32m'%c' (0x%02X)%c[0m",27,rpkt->data[0],rpkt->data[0],27);
+ addrs[i][17] = rpkt->data[0];
+ /* turn on the flag */
+ addrs[i][18] |= 0x04;
+ free(rpkt);
+ }
+ /* go back the the bottom */
+ printf("%c[%dB\r",27,nodes-i+1);
+ fflush(stdout);
+ }
+ }
+ }
+ /* fall back to the first channel if that was the last */
+ if (XBeePro && ATCHc == 0x17) {
+ ATCHc = 0x0C;
+ } else if (!XBeePro && ATCHc == 0x1A) {
+ ATCHc = 0x0B;
+ } else {
+ /* else move onto next channel */
+ ATCHc++;
+ }
+ usleep(100000);
+ }
+
+ return 0;
+}
+
diff --git a/thirdParty/libxbee/sample/simple.c b/thirdParty/libxbee/sample/simple.c
new file mode 100644
index 0000000000..8ab776f127
--- /dev/null
+++ b/thirdParty/libxbee/sample/simple.c
@@ -0,0 +1,68 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will politely return any recieved data */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <xbee.h>
+
+int main(int argc, char *argv[]) {
+ xbee_con *con;
+ xbee_pkt *pkt, *rpkt;
+
+ /* setup the xbee */
+ if (xbee_setup("/dev/ttyUSB0",57600) == -1) {
+ /* oh no... it failed */
+ printf("xbee_setup() failed...\n");
+ exit(1);
+ }
+
+ /* setup a connection */
+ con = xbee_newcon('I',xbee_64bitData, 0x0013A200, 0x40081826);
+
+ printf("Waiting...\n");
+
+ /* just wait for data, and echo it back! */
+ while (1) {
+ /* while there are packets avaliable... */
+ while ((pkt = xbee_getpacket(con)) != NULL) {
+ /* print the recieved data */
+ printf("Rx: %s\n",pkt->data);
+ /* say thank you */
+ if (xbee_senddata(con,"thank you for saying '%s'\r\n",pkt->data)) {
+ printf("xbee_senddata: Error\n");
+ return 1;
+ }
+ /* free the packet */
+ free(pkt);
+ }
+ usleep(100000);
+ }
+
+ /* shouldn't ever get here but... */
+ return 0;
+}
+
diff --git a/thirdParty/libxbee/sample/talk_to_me.c b/thirdParty/libxbee/sample/talk_to_me.c
new file mode 100644
index 0000000000..26750988ab
--- /dev/null
+++ b/thirdParty/libxbee/sample/talk_to_me.c
@@ -0,0 +1,82 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee -g
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample will make the remote XBee talk to us! */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <xbee.h>
+
+int main(int argc, char *argv[]) {
+ union {
+ unsigned char as8[8];
+ unsigned int as32[2];
+ } addr;
+ xbee_con *atCon, *rCon;
+ xbee_pkt *pkt;
+
+ /* the extra arguments are the CC ('+' by default) and GT (1000) by default AT values */
+ xbee_setuplogAPI("/dev/ttyUSB0",57600,2,'+',1000);
+
+ atCon = xbee_newcon('@', xbee_localAT);
+
+ xbee_senddata(atCon, "SH");
+ pkt = xbee_getpacketwait(atCon);
+ if (!pkt || pkt->status || pkt->atCmd[0] != 'S' || pkt->atCmd[1] != 'H') {
+ printf("Missing SH Packet!\n");
+ return 1;
+ }
+ addr.as8[3] = pkt->data[0];
+ addr.as8[2] = pkt->data[1];
+ addr.as8[1] = pkt->data[2];
+ addr.as8[0] = pkt->data[3];
+ free(pkt);
+
+ xbee_senddata(atCon, "SL");
+ pkt = xbee_getpacketwait(atCon);
+ if (!pkt || pkt->status || pkt->atCmd[0] != 'S' || pkt->atCmd[1] != 'L') {
+ printf("Missing SL Packet!\n");
+ return 1;
+ }
+ addr.as8[7] = pkt->data[0];
+ addr.as8[6] = pkt->data[1];
+ addr.as8[5] = pkt->data[2];
+ addr.as8[4] = pkt->data[3];
+ free(pkt);
+
+ printf("Local XBee address is: 0x%08X %08X\n", addr.as32[0], addr.as32[1]);
+
+ rCon = xbee_newcon('#', xbee_64bitRemoteAT, 0x13A200, 0x403CB26A);
+
+ xbee_senddata(rCon, "DH%c%c%c%c", addr.as8[3], addr.as8[2], addr.as8[1], addr.as8[0]);
+ usleep(250000);
+ xbee_senddata(rCon, "DL%c%c%c%c", addr.as8[7], addr.as8[6], addr.as8[5], addr.as8[4]);
+ usleep(250000);
+
+ /* calling xbee_end() will return the xbee to its previous API mode */
+ xbee_end();
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/vb6/README.txt b/thirdParty/libxbee/sample/vb6/README.txt
new file mode 100644
index 0000000000..fe13a7dfcb
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/README.txt
@@ -0,0 +1,8 @@
+These sample projects provide a quick demo of how to use various functions
+
+Running these assume that you have first compiled libxbee.dll successfully
+You will also need to either copy libxbee.dll into this folder or into a
+ directory in your PATH
+
+If you want to use libxbee in your own projects, you must include libxbee.bas
+ which will provide you with access to the functions and type declarations
diff --git a/thirdParty/libxbee/sample/vb6/demo/Form1.frm b/thirdParty/libxbee/sample/vb6/demo/Form1.frm
new file mode 100644
index 0000000000..4c7c6655bc
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/demo/Form1.frm
@@ -0,0 +1,64 @@
+VERSION 5.00
+Begin VB.Form Form1
+ Caption = "Form1"
+ ClientHeight = 2250
+ ClientLeft = 120
+ ClientTop = 450
+ ClientWidth = 3855
+ LinkTopic = "Form1"
+ ScaleHeight = 2250
+ ScaleWidth = 3855
+ StartUpPosition = 3 'Windows Default
+ Begin VB.TextBox tb
+ Height = 1995
+ Left = 120
+ MultiLine = -1 'True
+ TabIndex = 0
+ Top = 120
+ Width = 3615
+ End
+End
+Attribute VB_Name = "Form1"
+Attribute VB_GlobalNameSpace = False
+Attribute VB_Creatable = False
+Attribute VB_PredeclaredId = True
+Attribute VB_Exposed = False
+Option Explicit
+
+Dim myCon As Long
+Dim myDataCon As Long
+
+Private Sub Form_Load()
+ Dim i As Long
+ Dim x As Byte
+ Dim ctype, addrH, addrL As Long
+ Me.Show
+ DoEvents
+
+ ' Connect to the XBee on COM1 with a baud rate of 57600
+ ' The XBee should be in API mode 2 (ATAP2)
+ If xbee_setupDebug("COM8", 57600, "xbee.log") <> 0 Then
+ MsgBox "Error while setting up the local XBee module", vbCritical, "xbee_setup()"
+ End
+ End If
+ xbee_logit "Hello!"
+
+ ' Enable callbacks, this only needs to be done ONCE
+ ' The window handle provided must remain in memory (dont unload the form - callbacks will automatically be disabled)
+ xbee_enableCallbacks Me.hWnd
+
+ ' Create a Remote AT connection to a node using 64-bit addressing
+ myCon = xbee_newcon_64bit(&H30, xbee_64bitRemoteAT, &H13A200, &H404B75DE)
+ xbee_enableACKwait myCon
+
+ myDataCon = xbee_newcon_64bit(&H31, xbee_64bitData, &H13A200, &H404B75DE)
+
+ ' Setup callbacks
+ xbee_attachCallback myCon, AddressOf Module1.callback1
+ xbee_attachCallback myDataCon, AddressOf Module1.callback2
+
+ ' Send the AT command NI (Node Identifier)
+ tb.text = "Sending 'ATNI'..."
+ xbee_sendstring myCon, "NI"
+End Sub
+
diff --git a/thirdParty/libxbee/sample/vb6/demo/demo.bas b/thirdParty/libxbee/sample/vb6/demo/demo.bas
new file mode 100644
index 0000000000..b1e51fd907
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/demo/demo.bas
@@ -0,0 +1,19 @@
+Attribute VB_Name = "Module1"
+Public Function callback1(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ ' Check the returned status, if it isnt 0 then an error occured
+ If pkt.status <> 0 Then
+ Form1.tb.Text = Form1.tb.Text & vbNewLine & "An error occured (" & pkt.status & ")"
+ Exit Function
+ End If
+
+ ' Display the Node Identifier
+ Form1.tb.Text = Form1.tb.Text & vbNewLine & "Node Identifier:" & StrConv(pkt.data, vbUnicode)
+ Form1.tb.SelStart = Len(Form1.tb.Text)
+End Function
+
+Public Function callback2(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ ' Display the data
+ Form1.tb.Text = Form1.tb.Text & vbNewLine & "Rx:" & StrConv(pkt.data, vbUnicode)
+ Form1.tb.SelStart = Len(Form1.tb.Text)
+End Function
+
diff --git a/thirdParty/libxbee/sample/vb6/demo/demo.vbp b/thirdParty/libxbee/sample/vb6/demo/demo.vbp
new file mode 100644
index 0000000000..815e949e70
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/demo/demo.vbp
@@ -0,0 +1,33 @@
+Type=Exe
+Form=Form1.frm
+Reference=*\G{00020430-0000-0000-C000-000000000046}#2.0#0#..\..\..\..\..\..\..\Windows\SysWOW64\stdole2.tlb#OLE Automation
+Module=Module1; demo.bas
+Module=libxbee; ..\libxbee.bas
+IconForm="Form1"
+Startup="Form1"
+ExeName32="demo.exe"
+Command32=""
+Name="Project1"
+HelpContextID="0"
+CompatibleMode="0"
+MajorVer=1
+MinorVer=0
+RevisionVer=0
+AutoIncrementVer=0
+ServerSupportFiles=0
+VersionCompanyName="Microsoft"
+CompilationType=0
+OptimizationType=0
+FavorPentiumPro(tm)=0
+CodeViewDebugInfo=0
+NoAliasing=0
+BoundsCheck=0
+OverflowCheck=0
+FlPointCheck=0
+FDIVCheck=0
+UnroundedFP=0
+StartMode=0
+Unattended=0
+Retained=0
+ThreadPerObject=0
+MaxNumberOfThreads=1
diff --git a/thirdParty/libxbee/sample/vb6/libxbee.bas b/thirdParty/libxbee/sample/vb6/libxbee.bas
new file mode 100644
index 0000000000..0875907f91
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/libxbee.bas
@@ -0,0 +1,285 @@
+Attribute VB_Name = "libxbee"
+Option Explicit
+
+Enum xbee_types
+ xbee_unknown
+
+ xbee_localAT
+ xbee_remoteAT
+ xbee_modemStatus
+ xbee_txStatus
+
+ ' XBee Series 1 stuff
+ xbee_16bitRemoteAT
+ xbee_64bitRemoteAT
+
+ xbee_16bitData
+ xbee_64bitData
+
+ xbee_16bitIO
+ xbee_64bitIO
+
+ ' XBee Series 2 stuff
+ xbee2_data
+ xbee2_txStatus
+End Enum
+
+Type xbee_sample
+ '# X A5 A4 A3 A2 A1 A0 D8 D7 D6 D5 D4 D3 D2 D1 D0
+ IOmask As Integer
+ '# X X X X X X X D8 D7 D6 D5 D4 D3 D2 D1 D0
+ IOdigital As Integer
+ '# X X X X X D D D D D D D D D D D
+ IOanalog(0 To 5) As Integer
+End Type
+
+Type xbee_pkt
+ flags As Long '# bit 0 - is64
+ '# bit 1 - dataPkt
+ '# bit 2 - txStatusPkt
+ '# bit 3 - modemStatusPkt
+ '# bit 4 - remoteATPkt
+ '# bit 5 - IOPkt
+ frameID As Byte
+ atCmd(0 To 1) As Byte
+
+ status As Byte
+ samples As Byte
+ RSSI As Byte
+
+ Addr16(0 To 1) As Byte
+
+ Addr64(0 To 7) As Byte
+
+ data(0 To 127) As Byte
+
+ datalen As Long
+
+ type As Long ' enum xbee_types
+
+ SPARE As Long ' IGNORE THIS (is the pointer to the next packet in C... this will ALWAYS be 0 in VB)
+
+ IOdata As xbee_sample
+End Type
+
+Private OldhWndHandler As Long
+Private ActivehWnd As Long
+Private callbackMessageID As Long
+Private Callbacks As New Collection
+
+Public Declare Sub xbee_free Lib "libxbee.dll" (ByVal ptr As Long)
+
+Public Declare Function xbee_setup Lib "libxbee.dll" (ByVal port As String, ByVal baudRate As Long) As Long
+Public Declare Function xbee_setupDebug Lib "libxbee.dll" (ByVal port As String, ByVal baudRate As Long, ByVal logfile As String) As Long
+Private Declare Function xbee_setupDebugAPIRaw Lib "libxbee.dll" Alias "xbee_setupDebugAPI" (ByVal port As String, ByVal baudRate As Long, ByVal logfile As String, ByVal cmdSeq As Byte, ByVal cmdTime As Long) As Long
+Private Declare Function xbee_setupAPIRaw Lib "libxbee.dll" Alias "xbee_setupAPI" (ByVal port As String, ByVal baudRate As Long, ByVal cmdSeq As Byte, ByVal cmdTime As Long) As Long
+
+Public Declare Function xbee_end Lib "libxbee.dll" () As Long
+
+Public Declare Function xbee_newcon_simple Lib "libxbee.dll" (ByVal frameID As Byte, ByVal conType As Long) As Long 'xbee_con *
+Public Declare Function xbee_newcon_16bit Lib "libxbee.dll" (ByVal frameID As Byte, ByVal conType As Long, ByVal addr16bit As Long) As Long 'xbee_con *
+Public Declare Function xbee_newcon_64bit Lib "libxbee.dll" (ByVal frameID As Byte, ByVal conType As Long, ByVal addr64bitLow As Long, ByVal addr64bitHigh As Long) As Long 'xbee_con *
+Public Declare Sub xbee_enableACKwait Lib "libxbee.dll" (ByVal con As Long)
+Public Declare Sub xbee_disableACKwait Lib "libxbee.dll" (ByVal con As Long)
+Public Declare Sub xbee_enableDestroySelf Lib "libxbee.dll" (ByVal con As Long)
+
+Private Declare Sub xbee_enableCallbacksRaw Lib "libxbee.dll" Alias "xbee_enableCallbacks" (ByVal hWnd As Long, ByVal uMsg As Long)
+Private Declare Sub xbee_attachCallbackRaw Lib "libxbee.dll" Alias "xbee_attachCallback" (ByVal con As Long)
+Private Declare Sub xbee_detachCallbackRaw Lib "libxbee.dll" Alias "xbee_detachCallback" (ByVal con As Long)
+Private Declare Function xbee_runCallback Lib "libxbee.dll" (ByVal func As Long, ByVal con As Long, ByVal pkt As Long) As Long
+
+Public Declare Sub xbee_endcon2 Lib "libxbee.dll" (ByVal con As Long)
+Public Declare Sub xbee_flushcon Lib "libxbee.dll" (ByVal con As Long)
+
+Public Declare Function xbee_senddata Lib "libxbee.dll" Alias "xbee_nsenddata" (ByVal con As Long, ByRef data As Byte, ByVal Length As Long) As Long
+Private Declare Function xbee_senddata_str Lib "libxbee.dll" Alias "xbee_nsenddata" (ByVal con As Long, ByVal data As String, ByVal Length As Long) As Long
+
+Public Declare Function xbee_getpacketRaw Lib "libxbee.dll" Alias "xbee_getpacket" (ByVal con As Long) As Long 'xbee_pkt *
+
+Public Declare Function xbee_hasanalog Lib "libxbee.dll" (ByRef pkt As xbee_pkt, ByVal sample As Long, ByVal inputPin As Long) As Long
+Public Declare Function xbee_getanalog Lib "libxbee.dll" (ByRef pkt As xbee_pkt, ByVal sample As Long, ByVal inputPin As Long, ByVal Vref As Double) As Double
+
+Public Declare Function xbee_hasdigital Lib "libxbee.dll" (ByRef pkt As xbee_pkt, ByVal sample As Long, ByVal inputPin As Long) As Long
+Public Declare Function xbee_getdigital Lib "libxbee.dll" (ByRef pkt As xbee_pkt, ByVal sample As Long, ByVal inputPin As Long) As Long
+
+Private Declare Function xbee_svn_versionRaw Lib "libxbee.dll" Alias "xbee_svn_version" () As Long
+Public Declare Sub xbee_logit Lib "libxbee.dll" (ByVal text As String)
+
+'###########################################################################################################################################################################
+
+Private Declare Sub CopyMemory Lib "kernel32" Alias "RtlMoveMemory" (Destination As Any, Source As Any, ByVal Length As Long)
+Private Declare Function lstrlenW Lib "kernel32" (ByVal lpString As Long) As Long
+Private Declare Function RegisterWindowMessage Lib "user32" Alias "RegisterWindowMessageA" (ByVal lpString As String) As Long
+Private Declare Function SetWindowLong Lib "user32" Alias "SetWindowLongA" (ByVal hWnd As Long, ByVal nIndex As Long, ByVal dwNewLong As Long) As Long
+Private Declare Function CallWindowProc Lib "user32" Alias "CallWindowProcA" (ByVal lpPrevWndFunc As Long, ByVal hWnd As Long, ByVal Msg As Long, ByVal wParam As Long, ByVal lParam As Long) As Long
+Private Const WM_DESTROY = &H2
+Private Const GWL_WNDPROC = -4
+
+Public Function PointerToString(lngPtr As Long) As String
+ Dim strTemp As String
+ Dim lngLen As Long
+ If lngPtr Then
+ lngLen = lstrlenW(lngPtr) * 2
+ If lngLen Then
+ strTemp = Space(lngLen)
+ CopyMemory ByVal strTemp, ByVal lngPtr, lngLen
+ PointerToString = Replace(strTemp, Chr(0), "")
+ End If
+ End If
+End Function
+
+Public Function ArrayToString(data() As Byte, Optional lb As Integer = -1, Optional ub As Integer = -1) As String
+ Dim tmp As String
+ Dim i
+ If lb = -1 Then lb = LBound(data)
+ If ub = -1 Then ub = UBound(data)
+ tmp = ""
+ For i = lb To ub
+ If (data(i) = 0) Then Exit For
+ tmp = tmp & Chr(data(i))
+ Next
+ ArrayToString = tmp
+End Function
+
+Public Function xbee_pointerToPacket(lngPtr As Long) As xbee_pkt
+ Dim p As xbee_pkt
+ CopyMemory p, ByVal lngPtr, Len(p)
+ xbee_pointerToPacket = p
+End Function
+
+Public Sub libxbee_load()
+ ' this function is simply to get VB6 to call a libxbee function
+ ' if you are using any C DLLs that make use of libxbee, then you should call this function first so that VB6 will load libxbee
+ xbee_svn_versionRaw
+End Sub
+
+Public Function xbee_svn_version() As String
+ xbee_svn_version = PointerToString(xbee_svn_versionRaw())
+End Function
+
+Public Function xbee_setupAPI(ByVal port As String, ByVal baudRate As Long, ByVal cmdSeq As String, ByVal cmdTime As Long)
+ xbee_setupAPI = xbee_setupAPIRaw(port, baudRate, Asc(cmdSeq), cmdTime)
+End Function
+
+Public Function xbee_setupDebugAPI(ByVal port As String, ByVal baudRate As Long, ByVal logfile As String, ByVal cmdSeq As String, ByVal cmdTime As Long)
+ xbee_setupDebugAPI = xbee_setupDebugAPIRaw(port, baudRate, logfile, Asc(cmdSeq), cmdTime)
+End Function
+
+Private Sub xbee_ensureMessageID()
+ If callbackMessageID = 0 Then
+ callbackMessageID = RegisterWindowMessage("libxbee")
+ End If
+ xbee_enableCallbacksRaw ActivehWnd, callbackMessageID
+End Sub
+
+Public Sub xbee_attachCallback(ByVal con As Long, ByVal func As Long)
+ Dim t(0 To 1) As Long
+ Dim c As String
+ If ActivehWnd = 0 Then
+ Debug.Print "Callbacks not enabled!"
+ Exit Sub
+ End If
+ xbee_ensureMessageID
+ c = CStr(con)
+ t(0) = con
+ t(1) = func
+ On Error Resume Next
+ Callbacks.Remove c
+ Callbacks.Add t, c
+ On Error GoTo 0
+ xbee_attachCallbackRaw con
+End Sub
+
+Public Sub xbee_detachCallback(ByVal con As Long)
+ If ActivehWnd = 0 Then
+ Debug.Print "Callbacks not enabled!"
+ Exit Sub
+ End If
+ On Error Resume Next
+ xbee_detachCallbackRaw con
+ Callbacks.Remove CStr(con)
+End Sub
+
+Public Sub xbee_enableCallbacks(ByVal hWnd As Long)
+ If ActivehWnd <> 0 Then
+ Debug.Print "Callbacks already enabled!"
+ Exit Sub
+ End If
+ ActivehWnd = hWnd
+ OldhWndHandler = SetWindowLong(hWnd, GWL_WNDPROC, AddressOf libxbee.xbee_messageHandler)
+ xbee_ensureMessageID
+End Sub
+
+Public Sub xbee_disableCallbacks()
+ Dim id As Variant
+ If ActivehWnd = 0 Then
+ Debug.Print "Callbacks not enabled!"
+ Exit Sub
+ End If
+ For Each id In Callbacks
+ xbee_detachCallback id(0)
+ Next
+ SetWindowLong ActivehWnd, GWL_WNDPROC, OldhWndHandler
+ ActivehWnd = 0
+ OldhWndHandler = 0
+End Sub
+
+Private Function xbee_messageHandler(ByVal hWnd As Long, ByVal uMsg As Long, ByVal wParam As Long, ByVal lParam As Long) As Long
+ If uMsg = callbackMessageID Then
+ Dim t As Long
+ On Error Resume Next
+ Err.Clear
+ t = Callbacks.Item(CStr(wParam))(1)
+ If Err.Number = 0 Then
+ On Error GoTo 0
+ xbee_messageHandler = xbee_runCallback(t, wParam, lParam)
+ Exit Function
+ End If
+ On Error GoTo 0
+ xbee_logit "Unable to match Connection with active callback!"
+ End If
+ xbee_messageHandler = CallWindowProc(OldhWndHandler, hWnd, uMsg, wParam, lParam)
+ If uMsg = WM_DESTROY And ActivehWnd <> 0 Then
+ ' Disable the MessageHandler if the form "unload" event is detected
+ xbee_disableCallbacks
+ End If
+End Function
+
+Public Sub xbee_endcon(ByRef con As Long)
+ xbee_endcon2 con
+ con = 0
+End Sub
+
+Public Function xbee_sendstring(ByVal con As Long, ByVal str As String)
+ xbee_sendstring = xbee_senddata_str(con, str, Len(str))
+End Function
+
+Public Function xbee_getpacketPtr(ByVal con As Long, ByRef pkt As Long) As Integer
+ Dim ptr As Long
+
+ ptr = xbee_getpacketRaw(con)
+ If ptr = 0 Then
+ pkt = 0
+ xbee_getpacketPtr = 0
+ Exit Function
+ End If
+
+ pkt = ptr
+ xbee_getpacketPtr = 1
+End Function
+
+Public Function xbee_getpacket(ByVal con As Long, ByRef pkt As xbee_pkt) As Integer
+ Dim ptr As Long
+
+ ptr = xbee_getpacketRaw(con)
+ If ptr = 0 Then
+ xbee_getpacket = 0
+ Exit Function
+ End If
+
+ pkt = xbee_pointerToPacket(ptr)
+ xbee_free ptr
+
+ xbee_getpacket = 1
+End Function
+
diff --git a/thirdParty/libxbee/sample/vb6/talk_to_me/Form1.frm b/thirdParty/libxbee/sample/vb6/talk_to_me/Form1.frm
new file mode 100644
index 0000000000..426a9df939
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/talk_to_me/Form1.frm
@@ -0,0 +1,1197 @@
+VERSION 5.00
+Begin VB.Form Form1
+ BorderStyle = 1 'Fixed Single
+ Caption = "Talk to Me"
+ ClientHeight = 7875
+ ClientLeft = 45
+ ClientTop = 375
+ ClientWidth = 7515
+ LinkTopic = "Form1"
+ MaxButton = 0 'False
+ ScaleHeight = 7875
+ ScaleWidth = 7515
+ StartUpPosition = 1 'CenterOwner
+ Begin VB.Timer tmr_timeout
+ Enabled = 0 'False
+ Interval = 5000
+ Left = 3720
+ Top = 1380
+ End
+ Begin VB.Frame Frame2
+ Caption = " Actions "
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 1335
+ Left = 180
+ TabIndex = 1
+ Top = 6420
+ Width = 7215
+ Begin VB.CommandButton write_settings
+ Caption = "Write Settings"
+ Enabled = 0 'False
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 375
+ Left = 1920
+ TabIndex = 50
+ Top = 780
+ Width = 1935
+ End
+ Begin VB.CommandButton set_default
+ Caption = "Set Default"
+ Enabled = 0 'False
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 375
+ Left = 180
+ TabIndex = 49
+ Top = 780
+ Width = 1575
+ End
+ Begin VB.CommandButton reset_node
+ Caption = "Reset Node"
+ Enabled = 0 'False
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 375
+ Left = 4020
+ TabIndex = 47
+ Top = 780
+ Width = 1575
+ End
+ Begin VB.CommandButton set_dest
+ Caption = "Set destination"
+ Enabled = 0 'False
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 375
+ Left = 1920
+ TabIndex = 46
+ Top = 300
+ Width = 1935
+ End
+ Begin VB.CommandButton talk_to_me
+ Caption = "Talk to Me"
+ Enabled = 0 'False
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 375
+ Left = 180
+ TabIndex = 45
+ Top = 300
+ Width = 1575
+ End
+ Begin VB.CommandButton set_ni
+ Caption = "Set Node Identifier"
+ Enabled = 0 'False
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 375
+ Left = 4020
+ TabIndex = 51
+ Top = 300
+ Width = 2355
+ End
+ End
+ Begin VB.Frame Frame1
+ Caption = " Settings "
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 3315
+ Left = 180
+ TabIndex = 0
+ Top = 3000
+ Width = 7215
+ Begin VB.Label ni
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 24
+ Top = 300
+ Width = 3915
+ End
+ Begin VB.Label sl
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 22
+ Top = 1020
+ Width = 3915
+ End
+ Begin VB.Label sh
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 20
+ Top = 780
+ Width = 3915
+ End
+ Begin VB.Label my
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 18
+ Top = 540
+ Width = 3915
+ End
+ Begin VB.Label ap
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 17
+ Top = 1260
+ Width = 3915
+ End
+ Begin VB.Label bd
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 16
+ Top = 1500
+ Width = 3915
+ End
+ Begin VB.Label ch
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 15
+ Top = 1740
+ Width = 3915
+ End
+ Begin VB.Label dh
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 14
+ Top = 1980
+ Width = 3915
+ End
+ Begin VB.Label dl
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 13
+ Top = 2220
+ Width = 3915
+ End
+ Begin VB.Label ia
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 11
+ Top = 2460
+ Width = 3915
+ End
+ Begin VB.Label vr
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 10
+ Top = 2940
+ Width = 3915
+ End
+ Begin VB.Label hv
+ BackStyle = 0 'Transparent
+ Caption = "-"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Left = 3180
+ TabIndex = 12
+ Top = 2700
+ Width = 3915
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "NI - Node Identifier"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 17
+ Left = 180
+ TabIndex = 25
+ Top = 300
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "MY - 16-bit Address"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 13
+ Left = 180
+ TabIndex = 19
+ Top = 540
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "VR - Firmware Version"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 14
+ Left = 180
+ TabIndex = 9
+ Top = 2940
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "IA - I/O Address"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 12
+ Left = 180
+ TabIndex = 8
+ Top = 2460
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "DL - Destination Low"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 10
+ Left = 180
+ TabIndex = 6
+ Top = 2220
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "DH - Destination High"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 9
+ Left = 180
+ TabIndex = 5
+ Top = 1980
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "CH - Channel"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 8
+ Left = 180
+ TabIndex = 4
+ Top = 1740
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "BD - Interface Rate"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 7
+ Left = 180
+ TabIndex = 3
+ Top = 1500
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "AP - API Enable"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 6
+ Left = 180
+ TabIndex = 2
+ Top = 1260
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "HV - Hardware Version"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 11
+ Left = 180
+ TabIndex = 7
+ Top = 2700
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " .....:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 29
+ Left = 180
+ TabIndex = 44
+ Top = 2700
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ...........:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 28
+ Left = 180
+ TabIndex = 43
+ Top = 1260
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " .......:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 27
+ Left = 180
+ TabIndex = 42
+ Top = 1500
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ..............:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 26
+ Left = 180
+ TabIndex = 41
+ Top = 1740
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " .....:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 25
+ Left = 180
+ TabIndex = 40
+ Top = 1980
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ......:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 24
+ Left = 180
+ TabIndex = 39
+ Top = 2220
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ..........:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 23
+ Left = 180
+ TabIndex = 38
+ Top = 2460
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " .....:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 22
+ Left = 180
+ TabIndex = 37
+ Top = 2940
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " .......:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 21
+ Left = 180
+ TabIndex = 36
+ Top = 540
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ......:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 18
+ Left = 180
+ TabIndex = 33
+ Top = 300
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "SL - 64-bit Address (Lo)"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 16
+ Left = 180
+ TabIndex = 23
+ Top = 1020
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "SH - 64-bit Address (Hi)"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 255
+ Index = 15
+ Left = 180
+ TabIndex = 21
+ Top = 780
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ..:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 20
+ Left = 180
+ TabIndex = 35
+ Top = 780
+ Width = 2955
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = " ..:"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 255
+ Index = 19
+ Left = 180
+ TabIndex = 34
+ Top = 1020
+ Width = 2955
+ End
+ End
+ Begin VB.Timer tmr_refresh
+ Enabled = 0 'False
+ Interval = 500
+ Left = 3240
+ Top = 1380
+ End
+ Begin VB.Frame Frame3
+ Caption = " Node List "
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 2775
+ Left = 180
+ TabIndex = 26
+ Top = 120
+ Width = 7215
+ Begin VB.ListBox nodelist
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 2085
+ Left = 180
+ TabIndex = 27
+ Top = 540
+ Width = 6855
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "16-bit"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 195
+ Index = 0
+ Left = 240
+ TabIndex = 32
+ Top = 300
+ Width = 675
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "RSSI"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 195
+ Index = 3
+ Left = 3660
+ TabIndex = 30
+ Top = 300
+ Width = 435
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "@"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 195
+ Index = 4
+ Left = 4440
+ TabIndex = 29
+ Top = 300
+ Width = 135
+ End
+ Begin VB.Label Label
+ BackStyle = 0 'Transparent
+ Caption = "Node Name"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 195
+ Index = 5
+ Left = 4740
+ TabIndex = 28
+ Top = 300
+ Width = 915
+ End
+ Begin VB.Label Label
+ Alignment = 2 'Center
+ BackStyle = 0 'Transparent
+ Caption = "- -"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ ForeColor = &H00C0C0C0&
+ Height = 195
+ Index = 2
+ Left = 1020
+ TabIndex = 48
+ Top = 300
+ Width = 2355
+ End
+ Begin VB.Label Label
+ Alignment = 2 'Center
+ BackStyle = 0 'Transparent
+ Caption = "(Hi) 64-bit (Lo)"
+ BeginProperty Font
+ Name = "Courier New"
+ Size = 9
+ Charset = 0
+ Weight = 400
+ Underline = 0 'False
+ Italic = 0 'False
+ Strikethrough = 0 'False
+ EndProperty
+ Height = 195
+ Index = 1
+ Left = 1020
+ TabIndex = 31
+ Top = 300
+ Width = 2355
+ End
+ End
+End
+Attribute VB_Name = "Form1"
+Attribute VB_GlobalNameSpace = False
+Attribute VB_Creatable = False
+Attribute VB_PredeclaredId = True
+Attribute VB_Exposed = False
+Dim dieNow As Boolean
+
+Private Sub Form_Load()
+ Me.Show
+ DoEvents
+ dieNow = False
+
+ ' setup libxbee
+ If (xbee_setupDebugAPI("COM8", 57600, "xbee.log", "+", 250) = -1) Then
+ MsgBox "libxbee setup failed...", vbCritical
+ Unload Me
+ End
+ End If
+
+ ' enable callback functions
+ xbee_enableCallbacks Me.hWnd
+
+ ' setup a local at connection
+ atcon = xbee_newcon_simple(Asc("A"), xbee_localAT)
+ xbee_enableACKwait atcon
+ xbee_attachCallback atcon, AddressOf localCB
+
+ ' set off the chain reaction!
+ xbeesend atcon, "MY"
+End Sub
+
+Private Sub Form_Unload(Cancel As Integer)
+ Static c As Integer
+ dieNow = 1
+ Cancel = 1
+ Me.Caption = "Waiting for command to complete..."
+ c = c + 1
+ If (c >= 2) Then
+ Cancel = 0
+ End If
+End Sub
+
+Private Sub nodelist_Click()
+ Dim tmp() As String
+ If nodelist.ListCount = 0 Or nodelist.ListIndex = -1 Then Exit Sub
+ If set_dest.Tag = "yes" Then
+ nodelist.Enabled = False
+ Else
+ If nodelist.ListIndex = 0 Then
+ remoteCon = atcon
+ Else
+ str2 = Split(nodelist.text, " ")
+ remoteCon = xbee_newcon_64bit(Asc("2"), xbee_64bitRemoteAT, CLng("&H" & Right(str2(1), 8)), CLng("&H" & Right(str2(2), 8)))
+ End If
+ setButtons False
+ nodelist.Enabled = False
+ tmp = Split(nodelist.List(nodelist.ListIndex), " ")
+ ni = tmp(5)
+ my = tmp(0)
+ sh = tmp(1)
+ sl = tmp(2)
+ ap = "-"
+ bd = "-"
+ ch = "-"
+ dh = "-"
+ dl = "-"
+ ia = "-"
+ hv = "-"
+ vr = "-"
+ End If
+End Sub
+
+Private Sub reset_node_Click()
+ If nodelist.ListCount = 0 Or nodelist.ListIndex = -1 Then Exit Sub
+ nodelist.Enabled = False
+ setButtons False
+ reset_node.Tag = "yes"
+End Sub
+
+Private Sub set_default_Click()
+ If nodelist.ListCount = 0 Or nodelist.ListIndex = -1 Then Exit Sub
+ nodelist.Enabled = False
+ setButtons False
+ set_default.Tag = "yes"
+End Sub
+
+Private Sub set_dest_Click()
+ If nodelist.ListCount = 0 Or nodelist.ListIndex = -1 Then Exit Sub
+ nodelist.Tag = nodelist.ListIndex
+ setButtons False
+ set_dest.Tag = "yes"
+End Sub
+
+Private Sub set_ni_Click()
+ Dim newni As String
+ Dim oldni As String
+ oldni = Split(nodelist.text, " ")(5)
+ newni = InputBox("New node identifier:", "Set Node Identifier", oldni)
+ If newni = oldni Then Exit Sub
+ nodelist.Enabled = False
+ setButtons False
+ set_ni.Tag = newni
+End Sub
+
+Private Sub talk_to_me_Click()
+ If nodelist.ListCount = 0 Or nodelist.ListIndex = -1 Then Exit Sub
+ nodelist.Enabled = False
+ setButtons False
+ talk_to_me.Tag = "yes"
+End Sub
+
+Private Sub tmr_refresh_Timer()
+ Dim str As String
+ Dim str2() As String
+ tmr_refresh.Enabled = False
+ If atcon = 0 Then Exit Sub
+
+ If (dieNow) Then
+ xbee_end
+ DoEvents
+ xbee_disableCallbacks
+ Unload Me
+ End
+ End If
+
+ If nodelist.Enabled = False Then
+ xbee_attachCallback remoteCon, AddressOf remoteCB
+ If talk_to_me.Tag = "yes" Then
+ str2 = Split(Form1.nodelist.text, " ")
+ xbee_attachCallback remoteCon, AddressOf setupCB_TTM
+ str2 = Split(nodelist.List(0), " ")
+ str = Chr(CInt("&H" & Mid(str2(1), 9, 2)))
+ str = Chr(CInt("&H" & Mid(str2(1), 7, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(1), 5, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(1), 3, 2))) & str
+ str = "DH" & str
+ xbeesend remoteCon, str
+ ElseIf set_dest.Tag = "yes" Then
+ str2 = Split(Form1.nodelist.text, " ")
+ xbee_attachCallback remoteCon, AddressOf setupCB_SDEST
+ str2 = Split(nodelist.text, " ")
+ str = Chr(CInt("&H" & Mid(str2(1), 9, 2)))
+ str = Chr(CInt("&H" & Mid(str2(1), 7, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(1), 5, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(1), 3, 2))) & str
+ str = "DH" & str
+ xbeesend remoteCon, str
+ ElseIf reset_node.Tag = "yes" Then
+ xbee_sendstring remoteCon, "FR"
+ setButtons True
+ reset_node.Tag = ""
+ tmr_refresh.Enabled = True
+ ElseIf write_settings.Tag = "yes" Then
+ xbee_sendstring remoteCon, "WR"
+ setButtons True
+ write_settings.Tag = ""
+ tmr_refresh.Enabled = True
+ ElseIf set_default.Tag = "yes" Then
+ setupCB_Default_Start
+ ElseIf set_ni.Tag <> "" Then
+ xbeesend remoteCon, "NI" & set_ni.Tag
+ set_ni.Tag = ""
+ Else
+ xbeesend remoteCon, "AP"
+ End If
+ Exit Sub
+ End If
+ ' initiate network scan
+ xbee_attachCallback atcon, AddressOf localCB
+ xbeesend atcon, "MY"
+End Sub
+
+Private Sub tmr_timeout_Timer()
+ Dim con As Long
+ Dim str As String
+ Dim str2() As String
+ tmr_timeout.Enabled = False
+ str2 = Split(tmr_timeout.Tag, Chr(1), 2)
+ con = CStr(str2(0))
+ str = str2(1)
+ If MsgBox("Request timed out... Retry?", vbYesNo + vbQuestion, "Retry?") = vbNo Then
+ setButtons True
+ nodelist.Enabled = True
+ tmr_refresh.Enabled = True
+ Exit Sub
+ End If
+ xbeesend con, str
+End Sub
+
+Private Sub write_settings_Click()
+ If nodelist.ListCount = 0 Or nodelist.ListIndex = -1 Then Exit Sub
+ nodelist.Enabled = False
+ setButtons False
+ write_settings.Tag = "yes"
+End Sub
diff --git a/thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.bas b/thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.bas
new file mode 100644
index 0000000000..dc9f5f76d1
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.bas
@@ -0,0 +1,431 @@
+Attribute VB_Name = "Module1"
+Public atcon As Long
+Public remoteCon As Long
+
+Public Sub setButtons(ByVal state As Boolean)
+ Form1.talk_to_me.Tag = ""
+ Form1.talk_to_me.Enabled = state
+ Form1.set_dest.Tag = ""
+ Form1.set_dest.Enabled = state
+ Form1.reset_node.Tag = ""
+ Form1.reset_node.Enabled = state
+ Form1.set_default.Tag = ""
+ Form1.set_default.Enabled = state
+ Form1.write_settings.Tag = ""
+ Form1.write_settings.Enabled = state
+ Form1.set_ni.Tag = ""
+ Form1.set_ni.Enabled = state
+End Sub
+
+Public Function xbeesend(ByVal con As Long, ByVal str As String) As Long
+ Form1.tmr_timeout.Enabled = False
+ Form1.tmr_timeout.Tag = CStr(con) & Chr(1) & str
+ Form1.tmr_timeout.Enabled = True
+ xbee_sendstring con, str
+End Function
+
+Public Sub setupCB_Default_Start()
+ xbee_attachCallback remoteCon, AddressOf setupCB_Default
+ xbee_attachCallback atcon, AddressOf setupCB_Default
+ xbeesend remoteCon, "CH" & Chr(16)
+End Sub
+Public Function setupCB_Default(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ Dim str As String
+ Dim str2() As String
+ ' default values (in order of setting):
+ ' CH = 10
+ ' local CH = 10
+ ' MY = FF
+ ' T3 = 1
+ ' BD = 6
+ ' AP = 0
+ ' RO = 1
+ ' D0 = 5 (turn on rest of system)
+ ' D1 = 2 (battery reading)
+ ' D2 = 0
+ ' D3 = 5 (reset)
+ ' D4 = 4 (battery reading power)
+ ' D5 = 0
+ ' D6 = 0
+ ' D7 = 0
+ ' D8 = 0
+ ' IA = 0xFFFF (accept inputs from anyone)
+ ' IU = 0
+ Debug.Print ArrayToString(pkt.atCmd)
+ If con = atcon Then
+ xbee_attachCallback con, AddressOf localCB
+ xbeesend remoteCon, "MY" & Chr(255) & Chr(255)
+ Exit Function
+ End If
+ Select Case ArrayToString(pkt.atCmd)
+ Case "CH"
+ xbeesend atcon, "CH" & Chr(16)
+ Case "MY"
+ xbeesend con, "T3" & Chr(1)
+ Case "T3"
+ xbeesend con, "BD" & Chr(0) & Chr(0) & Chr(0) & Chr(6)
+ Case "BD"
+ xbeesend con, "AP" & Chr(0)
+ Case "AP"
+ xbeesend con, "RO" & Chr(1)
+ Case "RO"
+ xbeesend con, "D0" & Chr(5)
+ Case "D0"
+ xbeesend con, "D1" & Chr(2)
+ Case "D1"
+ xbeesend con, "D2" & Chr(0)
+ Case "D2"
+ xbeesend con, "D3" & Chr(4)
+ Case "D3"
+ xbeesend con, "D4" & Chr(4)
+ Case "D4"
+ xbeesend con, "D5" & Chr(0)
+ Case "D5"
+ xbeesend con, "D6" & Chr(0)
+ Case "D6"
+ xbeesend con, "D7" & Chr(0)
+ Case "D7"
+ xbeesend con, "D8" & Chr(0)
+ Case "D8"
+ xbeesend con, "IA" & Chr(0) & Chr(0) & Chr(0) & Chr(0) & Chr(0) & Chr(0) & Chr(255) & Chr(255)
+ Case "IA"
+ xbeesend con, "IU" & Chr(0)
+ Case "IU"
+ Form1.set_default.Tag = ""
+ Form1.tmr_refresh.Enabled = True
+ Form1.tmr_timeout.Enabled = False
+ End Select
+End Function
+
+Public Function setupCB_TTM(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ Dim str As String
+ Dim str2() As String
+ Select Case ArrayToString(pkt.atCmd)
+ Case "DH"
+ str2 = Split(Form1.nodelist.List(0), " ")
+ str = Chr(CInt("&H" & Mid(str2(2), 9, 2)))
+ str = Chr(CInt("&H" & Mid(str2(2), 7, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(2), 5, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(2), 3, 2))) & str
+ str = "DL" & str
+ xbeesend con, str
+ Case "DL"
+ Form1.talk_to_me.Tag = ""
+ Form1.tmr_refresh.Enabled = True
+ End Select
+End Function
+
+Public Function setupCB_SDEST(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ Dim str As String
+ Dim str2() As String
+ Select Case ArrayToString(pkt.atCmd)
+ Case "DH"
+ str2 = Split(Form1.nodelist.text, " ")
+ str = Chr(CInt("&H" & Mid(str2(2), 9, 2)))
+ str = Chr(CInt("&H" & Mid(str2(2), 7, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(2), 5, 2))) & str
+ str = Chr(CInt("&H" & Mid(str2(2), 3, 2))) & str
+ str = "DL" & str
+ xbeesend con, str
+ Case "DL"
+ Form1.set_dest.Tag = ""
+ Form1.nodelist.ListIndex = Form1.nodelist.Tag
+ Form1.tmr_refresh.Enabled = True
+ End Select
+End Function
+
+Public Function remoteCB(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ Dim t As String
+ Dim i As Long
+ Debug.Print "<+>", ArrayToString(pkt.atCmd)
+ Form1.tmr_timeout.Enabled = False
+ Select Case ArrayToString(pkt.atCmd)
+ Case "AP"
+ Select Case pkt.data(0)
+ Case 0
+ Form1.ap.Caption = "0 - API Disabled"
+ Case 1
+ Form1.ap.Caption = "1 - API Enabled (no escapes)"
+ Case 2
+ Form1.ap.Caption = "2 - API Enabled (with escapes)"
+ Case Default
+ Form1.ap.Caption = "0x" & Hex(pkt.data(0)) & " - Unknown..."
+ End Select
+ xbeesend con, "BD"
+ Case "BD"
+ t = Hex(pkt.data(3))
+ If (Len(t) < 2) Then t = "0" & t
+ t = Hex(pkt.data(2)) & t
+ If (Len(t) < 4) Then t = "0" & t
+ t = Hex(pkt.data(1)) & t
+ If (Len(t) < 6) Then t = "0" & t
+ t = Hex(pkt.data(0)) & t
+ If (Len(t) < 8) Then t = "0" & t
+ i = CStr("&H" & t)
+ Select Case i
+ Case 0
+ Form1.bd.Caption = "0 - 1200 bps"
+ Case 1
+ Form1.bd.Caption = "1 - 2400 bps"
+ Case 2
+ Form1.bd.Caption = "2 - 4800 bps"
+ Case 3
+ Form1.bd.Caption = "3 - 9600 bps"
+ Case 4
+ Form1.bd.Caption = "4 - 19200 bps"
+ Case 5
+ Form1.bd.Caption = "5 - 38400 bps"
+ Case 6
+ Form1.bd.Caption = "6 - 57600 bps"
+ Case 7
+ Form1.bd.Caption = "7 - 115200 bps"
+ Case Default
+ Form1.bd.Caption = "0x" & Hex(i) & " - Unknwon..."
+ End Select
+ xbeesend con, "CH"
+ Case "CH"
+ t = Hex(pkt.data(0))
+ If (Len(t) < 2) Then t = "0" & t
+ Form1.ch.Caption = "0x" & t
+ xbeesend con, "DH"
+ Case "DH"
+ t = Hex(pkt.data(3))
+ If (Len(t) < 2) Then t = "0" & t
+ t = Hex(pkt.data(2)) & t
+ If (Len(t) < 4) Then t = "0" & t
+ t = Hex(pkt.data(1)) & t
+ If (Len(t) < 6) Then t = "0" & t
+ t = Hex(pkt.data(0)) & t
+ If (Len(t) < 8) Then t = "0" & t
+ Form1.dh.Caption = "0x" & t
+ xbeesend con, "DL"
+ Case "DL"
+ t = Hex(pkt.data(3))
+ If (Len(t) < 2) Then t = "0" & t
+ t = Hex(pkt.data(2)) & t
+ If (Len(t) < 4) Then t = "0" & t
+ t = Hex(pkt.data(1)) & t
+ If (Len(t) < 6) Then t = "0" & t
+ t = Hex(pkt.data(0)) & t
+ If (Len(t) < 8) Then t = "0" & t
+ Form1.dl.Caption = "0x" & t
+ xbeesend con, "IA"
+ Case "IA"
+ t = Hex(pkt.data(7)) & t
+ If (Len(t) < 2) Then t = "0" & t
+ t = Hex(pkt.data(6)) & t
+ If (Len(t) < 4) Then t = "0" & t
+ t = Hex(pkt.data(5)) & t
+ If (Len(t) < 6) Then t = "0" & t
+ t = Hex(pkt.data(4)) & t
+ If (Len(t) < 8) Then t = "0" & t
+ t = Hex(pkt.data(3)) & t
+ If (Len(t) < 10) Then t = "0" & t
+ t = Hex(pkt.data(2)) & t
+ If (Len(t) < 12) Then t = "0" & t
+ t = Hex(pkt.data(1)) & t
+ If (Len(t) < 14) Then t = "0" & t
+ t = Hex(pkt.data(0)) & t
+ If (Len(t) < 16) Then t = "0" & t
+ Form1.ia.Caption = "0x" & t
+ xbeesend con, "HV"
+ Case "HV"
+ t = Hex(pkt.data(1))
+ If (Len(t) < 2) Then t = "0" & t
+ t = Hex(pkt.data(0)) & t
+ If (Len(t) < 4) Then t = "0" & t
+ Form1.hv.Caption = "0x" & t
+ xbeesend con, "VR"
+ Case "VR"
+ t = Hex(pkt.data(1))
+ If (Len(t) < 2) Then t = "0" & t
+ t = Hex(pkt.data(0)) & t
+ If (Len(t) < 4) Then t = "0" & t
+ Form1.vr.Caption = "0x" & t
+ If con = atcon Then
+ xbee_attachCallback con, AddressOf localCB
+ End If
+ setButtons True
+ Form1.nodelist.Enabled = True
+ Form1.tmr_refresh.Enabled = True
+ Form1.tmr_timeout.Enabled = False
+ Case Else
+ If con = atcon Then
+ xbee_attachCallback con, AddressOf localCB
+ End If
+ setButtons True
+ Form1.nodelist.Enabled = True
+ Form1.tmr_refresh.Enabled = True
+ Form1.tmr_timeout.Enabled = False
+ End Select
+End Function
+
+Public Function localCB(ByVal con As Long, ByRef pkt As xbee_pkt) As Long
+ Dim nodeinfo As String
+ Dim nodename As String
+ Dim tmp As String
+ Dim tmp2() As String
+ Dim sh, sl As String
+ Dim i, m As Integer
+ Dim AT As String
+ Form1.tmr_timeout.Enabled = False
+ AT = ArrayToString(pkt.atCmd)
+ ' handle initial stuff
+ Select Case AT
+ Case "MY"
+ nodeinfo = "0x"
+ tmp = Hex(pkt.data(0))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(1))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ If Form1.nodelist.ListCount > 0 Then
+ Form1.nodelist.List(0) = nodeinfo
+ Else
+ Form1.nodelist.AddItem nodeinfo
+ End If
+ ' issue next command
+ xbeesend con, "SH"
+ Case "SH"
+ nodeinfo = Form1.nodelist.List(0) & " 0x"
+ tmp = Hex(pkt.data(0))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(1))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(2))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(3))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ Form1.nodelist.List(0) = nodeinfo
+ ' issue next command
+ xbeesend con, "SL"
+ Case "SL"
+ nodeinfo = Form1.nodelist.List(0) & " 0x"
+ tmp = Hex(pkt.data(0))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(1))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(2))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ tmp = Hex(pkt.data(3))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ nodeinfo = nodeinfo & tmp
+ Form1.nodelist.List(0) = nodeinfo
+ ' issue next command
+ xbeesend con, "NI"
+ Case "NI"
+ nodeinfo = Form1.nodelist.List(0) & " -***dB * "
+ tmp = ArrayToString(pkt.data)
+ nodeinfo = nodeinfo & tmp
+ Form1.nodelist.List(0) = nodeinfo
+ ' issue next command
+ xbeesend con, "ND"
+ End Select
+
+ If (AT <> "ND") Then Exit Function
+ If (pkt.status <> 0) Then
+ MsgBox "An error occured when attempting to scan!", vbCritical
+ Exit Function
+ End If
+
+ If (pkt.datalen = 0) Then
+ ' increment the counter for each node
+ For i = 0 To Form1.nodelist.ListCount - 1
+ tmp2 = Split(Form1.nodelist.List(i), " ")
+ If tmp2(4) <> "+" And tmp2(4) <> "*" Then
+ tmp2(4) = CInt(tmp2(4)) + 1
+ If (CInt(tmp2(4)) > 9) Then tmp2(4) = "+"
+ End If
+ tmp = ""
+ For m = LBound(tmp2) To UBound(tmp2)
+ If m > 0 Then tmp = tmp & " "
+ tmp = tmp & tmp2(m)
+ Next
+ Form1.nodelist.List(i) = tmp
+ Next
+
+ ' restart the refresh timer
+ Form1.tmr_refresh.Enabled = True
+ Exit Function
+ End If
+
+ ' extract the 16-bit address
+ nodeinfo = ""
+ tmp = Hex(pkt.data(1))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(0)) & tmp
+ If (Len(tmp) < 4) Then tmp = "0" & tmp
+ tmp = "0x" & tmp
+ nodeinfo = nodeinfo & tmp
+
+ nodeinfo = nodeinfo & " "
+
+ ' extract the high portion of the 64-bit address
+ nodeinfo = nodeinfo
+ tmp = Hex(pkt.data(5))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(4)) & tmp
+ If (Len(tmp) < 4) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(3)) & tmp
+ If (Len(tmp) < 6) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(2)) & tmp
+ If (Len(tmp) < 8) Then tmp = "0" & tmp
+ tmp = "0x" & tmp
+ nodeinfo = nodeinfo & tmp
+ sh = tmp
+
+ nodeinfo = nodeinfo & " "
+
+ ' extract the low portion of the 64-bit address
+ nodeinfo = nodeinfo
+ tmp = Hex(pkt.data(9))
+ If (Len(tmp) < 2) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(8)) & tmp
+ If (Len(tmp) < 4) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(7)) & tmp
+ If (Len(tmp) < 6) Then tmp = "0" & tmp
+ tmp = Hex(pkt.data(6)) & tmp
+ If (Len(tmp) < 8) Then tmp = "0" & tmp
+ tmp = "0x" & tmp
+ nodeinfo = nodeinfo & tmp
+ sl = tmp
+
+ nodeinfo = nodeinfo & " "
+
+ ' extract the rssi (signal strength)
+ tmp = "-" & CStr(pkt.data(10))
+ If Len(tmp) < 3 Then tmp = " " & tmp
+ If Len(tmp) < 4 Then tmp = " " & tmp
+ tmp = tmp & "dB"
+ nodeinfo = nodeinfo & tmp
+
+ nodeinfo = nodeinfo & " "
+ ' add a number of scans
+ nodeinfo = nodeinfo & 0
+
+ nodeinfo = nodeinfo & " "
+
+ ' extract the node name
+ nodename = ArrayToString(pkt.data, 11)
+ nodeinfo = nodeinfo & nodename
+
+ ' see if we have already got this node
+ For i = 0 To Form1.nodelist.ListCount - 1
+ tmp2 = Split(Form1.nodelist.List(i), " ")
+ If tmp2(1) = sh And tmp2(2) = sl Then
+ Form1.nodelist.List(i) = nodeinfo
+ Exit Function
+ End If
+ Next
+
+ ' otherwise add the info to the list
+ Form1.nodelist.AddItem nodeinfo
+End Function
diff --git a/thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.vbp b/thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.vbp
new file mode 100644
index 0000000000..a80cc9bf25
--- /dev/null
+++ b/thirdParty/libxbee/sample/vb6/talk_to_me/talk_to_me.vbp
@@ -0,0 +1,33 @@
+Type=Exe
+Form=Form1.frm
+Reference=*\G{00020430-0000-0000-C000-000000000046}#2.0#0#..\..\..\..\..\..\..\..\Windows\SysWOW64\stdole2.tlb#OLE Automation
+Module=libxbee; ..\libxbee.bas
+Module=Module1; talk_to_me.bas
+IconForm="Form1"
+Startup="Form1"
+ExeName32="talk_to_me.exe"
+Command32=""
+Name="Project1"
+HelpContextID="0"
+CompatibleMode="0"
+MajorVer=1
+MinorVer=0
+RevisionVer=0
+AutoIncrementVer=0
+ServerSupportFiles=0
+VersionCompanyName="Microsoft"
+CompilationType=0
+OptimizationType=0
+FavorPentiumPro(tm)=0
+CodeViewDebugInfo=0
+NoAliasing=0
+BoundsCheck=0
+OverflowCheck=0
+FlPointCheck=0
+FDIVCheck=0
+UnroundedFP=0
+StartMode=0
+Unattended=0
+Retained=0
+ThreadPerObject=0
+MaxNumberOfThreads=1
diff --git a/thirdParty/libxbee/sample/xbee2_rx.c b/thirdParty/libxbee/sample/xbee2_rx.c
new file mode 100644
index 0000000000..223ddcf637
--- /dev/null
+++ b/thirdParty/libxbee/sample/xbee2_rx.c
@@ -0,0 +1,60 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee -g
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample demonstrates how to communicate using series 2 radios */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <xbee.h>
+
+void callback(xbee_con *con, xbee_pkt *pkt) {
+ int ret;
+ /* print the recieved data */
+ printf("Rx: %s\n",pkt->data);
+}
+
+int main(int argc, char *argv[]) {
+ union {
+ unsigned char as8[8];
+ unsigned int as32[2];
+ } addr;
+ xbee_con *rCon;
+ xbee_pkt *pkt;
+
+ xbee_setuplog("/dev/ttyUSB1",57600, 2);
+
+ rCon = xbee_newcon('#', xbee2_data, 0x13A200, 0x403302B1);
+ rCon->waitforACK = 1;
+ rCon->callback = callback;
+
+ for (;;) {
+ sleep(60);
+ }
+
+ /* calling xbee_end() will return the xbee to its previous API mode */
+ xbee_end();
+ return 0;
+}
diff --git a/thirdParty/libxbee/sample/xbee2_tx.c b/thirdParty/libxbee/sample/xbee2_tx.c
new file mode 100644
index 0000000000..db49fe6fa6
--- /dev/null
+++ b/thirdParty/libxbee/sample/xbee2_tx.c
@@ -0,0 +1,54 @@
+#ifdef shell
+gcc -o ${0//.c/} $0 -lxbee -g
+exit
+}
+#endif
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this sample demonstrates how to communicate using series 2 radios */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <xbee.h>
+
+int main(int argc, char *argv[]) {
+ union {
+ unsigned char as8[8];
+ unsigned int as32[2];
+ } addr;
+ xbee_con *rCon;
+ xbee_pkt *pkt;
+
+ xbee_setuplog("/dev/ttyUSB0",57600, 2);
+
+ rCon = xbee_newcon('#', xbee2_data, 0x13A200, 0x403302BF);
+
+ for (;;) {
+ xbee_senddata(rCon, "Hello!");
+ printf("Sent!\n");
+ sleep(1);
+ }
+
+ /* calling xbee_end() will return the xbee to its previous API mode */
+ xbee_end();
+ return 0;
+}
diff --git a/thirdParty/libxbee/win32.README.txt b/thirdParty/libxbee/win32.README.txt
new file mode 100644
index 0000000000..f16dc0d94e
--- /dev/null
+++ b/thirdParty/libxbee/win32.README.txt
@@ -0,0 +1,31 @@
+Welcome to libxbee!
+
+I have proveded sample code in the ./sample directory. Hopefully this will help
+get you up and running with libxbee. If you would like samples showing a different
+aspect of libxbee, then please do not hesitate to file an 'issue' on the project
+site, and I will get to it ASAP:
+ http://code.google.com/p/libxbee/issues/list
+
+
+Documentation is avaliable as HTML in the 'doc' folder.
+
+
+Please note that this project is still in development, so should not be used for
+any purpose other than learning/playing/testing etc... Basically don't use it to
+make money, and then hold me responsible if it breaks!
+
+Feel free to contact me directly with any queries:
+ attie@attie.co.uk
+
+
+=== Compiling & Using ===
+
+To compile you must:
+ 1) Have Visual C++ 2008 (v9.0) installed (Express or otherwise)
+ 2) Have make installed - see GnuWin
+ 3) Modify win32.makefile so that the paths at the top are correct
+
+Compile using `make -f win32.makefile` from the command prompt
+
+For C/C++ (and probrably others) just include xbee.h and link with libxbee.dll
+For VB6 see ./sample/vb6/ for more info & examples
diff --git a/thirdParty/libxbee/xbee.h b/thirdParty/libxbee/xbee.h
new file mode 100644
index 0000000000..61331d8443
--- /dev/null
+++ b/thirdParty/libxbee/xbee.h
@@ -0,0 +1,218 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+#ifndef XBEE_H
+#define XBEE_H
+
+#if !defined(__GNUC__) && !defined(_WIN32)
+#error "This library is only currently compatible with Linux and Win32"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef __LIBXBEE_API_H
+typedef void* xbee_hnd;
+#endif
+
+#include <stdarg.h>
+
+#ifdef __GNUC__ /* ---- */
+#include <semaphore.h>
+typedef pthread_mutex_t xbee_mutex_t;
+typedef pthread_cond_t xbee_cond_t;
+typedef pthread_t xbee_thread_t;
+typedef sem_t xbee_sem_t;
+typedef FILE* xbee_file_t;
+#elif (defined(WIN32) || defined(_WIN32)) /* -------------- */
+#include <Windows.h>
+#define CALLTYPE __stdcall
+#define CALLTYPEVA __cdecl
+typedef HANDLE xbee_mutex_t;
+typedef CONDITION_VARIABLE xbee_cond_t;
+typedef HANDLE xbee_thread_t;
+typedef HANDLE xbee_sem_t;
+typedef HANDLE xbee_file_t;
+#else
+#error "Unknown operating system or compiler"
+#endif /* ------------- */
+
+#ifndef CALLTYPE
+#define CALLTYPE
+#endif
+
+#ifndef CALLTYPEVA
+#define CALLTYPEVA
+#endif
+
+enum xbee_types {
+ xbee_unknown,
+
+ xbee_localAT, /* frame ID */
+ xbee_remoteAT,
+ xbee_modemStatus,
+ xbee_txStatus,
+
+ /* XBee Series 1 stuff */
+ xbee_16bitRemoteAT, /* frame ID */
+ xbee_64bitRemoteAT, /* frame ID */
+
+ xbee_16bitData, /* frame ID for ACKs */
+ xbee_64bitData, /* frame ID for ACKs */
+
+ xbee_16bitIO,
+ xbee_64bitIO,
+
+ /* XBee Series 2 stuff */
+ xbee2_data,
+ xbee2_txStatus
+};
+typedef enum xbee_types xbee_types;
+
+typedef struct xbee_sample xbee_sample;
+struct xbee_sample {
+ /* X A5 A4 A3 A2 A1 A0 D8 D7 D6 D5 D4 D3 D2 D1 D0 */
+ unsigned short IOmask; /* IO */
+ /* X X X X X X X D8 D7 D6 D5 D4 D3 D2 D1 D0 */
+ unsigned short IOdigital; /* IO */
+ /* X X X X X D D D D D D D D D D D */
+ unsigned short IOanalog[6]; /* IO */
+};
+
+typedef struct xbee_pkt xbee_pkt;
+struct xbee_pkt {
+ unsigned int sAddr64 : 1; /* yes / no */
+ unsigned int dataPkt : 1; /* if no - AT packet */
+ unsigned int txStatusPkt : 1;
+ unsigned int modemStatusPkt : 1;
+ unsigned int remoteATPkt : 1;
+ unsigned int IOPkt : 1;
+ unsigned int isBroadcastADR : 1;
+ unsigned int isBroadcastPAN : 1;
+
+ unsigned char frameID; /* AT Status */
+ unsigned char atCmd[2]; /* AT */
+
+ unsigned char status; /* AT Data Status */ /* status / options */
+ unsigned char samples;
+ unsigned char RSSI; /* Data */
+
+ unsigned char Addr16[2]; /* AT Data */
+
+ unsigned char Addr64[8]; /* AT Data */
+
+ unsigned char data[128]; /* AT Data */
+
+ unsigned int datalen;
+ xbee_types type;
+
+ xbee_pkt *next;
+
+ xbee_sample IOdata[1]; /* this array can be extended by using a this trick:
+ p = calloc(sizeof(xbee_pkt) + (sizeof(xbee_sample) * (samples - 1))) */
+};
+
+typedef struct xbee_con xbee_con;
+struct xbee_con {
+ unsigned int tAddr64 : 1;
+ unsigned int atQueue : 1; /* queues AT commands until AC is sent */
+ unsigned int txDisableACK : 1;
+ unsigned int txBroadcastPAN: 1; /* broadcasts to PAN */
+ unsigned int destroySelf : 1; /* if set, the callback thread will destroy the connection
+ after all of the packets have been processed */
+ unsigned int waitforACK : 1; /* waits for the ACK or NAK after transmission */
+ unsigned int noFreeAfterCB : 1; /* prevents libxbee from free'ing the packet after the callback has completed */
+ unsigned int __spare__ : 1;
+ xbee_types type;
+ unsigned char frameID;
+ unsigned char tAddr[8]; /* 64-bit 0-7 16-bit 0-1 */
+ void *customData; /* can be used to store data related to this connection */
+ void (CALLTYPE *callback)(xbee_con*,xbee_pkt*); /* call back function */
+ void *callbackList;
+ xbee_mutex_t callbackmutex;
+ xbee_mutex_t callbackListmutex;
+ xbee_mutex_t Txmutex;
+ xbee_sem_t waitforACKsem;
+ volatile unsigned char ACKstatus; /* 255 = waiting, 0 = success, 1 = no ack, 2 = cca fail, 3 = purged */
+ xbee_con *next;
+};
+
+int CALLTYPE xbee_setup(char *path, int baudrate);
+int CALLTYPE xbee_setuplog(char *path, int baudrate, int logfd);
+int CALLTYPE xbee_setupAPI(char *path, int baudrate, char cmdSeq, int cmdTime);
+int CALLTYPE xbee_setuplogAPI(char *path, int baudrate, int logfd, char cmdSeq, int cmdTime);
+xbee_hnd CALLTYPE _xbee_setup(char *path, int baudrate);
+xbee_hnd CALLTYPE _xbee_setuplog(char *path, int baudrate, int logfd);
+xbee_hnd CALLTYPE _xbee_setupAPI(char *path, int baudrate, char cmdSeq, int cmdTime);
+xbee_hnd CALLTYPE _xbee_setuplogAPI(char *path, int baudrate, int logfd, char cmdSeq, int cmdTime);
+
+int CALLTYPE xbee_end(void);
+int CALLTYPE _xbee_end(xbee_hnd xbee);
+
+void CALLTYPE xbee_logitf(char *format, ...);
+void CALLTYPE _xbee_logitf(xbee_hnd xbee, char *format, ...);
+void CALLTYPE xbee_logit(char *str);
+void CALLTYPE _xbee_logit(xbee_hnd xbee, char *str);
+
+xbee_con * CALLTYPEVA xbee_newcon(unsigned char frameID, xbee_types type, ...);
+xbee_con * CALLTYPEVA _xbee_newcon(xbee_hnd xbee, unsigned char frameID, xbee_types type, ...);
+xbee_con * CALLTYPE _xbee_vnewcon(xbee_hnd xbee, unsigned char frameID, xbee_types type, va_list ap);
+
+void CALLTYPE xbee_purgecon(xbee_con *con);
+void CALLTYPE _xbee_purgecon(xbee_hnd xbee, xbee_con *con);
+
+void CALLTYPE xbee_endcon2(xbee_con **con, int alreadyUnlinked);
+void CALLTYPE _xbee_endcon2(xbee_hnd xbee, xbee_con **con, int alreadyUnlinked);
+#define xbee_endcon(x) xbee_endcon2(&(x),0)
+#define _xbee_endcon(xbee,x) _xbee_endcon2((xbee),&(x),0)
+
+int CALLTYPE xbee_nsenddata(xbee_con *con, char *data, int length);
+int CALLTYPE _xbee_nsenddata(xbee_hnd xbee, xbee_con *con, char *data, int length);
+int CALLTYPEVA xbee_senddata(xbee_con *con, char *format, ...);
+int CALLTYPEVA _xbee_senddata(xbee_hnd xbee, xbee_con *con, char *format, ...);
+int CALLTYPE xbee_vsenddata(xbee_con *con, char *format, va_list ap);
+int CALLTYPE _xbee_vsenddata(xbee_hnd xbee, xbee_con *con, char *format, va_list ap);
+
+#if defined(WIN32)
+/* oh and just 'cos windows has rubbish memory management rules... this too */
+void CALLTYPE xbee_free(void *ptr);
+#endif /* ------------- */
+
+xbee_pkt * CALLTYPE xbee_getpacket(xbee_con *con);
+xbee_pkt * CALLTYPE _xbee_getpacket(xbee_hnd xbee, xbee_con *con);
+xbee_pkt * CALLTYPE xbee_getpacketwait(xbee_con *con);
+xbee_pkt * CALLTYPE _xbee_getpacketwait(xbee_hnd xbee, xbee_con *con);
+
+int CALLTYPE xbee_hasdigital(xbee_pkt *pkt, int sample, int input);
+int CALLTYPE xbee_getdigital(xbee_pkt *pkt, int sample, int input);
+
+int CALLTYPE xbee_hasanalog(xbee_pkt *pkt, int sample, int input);
+double CALLTYPE xbee_getanalog(xbee_pkt *pkt, int sample, int input, double Vref);
+
+const char * CALLTYPE xbee_svn_version(void);
+const char * CALLTYPE xbee_build_info(void);
+
+void CALLTYPE xbee_listen_stop(xbee_hnd xbee);
+
+#ifdef __cplusplus
+} /* cplusplus */
+#endif
+
+#endif
diff --git a/thirdParty/libxbee/xsys/README b/thirdParty/libxbee/xsys/README
new file mode 100644
index 0000000000..48d3928505
--- /dev/null
+++ b/thirdParty/libxbee/xsys/README
@@ -0,0 +1 @@
+This directory contains cross-system support files.
\ No newline at end of file
diff --git a/thirdParty/libxbee/xsys/linux.c b/thirdParty/libxbee/xsys/linux.c
new file mode 100644
index 0000000000..768d5b3d4e
--- /dev/null
+++ b/thirdParty/libxbee/xsys/linux.c
@@ -0,0 +1,148 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* ################################################################# */
+/* ### Linux Code ################################################## */
+/* ################################################################# */
+
+/* this file contains code that is used by Linux ONLY */
+#ifndef __GNUC__
+#error "This file should only be used on a Linux system"
+#endif
+
+#include "linux.h"
+
+int init_serial(xbee_hnd xbee, int baudrate) {
+ struct flock fl;
+ struct termios tc;
+ speed_t chosenbaud;
+
+ /* select the baud rate */
+ switch (baudrate) {
+ case 1200: chosenbaud = B1200; break;
+ case 2400: chosenbaud = B2400; break;
+ case 4800: chosenbaud = B4800; break;
+ case 9600: chosenbaud = B9600; break;
+ case 19200: chosenbaud = B19200; break;
+ case 38400: chosenbaud = B38400; break;
+ case 57600: chosenbaud = B57600; break;
+ case 115200:chosenbaud = B115200; break;
+ default:
+ fprintf(stderr,"%s(): Unknown or incompatiable baud rate specified... (%d)\n",__FUNCTION__,baudrate);
+ return -1;
+ };
+
+ /* open the serial port as a file descriptor */
+ if ((xbee->ttyfd = open(xbee->path,O_RDWR | O_NOCTTY | O_NONBLOCK)) == -1) {
+ xbee_perror("xbee_setup():open()");
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+ return -1;
+ }
+
+ /* lock the file */
+ fl.l_type = F_WRLCK | F_RDLCK;
+ fl.l_whence = SEEK_SET;
+ fl.l_start = 0;
+ fl.l_len = 0;
+ fl.l_pid = getpid();
+ if (fcntl(xbee->ttyfd, F_SETLK, &fl) == -1) {
+ xbee_perror("xbee_setup():fcntl()");
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+ close(xbee->ttyfd);
+ return -1;
+ }
+
+ /* open the serial port as a FILE* */
+ if ((xbee->tty = fdopen(xbee->ttyfd,"r+")) == NULL) {
+ xbee_perror("xbee_setup():fdopen()");
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+ close(xbee->ttyfd);
+ return -1;
+ }
+
+ /* flush the serial port */
+ fflush(xbee->tty);
+
+ /* disable buffering */
+ setvbuf(xbee->tty,NULL,_IONBF,BUFSIZ);
+
+ /* setup the baud rate and other io attributes */
+ tcgetattr(xbee->ttyfd, &tc);
+ /* input flags */
+ tc.c_iflag &= ~ IGNBRK; /* enable ignoring break */
+ tc.c_iflag &= ~(IGNPAR | PARMRK); /* disable parity checks */
+ tc.c_iflag &= ~ INPCK; /* disable parity checking */
+ tc.c_iflag &= ~ ISTRIP; /* disable stripping 8th bit */
+ tc.c_iflag &= ~(INLCR | ICRNL); /* disable translating NL <-> CR */
+ tc.c_iflag &= ~ IGNCR; /* disable ignoring CR */
+ tc.c_iflag &= ~(IXON | IXOFF); /* disable XON/XOFF flow control */
+ /* output flags */
+ tc.c_oflag &= ~ OPOST; /* disable output processing */
+ tc.c_oflag &= ~(ONLCR | OCRNL); /* disable translating NL <-> CR */
+ tc.c_oflag &= ~ OFILL; /* disable fill characters */
+ /* control flags */
+ tc.c_cflag |= CREAD; /* enable reciever */
+ tc.c_cflag &= ~ PARENB; /* disable parity */
+ tc.c_cflag &= ~ CSTOPB; /* disable 2 stop bits */
+ tc.c_cflag &= ~ CSIZE; /* remove size flag... */
+ tc.c_cflag |= CS8; /* ...enable 8 bit characters */
+ tc.c_cflag |= HUPCL; /* enable lower control lines on close - hang up */
+ /* local flags */
+ tc.c_lflag &= ~ ISIG; /* disable generating signals */
+ tc.c_lflag &= ~ ICANON; /* disable canonical mode - line by line */
+ tc.c_lflag &= ~ ECHO; /* disable echoing characters */
+ tc.c_lflag &= ~ ECHONL; /* ??? */
+ tc.c_lflag &= ~ NOFLSH; /* disable flushing on SIGINT */
+ tc.c_lflag &= ~ IEXTEN; /* disable input processing */
+ /* control characters */
+ memset(tc.c_cc,0,sizeof(tc.c_cc));
+ /* i/o rates */
+ cfsetspeed(&tc, chosenbaud); /* set i/o baud rate */
+ tcsetattr(xbee->ttyfd, TCSANOW, &tc);
+ tcflow(xbee->ttyfd, TCOON|TCION); /* enable input & output transmission */
+
+ return 0;
+}
+
+static int xbee_select(xbee_hnd xbee, struct timeval *timeout) {
+ fd_set fds;
+
+ FD_ZERO(&fds);
+ FD_SET(xbee->ttyfd, &fds);
+
+ return select(xbee->ttyfd+1, &fds, NULL, NULL, timeout);
+}
+
+#define xbee_sem_wait1sec(a) xbee_sem_wait1sec2(&(a))
+static inline int xbee_sem_wait1sec2(xbee_sem_t *sem) {
+ struct timespec to;
+ clock_gettime(CLOCK_REALTIME,&to);
+ to.tv_sec++;
+ return sem_timedwait(sem,&to);
+}
diff --git a/thirdParty/libxbee/xsys/linux.h b/thirdParty/libxbee/xsys/linux.h
new file mode 100644
index 0000000000..886bbf5bf1
--- /dev/null
+++ b/thirdParty/libxbee/xsys/linux.h
@@ -0,0 +1,57 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this file contains code that is used by Linux ONLY */
+#ifndef __GNUC__
+#error "This file should only be used on a Linux system"
+#endif
+
+/* ################################################################# */
+/* ### Linux Code ################################################## */
+/* ################################################################# */
+
+#define xbee_thread_create(a,b,c) pthread_create(&(a),NULL,(void *(*)(void *))(b),(void *)(c))
+#define xbee_thread_cancel(a,b) pthread_cancel((a))
+#define xbee_thread_join(a) pthread_join((a),NULL)
+#define xbee_thread_tryjoin(a) pthread_tryjoin_np((a),NULL)
+
+#define xbee_mutex_init(a) pthread_mutex_init(&(a),NULL)
+#define xbee_mutex_destroy(a) pthread_mutex_destroy(&(a))
+#define xbee_mutex_lock(a) pthread_mutex_lock(&(a))
+#define xbee_mutex_trylock(a) pthread_mutex_trylock(&(a))
+#define xbee_mutex_unlock(a) pthread_mutex_unlock(&(a))
+
+#define xbee_sem_init(a) sem_init(&(a),0,0)
+#define xbee_sem_destroy(a) sem_destroy(&(a))
+#define xbee_sem_wait(a) sem_wait(&(a))
+#define xbee_sem_post(a) sem_post(&(a))
+
+#define xbee_cond_init(a) pthread_cond_init(&(a),NULL)
+#define xbee_cond_destroy(a) pthread_cond_destroy(&(a))
+#define xbee_cond_wait(a,b) pthread_cond_wait(&(a),&(b))
+#define xbee_cond_signal(a) pthread_cond_signal(&(a))
+#define xbee_cond_broadcast(a) pthread_cond_broadcast(&(a))
+
+#define xbee_write(xbee,a,b) fwrite((a),1,(b),(xbee)->tty)
+#define xbee_read(xbee,a,b) fread((a),1,(b),(xbee)->tty)
+#define xbee_ferror(xbee) ferror((xbee)->tty)
+#define xbee_feof(xbee) feof((xbee)->tty)
+#define xbee_close(a) fclose((a))
+
diff --git a/thirdParty/libxbee/xsys/pdf/linux.c.pdf b/thirdParty/libxbee/xsys/pdf/linux.c.pdf
new file mode 100644
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diff --git a/thirdParty/libxbee/xsys/pdf/win32.rc.pdf b/thirdParty/libxbee/xsys/pdf/win32.rc.pdf
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diff --git a/thirdParty/libxbee/xsys/win32.c b/thirdParty/libxbee/xsys/win32.c
new file mode 100644
index 0000000000..a05950a94b
--- /dev/null
+++ b/thirdParty/libxbee/xsys/win32.c
@@ -0,0 +1,279 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* ################################################################# */
+/* ### Win32 Code ################################################## */
+/* ################################################################# */
+
+/* this file contains code that is used by Win32 ONLY */
+#ifndef _WIN32
+#error "This file should only be used on a Win32 system"
+#endif
+
+#include "win32.h"
+#include "win32.dll.c"
+
+static int init_serial(xbee_hnd xbee, int baudrate) {
+ int chosenbaud;
+ DCB tc;
+ int evtMask;
+ COMMTIMEOUTS timeouts;
+
+ /* open the serial port */
+ xbee->tty = CreateFile(TEXT(xbee->path),
+ GENERIC_READ | GENERIC_WRITE,
+ 0, /* exclusive access */
+ NULL, /* default security attributes */
+ OPEN_EXISTING,
+ FILE_FLAG_OVERLAPPED,
+ NULL);
+ if (xbee->tty == INVALID_HANDLE_VALUE) {
+ xbee_logS("Invalid file handle...");
+ xbee_logE("Is the XBee plugged in and avaliable on the correct port?");
+ xbee_mutex_destroy(xbee->conmutex);
+ xbee_mutex_destroy(xbee->pktmutex);
+ xbee_mutex_destroy(xbee->sendmutex);
+ Xfree(xbee->path);
+ return -1;
+ }
+
+ GetCommState(xbee->tty, &tc);
+ tc.BaudRate = baudrate;
+ tc.fBinary = TRUE;
+ tc.fParity = FALSE;
+ tc.fOutxCtsFlow = FALSE;
+ tc.fOutxDsrFlow = FALSE;
+ tc.fDtrControl = DTR_CONTROL_DISABLE;
+ tc.fDsrSensitivity = FALSE;
+ tc.fTXContinueOnXoff = FALSE;
+ tc.fOutX = FALSE;
+ tc.fInX = FALSE;
+ tc.fErrorChar = FALSE;
+ tc.fNull = FALSE;
+ tc.fRtsControl = RTS_CONTROL_DISABLE;
+ tc.fAbortOnError = FALSE;
+ tc.ByteSize = 8;
+ tc.Parity = NOPARITY;
+ tc.StopBits = ONESTOPBIT;
+ SetCommState(xbee->tty, &tc);
+
+ timeouts.ReadIntervalTimeout = MAXDWORD;
+ timeouts.ReadTotalTimeoutMultiplier = 0;
+ timeouts.ReadTotalTimeoutConstant = 0;
+ timeouts.WriteTotalTimeoutMultiplier = 0;
+ timeouts.WriteTotalTimeoutConstant = 0;
+ SetCommTimeouts(xbee->tty, &timeouts);
+
+ SetCommMask(xbee->tty, EV_RXCHAR);
+
+ return 0;
+}
+
+/* a replacement for the linux select() function... for a serial port */
+static int xbee_select(xbee_hnd xbee, struct timeval *timeout) {
+ int evtMask = 0;
+ COMSTAT status;
+ int ret;
+
+ for (;;) {
+ /* find out how many bytes are in the Rx buffer... */
+ if (ClearCommError(xbee->tty,NULL,&status) && (status.cbInQue > 0)) {
+ /* if there is data... return! */
+ return 1; /*status.cbInQue;*/
+ } else if (timeout && timeout->tv_sec == 0 && timeout->tv_usec == 0) {
+ /* if the timeout was 0 (return immediately) then return! */
+ return 0;
+ }
+
+ /* otherwise wait for an Rx event... */
+ memset(&(xbee->ttyovrs),0,sizeof(OVERLAPPED));
+ xbee->ttyovrs.hEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
+ if (!WaitCommEvent(xbee->tty,&evtMask,&(xbee->ttyovrs))) {
+ if (GetLastError() == ERROR_IO_PENDING) {
+ DWORD timeoutval;
+ if (!timeout) {
+ /* behave like the linux function... if the timeout pointer was NULL
+ then wait indefinately */
+ timeoutval = INFINITE;
+ } else {
+ /* Win32 doesn't give the luxury of microseconds and seconds... just miliseconds! */
+ timeoutval = (timeout->tv_sec * 1000) + (timeout->tv_usec / 1000);
+ }
+ ret = WaitForSingleObject(xbee->ttyovrs.hEvent,timeoutval);
+ if (ret == WAIT_TIMEOUT) {
+ /* cause the WaitCommEvent() call to stop */
+ SetCommMask(xbee->tty, EV_RXCHAR);
+ /* if a timeout occured, then return 0 */
+ CloseHandle(xbee->ttyovrs.hEvent);
+ return 0;
+ }
+ } else {
+ return -1;
+ }
+ }
+ CloseHandle(xbee->ttyovrs.hEvent);
+ }
+
+ /* always return -1 (error) for now... */
+ return -1;
+}
+
+/* this offers the same behavior as non-blocking I/O under linux */
+int xbee_write(xbee_hnd xbee, const void *ptr, size_t size) {
+ xbee->ttyeof = FALSE;
+ if (!WriteFile(xbee->tty, ptr, size, NULL, &(xbee->ttyovrw)) &&
+ (GetLastError() != ERROR_IO_PENDING)) return 0;
+ if (!GetOverlappedResult(xbee->tty, &(xbee->ttyovrw), &(xbee->ttyw), TRUE)) {
+ if (GetLastError() == ERROR_HANDLE_EOF) xbee->ttyeof = TRUE;
+ return 0;
+ }
+ return xbee->ttyw;
+}
+
+/* this offers the same behavior as non-blocking I/O under linux */
+int xbee_read(xbee_hnd xbee, void *ptr, size_t size) {
+ xbee->ttyeof = FALSE;
+ if (!ReadFile(xbee->tty, ptr, size, NULL, &(xbee->ttyovrr)) &&
+ (GetLastError() != ERROR_IO_PENDING)) return 0;
+ if (!GetOverlappedResult(xbee->tty, &(xbee->ttyovrr), &(xbee->ttyr), TRUE)) {
+ if (GetLastError() == ERROR_HANDLE_EOF) xbee->ttyeof = TRUE;
+ return 0;
+ }
+ return xbee->ttyr;
+}
+
+/* this is because Win32 has some weird memory management rules...
+ - the thread that allocated the memory, MUST free it... */
+void xbee_free(void *ptr) {
+ if (!ptr) return;
+ free(ptr);
+}
+
+/* win32 equivalent of unix gettimeofday() */
+int gettimeofday(struct timeval *tv, struct timezone *tz) {
+ if (tv) {
+ struct _timeb timeb;
+ _ftime(&timeb);
+ tv->tv_sec = timeb.time;
+ tv->tv_usec = timeb.millitm * 1000;
+ }
+ /* ignore tz for now */
+ return 0;
+}
+
+/* ################################################################# */
+/* ### Helper Functions (Mainly for VB6 use) ####################### */
+/* ################################################################# */
+
+/* enable the debug output to a custom file or fallback to stderr */
+int xbee_setupDebugAPI(char *path, int baudrate, char *logfile, char cmdSeq, int cmdTime) {
+ xbee_hnd xbee = NULL;
+ int fd, ret;
+ if ((fd = _open(logfile,_O_WRONLY | _O_CREAT | _O_TRUNC)) == -1) {
+ fd = 2;
+ }
+ ret = xbee_setuplogAPI(path,baudrate,fd,cmdSeq,cmdTime);
+ if (fd > 2) { /* close fd, as libxbee dup'ed it */
+ //_close(fd);
+ }
+ if (!ret) { /* libxbee started correctly */
+ xbee = default_xbee;
+ if (fd == -1) {
+ xbee_log("Error opening logfile '%s' (errno=%d)... using stderr instead!",logfile,errno);
+ }
+ }
+ return ret;
+}
+int xbee_setupDebug(char *path, int baudrate, char *logfile) {
+ return xbee_setupDebugAPI(path,baudrate,logfile,0,0);
+}
+
+/* These silly little functions are required for VB6
+ - it freaks out when you call a function that uses va_args... */
+xbee_con *xbee_newcon_simple(unsigned char frameID, xbee_types type) {
+ return xbee_newcon(frameID, type);
+}
+xbee_con *xbee_newcon_16bit(unsigned char frameID, xbee_types type, int addr) {
+ return xbee_newcon(frameID, type, addr);
+}
+xbee_con *xbee_newcon_64bit(unsigned char frameID, xbee_types type, int addrL, int addrH) {
+ return xbee_newcon(frameID, type, addrL, addrH);
+}
+
+void xbee_enableACKwait(xbee_con *con) {
+ con->waitforACK = 1;
+}
+void xbee_disableACKwait(xbee_con *con) {
+ con->waitforACK = 0;
+}
+
+void xbee_enableDestroySelf(xbee_con *con) {
+ con->destroySelf = 1;
+}
+
+/* for vb6... it will send a message to the given hWnd which can in turn check for a packet */
+void xbee_callback(xbee_con *con, xbee_pkt *pkt) {
+ xbee_hnd xbee = default_xbee;
+
+ if (!win32_hWnd) {
+ xbee_log("*** Cannot do callback! No hWnd set... ***");
+ return;
+ }
+ if (!win32_MessageID) {
+ xbee_log("*** Cannot do callback! No MessageID set... ***");
+ return;
+ }
+
+ xbee_log("Callback message sent!");
+ SendMessage(win32_hWnd, win32_MessageID, (int)con, (int)pkt);
+}
+
+/* very simple C function to provide more functionality to VB6 */
+int xbee_runCallback(int(*func)(xbee_con*,xbee_pkt*), xbee_con *con, xbee_pkt *pkt) {
+ return func(con,pkt);
+}
+
+void xbee_enableCallbacks(HWND hWnd, UINT uMsg) {
+ xbee_hnd xbee = default_xbee;
+ if (!win32_MessageID || win32_MessageID != uMsg) {
+ xbee_log("Configuring libxbee to use MessageID = 0x%08X", uMsg);
+ win32_MessageID = uMsg;
+ }
+ if (!win32_hWnd || win32_hWnd != hWnd) {
+ xbee_log("Configuring libxbee to use hWnd = 0x%08X", hWnd);
+ win32_hWnd = hWnd;
+ }
+}
+
+void xbee_attachCallback(xbee_con *con) {
+ xbee_hnd xbee = default_xbee;
+
+ /* setup the callback function */
+ xbee_log("Setting callback for connection @ 0x%08X",con);
+ con->callback = xbee_callback;
+}
+
+void xbee_detachCallback(xbee_con *con) {
+ xbee_hnd xbee = default_xbee;
+
+ /* un-setup the callback function */
+ xbee_log("Unsetting callback for connection @ 0x%08X",con);
+ con->callback = NULL;
+}
diff --git a/thirdParty/libxbee/xsys/win32.def b/thirdParty/libxbee/xsys/win32.def
new file mode 100644
index 0000000000..888040ee38
--- /dev/null
+++ b/thirdParty/libxbee/xsys/win32.def
@@ -0,0 +1,71 @@
+LIBRARY libxbee
+
+EXPORTS
+ ver
+ DllMain
+ DllCanUnloadNow PRIVATE
+ DllRegisterServer PRIVATE
+ DllUnregisterServer PRIVATE
+
+ xbee_free
+
+ xbee_setup
+ _xbee_setup
+ xbee_setuplog
+ _xbee_setuplog
+ xbee_setupAPI
+ _xbee_setupAPI
+ xbee_setuplogAPI
+ _xbee_setuplogAPI
+ xbee_setupDebug
+ xbee_setupDebugAPI
+
+ xbee_end
+ _xbee_end
+ xbee_listen_stop
+
+ xbee_newcon
+ _xbee_newcon
+ xbee_newcon_simple
+ xbee_newcon_16bit
+ xbee_newcon_64bit
+
+ xbee_enableACKwait
+ xbee_disableACKwait
+ xbee_enableDestroySelf
+
+ xbee_enableCallbacks
+ xbee_attachCallback
+ xbee_detachCallback
+ xbee_runCallback
+
+ xbee_endcon2
+ _xbee_endcon2
+ xbee_purgecon
+ _xbee_purgecon
+
+ xbee_senddata
+ _xbee_senddata
+ xbee_nsenddata
+ _xbee_nsenddata
+ xbee_vsenddata
+ _xbee_vsenddata
+
+ xbee_getpacket
+ _xbee_getpacket
+ xbee_getpacketwait
+ _xbee_getpacketwait
+
+ xbee_hasanalog
+ xbee_getanalog
+
+ xbee_hasdigital
+ xbee_getdigital
+
+ xbee_svn_version
+ xbee_build_info
+
+ xbee_logit
+ _xbee_logit
+ xbee_logitf
+ _xbee_logitf
diff --git a/thirdParty/libxbee/xsys/win32.dll.c b/thirdParty/libxbee/xsys/win32.dll.c
new file mode 100644
index 0000000000..1a9ebcaa85
--- /dev/null
+++ b/thirdParty/libxbee/xsys/win32.dll.c
@@ -0,0 +1,131 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* ################################################################# */
+/* ### Win32 DLL Code ############################################## */
+/* ################################################################# */
+
+/* this file contains code that is used by Win32 ONLY */
+#ifndef _WIN32
+#error "This file should only be used on a Win32 system"
+#endif
+
+int ver(HWND hwnd, HINSTANCE hinst, LPWSTR lpszCmdLine, int nCmdShow) {
+ char t[256];
+ sprintf(t,"libxbee.dll\n%s\n%s",xbee_svn_version(),xbee_build_info());
+ MessageBox(NULL, t, "libxbee Win32 DLL", MB_OK);
+ return 0;
+}
+
+void xbee_UNLOADALL(void) {
+ while (default_xbee) {
+ _xbee_end(default_xbee);
+ }
+}
+
+/* this gets called when the dll is loaded and unloaded... */
+BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) {
+ if (dwReason == DLL_PROCESS_DETACH) {
+ /* ensure that libxbee has been shut down nicely */
+ xbee_UNLOADALL();
+ } else if (dwReason == DLL_PROCESS_ATTACH || dwReason == DLL_THREAD_ATTACH) {
+ if (!glob_hModule) {
+ /* keep a handle on the module */
+ glob_hModule = (HMODULE)hModule;
+ }
+ }
+ return TRUE;
+}
+
+HRESULT DllCanUnloadNow(void) {
+ if (default_xbee) return 0;
+ return 1;
+}
+
+/* ################################################################# */
+/* ### Win32 DLL COM Code ########################################## */
+/* ################################################################# */
+
+/* this function is from this tutorial:
+ http://www.codeguru.com/Cpp/COM-Tech/activex/tutorials/article.php/c5567 */
+BOOL RegWriteKey(HKEY roothk, const char *lpSubKey, LPCTSTR val_name,
+ DWORD dwType, void *lpvData, DWORD dwDataSize) {
+ /* roothk: HKEY_CLASSES_ROOT, HKEY_LOCAL_MACHINE, etc
+ lpSubKey: the key relative to 'roothk'
+ val_name: the key value name where the data will be written
+ dwType: REG_SZ,REG_BINARY, etc.
+ lpvData: a pointer to the data buffer
+ dwDataSize: the size of the data pointed to by lpvData */
+ HKEY hk;
+ if (ERROR_SUCCESS != RegCreateKey(roothk,lpSubKey,&hk) ) return FALSE;
+ if (ERROR_SUCCESS != RegSetValueEx(hk,val_name,0,dwType,(CONST BYTE *)lpvData,dwDataSize)) return FALSE;
+ if (ERROR_SUCCESS != RegCloseKey(hk)) return FALSE;
+ return TRUE;
+}
+
+/* this is used by the regsrv32 application */
+STDAPI DllRegisterServer(void) {
+ char key[MAX_PATH];
+ char value[MAX_PATH];
+
+ wsprintf(key,"CLSID\\%s",dllGUID);
+ wsprintf(value,"%s",dlldesc);
+ RegWriteKey(HKEY_CLASSES_ROOT, key, NULL, REG_SZ, (void *)value, lstrlen(value));
+
+ wsprintf(key,"CLSID\\%s\\InprocServer32",dllGUID);
+ GetModuleFileName(glob_hModule,value,MAX_PATH);
+ RegWriteKey(HKEY_CLASSES_ROOT, key, NULL, REG_SZ, (void *)value, lstrlen(value));
+
+ wsprintf(key,"CLSID\\%s\\ProgId",dllGUID);
+ lstrcpy(value,dllid);
+ RegWriteKey(HKEY_CLASSES_ROOT, key, NULL, REG_SZ, (void *)value, lstrlen(value));
+
+ lstrcpy(key,dllid);
+ lstrcpy(value,dlldesc);
+ RegWriteKey(HKEY_CLASSES_ROOT, key, NULL, REG_SZ, (void *)value, lstrlen(value));
+
+ wsprintf(key,"%s\\CLSID",dllid);
+ RegWriteKey(HKEY_CLASSES_ROOT, key, NULL, REG_SZ, (void *)dllGUID, lstrlen(dllGUID));
+
+ return S_OK;
+}
+
+/* this is used by the regsrv32 application */
+STDAPI DllUnregisterServer(void) {
+ char key[MAX_PATH];
+ char value[MAX_PATH];
+
+ wsprintf(key,"%s\\CLSID",dllid);
+ RegDeleteKey(HKEY_CLASSES_ROOT,key);
+
+ wsprintf(key,"%s",dllid);
+ RegDeleteKey(HKEY_CLASSES_ROOT,key);
+
+ wsprintf(key,"CLSID\\%s\\InprocServer32",dllGUID);
+ RegDeleteKey(HKEY_CLASSES_ROOT,key);
+
+ wsprintf(key,"CLSID\\%s\\ProgId",dllGUID);
+ RegDeleteKey(HKEY_CLASSES_ROOT,key);
+
+ wsprintf(key,"CLSID\\%s",dllGUID);
+ RegDeleteKey(HKEY_CLASSES_ROOT,key);
+
+ return S_OK;
+}
diff --git a/thirdParty/libxbee/xsys/win32.h b/thirdParty/libxbee/xsys/win32.h
new file mode 100644
index 0000000000..65f19f805c
--- /dev/null
+++ b/thirdParty/libxbee/xsys/win32.h
@@ -0,0 +1,73 @@
+/*
+ libxbee - a C library to aid the use of Digi's Series 1 XBee modules
+ running in API mode (AP=2).
+
+ Copyright (C) 2009 Attie Grande (attie@attie.co.uk)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* this file contains code that is used by Win32 ONLY */
+#ifndef _WIN32
+#error "This file should only be used on a Win32 system"
+#endif
+
+/* ################################################################# */
+/* ### Win32 Code ################################################## */
+/* ################################################################# */
+
+#pragma comment(lib, "Advapi32.lib")
+#pragma comment(lib, "User32.lib")
+
+#define dllid "attie-co-uk.libxbee"
+#define dlldesc "libxbee - XBee API Library"
+/* libxbee's GUID is {7A6E25AA-ECB5-4370-87B5-A1D31840FE23} */
+#define dllGUID "{7A6E25AA-ECB5-4370-87B5-A1D31840FE23}"
+
+#define Win32Message() MessageBox(0,"Run xbee_setup() first!...","libxbee",MB_OK);
+
+HMODULE glob_hModule = NULL;
+
+/* this uses miliseconds not microseconds... */
+#define usleep(a) Sleep((a)/1000)
+
+#define xbee_thread_create(a,b,c) (((a) = CreateThread(NULL,0,(void *)(b),(void *)(c),0,NULL)) == NULL)
+#define xbee_thread_cancel(a,b) TerminateThread((a),(b))
+#define xbee_thread_join(a) WaitForSingleObject((a),INFINITE)
+#define xbee_thread_tryjoin(a) WaitForSingleObject((a),0)
+
+#define xbee_mutex_init(a) (((a) = CreateEvent(NULL,FALSE,TRUE,NULL)) == NULL)
+#define xbee_mutex_destroy(a) CloseHandle((a))
+#define xbee_mutex_lock(a) WaitForSingleObject((a),INFINITE)
+#define xbee_mutex_trylock(a) WaitForSingleObject((a),0)
+#define xbee_mutex_unlock(a) SetEvent((a))
+
+#define xbee_sem_init(a) (((a) = CreateEvent(NULL,FALSE,FALSE,NULL)) == NULL)
+#define xbee_sem_destroy(a) CloseHandle((a))
+#define xbee_sem_wait(a) WaitForSingleObject((a),INFINITE)
+#define xbee_sem_wait1sec(a) WaitForSingleObject((a),1000)
+#define xbee_sem_post(a) SetEvent((a))
+
+#define xbee_cond_init(a) InitializeConditionVariable(&(a))
+#define xbee_cond_destroy(a)
+#define xbee_cond_wait(a,b) SleepConditionVariableCS(&(a),&(b),INFINITE)
+#define xbee_cond_signal(a) WakeConditionVariable(&(a))
+#define xbee_cond_broadcast(a) WakeAllConditionVariable(&(a))
+
+#define xbee_feof(a) (xbee->ttyeof)
+#define xbee_ferror(a) (0)
+#define xbee_close(a) (((a)==xbee->log)?fclose((a)):CloseHandle((a)))
+
+HWND win32_hWnd = 0;
+UINT win32_MessageID = 0;
diff --git a/thirdParty/libxbee/xsys/win32.rc b/thirdParty/libxbee/xsys/win32.rc
new file mode 100644
index 0000000000..80f7d33bc4
--- /dev/null
+++ b/thirdParty/libxbee/xsys/win32.rc
@@ -0,0 +1,47 @@
+/* more info: http://msdn.microsoft.com/en-us/library/aa381058(v=vs.85).aspx */
+
+#define APSTUDIO_READONLY_SYMBOLS
+#include "winresrc.h"
+#undef APSTUDIO_READONLY_SYMBOLS
+
+#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENG)
+
+#ifdef _WIN32
+/* Englush (UK) */
+LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_UK
+#pragma code_page(1252)
+#endif //_WIN32
+
+VS_VERSION_INFO VERSIONINFO
+ FILEVERSION 1,4,1,0
+ FILEFLAGSMASK 0x00L
+ FILEFLAGS 0x00L
+ FILEOS 0x40004L
+ FILETYPE 0x2L
+ FILESUBTYPE 0x0L
+BEGIN
+ BLOCK "StringFileInfo"
+ BEGIN
+ BLOCK "040904b0"
+ BEGIN
+ VALUE "Comments", "Provides a simple interface for XBee radios"
+ VALUE "CompanyName", "attie.co.uk"
+ VALUE "FileDescription", "Provides a simple interface for XBee radios"
+ VALUE "InternalName", "libxbee"
+ VALUE "LegalCopyright", "Copyright (C) 2009 onwards Attie Grande"
+ VALUE "LegalTrademarks", ""
+ VALUE "OriginalFilename", "libxbee.dll"
+ VALUE "PrivateBuild", ""
+ VALUE "ProductName", "libxbee - http://code.google.com/p/libxbee/"
+ VALUE "ProductVersion", "v1.4.1"
+ VALUE "SpecialBuild", ""
+ END
+ END
+ BLOCK "VarFileInfo"
+ BEGIN
+ VALUE "Translation", 0x809, 1200
+ END
+END
+
+
+#endif
--
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