XbeeTools.h

#pragma systemFile
#define maxSize 19

/*
Developed by T.Friez
Last Updated: 11/11/2011 5:00pm EST
Version #: 1.02
For use with Digi Xbee Radios (Tested with Series 1)
NXT Hardware: http://www.dexterindustries.com/NXTBee.html
VEX Hardware: http://www.sparkfun.com/products/9132
*/

/////////////////////////
// Initalization Routines
/////////////////////////
#if defined(NXT)
void InitRS485(long nBaudRate = 9600)
{
  nxtEnableHSPort();            //Enable High Speed Port #4
  nxtSetHSBaudRate(nBaudRate);  //Xbee Default Speed
  nxtHS_Mode = hsRawMode;       //Set to Raw Mode (vs. Master/Slave Mode)
}
#elif defined(VEX2)
void InitRS232(TUARTs tSelectedUART = uartOne, TBaudRate tSelectBaud = baudRate115200)
{
  configureSerialPort(tSelectedUART, uartUserControl);
  setBaudRate(tSelectedUART, tSelectBaud);
}
#endif

/////////////////////////
// Sending a String
/////////////////////////
#if defined(NXT)
void SendString(string sOutgoing)
{
  char cTemp;
  while(strlen(sOutgoing))
  {
    cTemp = StringGetChar(sOutgoing,0);
    nxtWriteRawHS(cTemp, 1);
    StringDelete(sOutgoing, 0, 1);
    wait1Msec(1);
  }
  wait1Msec(5);
}
#elif defined(VEX2)
void SendString(string sOutgoing)
{
  while(strlen(sOutgoing))
  {
    sendChar(uartOne, StringGetChar(sOutgoing, 0));
    StringDelete(sOutgoing, 0, 1);
    while(!bXmitComplete(uartOne)) EndTimeSlice();
  }
  wait1Msec(5);
}
#endif

/////////////////////////
// Receiving a String
/////////////////////////
#if defined(NXT)
void ReceiveString(string &returnString, bool bClearBuffer = true)
{
  char cProcessing[maxSize];
  ubyte cIncomingChar;
  int nCounter = 0;
  int failCount = 0;

  //Clear out existing array data
  memset(cProcessing, 0, sizeof(cProcessing));

  //Option to clear the receive buffer before waiting for data.
  if(bClearBuffer)
  {
    while(nxtGetAvailHSBytes())
    {
      nxtReadRawHS(cIncomingChar, 1);
      EndTimeSlice();
    }
  }

  //Wait for more data to be available (message to be received)
  while(!nxtGetAvailHSBytes()) EndTimeSlice();

  wait1Msec(1); //Delay required to process data

  //Loop to process the bytes being recieved and add them to the array.
  while(nxtGetAvailHSBytes() && nCounter < (maxSize))
  {
    nxtReadRawHS(cIncomingChar, 1);
    cProcessing[nCounter] = cIncomingChar;
    nCounter++;
    wait1Msec(1);
  }
  //Convert the character array into a ROBOTC style string
  StringFromChars(returnString, cProcessing);
}

#elif defined(VEX2)
void ReceiveString(string &sIncoming, bool bClearBuffer = true)
{
  char cProcessing[maxSize];
  char incomingChar = -1;
  int nCounter = 0;

  //Clear out existing array data
  memset(cProcessing, 0, sizeof(cProcessing));

  if(bClearBuffer)
  {
    while(incomingChar != -1)
    {
      incomingChar = getChar(uartOne);
      EndTimeSlice();
    }
  }

  //Wait for Incoming Data
  while(incomingChar == -1)
  {
    incomingChar = getChar(uartOne);
    EndTimeSlice();
  }

  //Got a first byte, let's store it in the array
  cProcessing[nCounter] = incomingChar;

  wait1Msec(1); //Delay required to process data

  //Keep looping until we no longer have data.
  while(incomingChar != -1 && nCounter < maxSize)
  {
    incomingChar = getChar(uartOne);
    nCounter++;
    if(incomingChar != -1)
    {
      cProcessing[nCounter] = incomingChar;
      wait1Msec(1);
    }
  }
  StringFromChars(sIncoming, cProcessing);
}
#endif