XBee.h

#ifndef XBee_h
#define XBee_h

#if defined(ARDUINO) && ARDUINO >= 100
      #include "Arduino.h"
#else
      #include "WProgram.h"
#endif

#include <inttypes.h>

#define SERIES_1
#define SERIES_2

// set to ATAP value of XBee. AP=2 is recommended
#define ATAP 2

#define START_BYTE 0x7e
#define ESCAPE 0x7d
#define XON 0x11
#define XOFF 0x13

// This value determines the size of the byte array for receiving RX packets
// Most users won't be dealing with packets this large so you can adjust this
// value to reduce memory consumption. But, remember that
// if a RX packet exceeds this size, it cannot be parsed!

// This value is determined by the largest packet size (100 byte payload + 64-bit address + option byte and rssi byte) of a series 1 radio
#define MAX_FRAME_DATA_SIZE 110

#define BROADCAST_ADDRESS 0xffff
#define ZB_BROADCAST_ADDRESS 0xfffe

// the non-variable length of the frame data (not including frame id or api id or variable data size (e.g. payload, at command set value)
#define ZB_TX_API_LENGTH 12
#define TX_16_API_LENGTH 3
#define TX_64_API_LENGTH 9
#define AT_COMMAND_API_LENGTH 2
#define REMOTE_AT_COMMAND_API_LENGTH 13
// start/length(2)/api/frameid/checksum bytes
#define PACKET_OVERHEAD_LENGTH 6
// api is always the third byte in packet
#define API_ID_INDEX 3

// frame position of rssi byte
#define RX_16_RSSI_OFFSET 2
#define RX_64_RSSI_OFFSET 8

#define DEFAULT_FRAME_ID 1
#define NO_RESPONSE_FRAME_ID 0

// TODO put in tx16 class
#define ACK_OPTION 0
#define DISABLE_ACK_OPTION 1
#define BROADCAST_OPTION 4

// RX options
#define ZB_PACKET_ACKNOWLEDGED 0x01
#define ZB_BROADCAST_PACKET 0x02

// not everything is implemented!
#define TX_64_REQUEST 0x0
#define TX_16_REQUEST 0x1
#define AT_COMMAND_REQUEST 0x08
#define AT_COMMAND_QUEUE_REQUEST 0x09
#define REMOTE_AT_REQUEST 0x17
#define ZB_TX_REQUEST 0x10
#define ZB_EXPLICIT_TX_REQUEST 0x11
#define RX_64_RESPONSE 0x80
#define RX_16_RESPONSE 0x81
#define RX_64_IO_RESPONSE 0x82
#define RX_16_IO_RESPONSE 0x83
#define AT_RESPONSE 0x88
#define TX_STATUS_RESPONSE 0x89
#define MODEM_STATUS_RESPONSE 0x8a
#define ZB_RX_RESPONSE 0x90
#define ZB_EXPLICIT_RX_RESPONSE 0x91
#define ZB_TX_STATUS_RESPONSE 0x8b
#define ZB_IO_SAMPLE_RESPONSE 0x92
#define ZB_IO_NODE_IDENTIFIER_RESPONSE 0x95
#define AT_COMMAND_RESPONSE 0x88
#define REMOTE_AT_COMMAND_RESPONSE 0x97


#define     SUCCESS 0x0
#define CCA_FAILURE 0x2
#define INVALID_DESTINATION_ENDPOINT_SUCCESS 0x15
#define     NETWORK_ACK_FAILURE 0x21
#define NOT_JOINED_TO_NETWORK 0x22
#define     SELF_ADDRESSED 0x23
#define ADDRESS_NOT_FOUND 0x24
#define ROUTE_NOT_FOUND 0x25
#define PAYLOAD_TOO_LARGE 0x74

// modem status
#define HARDWARE_RESET 0
#define WATCHDOG_TIMER_RESET 1
#define ASSOCIATED 2
#define DISASSOCIATED 3
#define SYNCHRONIZATION_LOST 4
#define COORDINATOR_REALIGNMENT 5
#define COORDINATOR_STARTED 6

#define ZB_BROADCAST_RADIUS_MAX_HOPS 0

#define ZB_TX_UNICAST 0
#define ZB_TX_BROADCAST 8

#define AT_OK 0
#define AT_ERROR  1
#define AT_INVALID_COMMAND 2
#define AT_INVALID_PARAMETER 3
#define AT_NO_RESPONSE 4

#define NO_ERROR 0
#define CHECKSUM_FAILURE 1
#define PACKET_EXCEEDS_BYTE_ARRAY_LENGTH 2
#define UNEXPECTED_START_BYTE 3

class XBeeResponse {
public:
      //static const int MODEM_STATUS = 0x8a;
      XBeeResponse();
      uint8_t getApiId();
      void setApiId(uint8_t apiId);
      uint8_t getMsbLength();
      void setMsbLength(uint8_t msbLength);
      uint8_t getLsbLength();
      void setLsbLength(uint8_t lsbLength);
      uint8_t getChecksum();
      void setChecksum(uint8_t checksum);
      uint8_t getFrameDataLength();
      void setFrameData(uint8_t* frameDataPtr);
      uint8_t* getFrameData();

      void setFrameLength(uint8_t frameLength);
      // to support future 65535 byte packets I guess
      uint16_t getPacketLength();
      void reset();
      void init();
#ifdef SERIES_2

      void getZBTxStatusResponse(XBeeResponse &response);
      void getZBRxResponse(XBeeResponse &response);
      void getZBRxIoSampleResponse(XBeeResponse &response);
#endif
#ifdef SERIES_1

      void getTxStatusResponse(XBeeResponse &response);
      void getRx16Response(XBeeResponse &response);
      void getRx64Response(XBeeResponse &response);
      void getRx16IoSampleResponse(XBeeResponse &response);
      void getRx64IoSampleResponse(XBeeResponse &response);
#endif

      void getAtCommandResponse(XBeeResponse &responses);
      void getRemoteAtCommandResponse(XBeeResponse &response);
      void getModemStatusResponse(XBeeResponse &response);
      bool isAvailable();
      void setAvailable(bool complete);
      bool isError();
      uint8_t getErrorCode();
      void setErrorCode(uint8_t errorCode);
protected:
      // pointer to frameData
      uint8_t* _frameDataPtr;
private:
      void setCommon(XBeeResponse &target);
      uint8_t _apiId;
      uint8_t _msbLength;
      uint8_t _lsbLength;
      uint8_t _checksum;
      uint8_t _frameLength;
      bool _complete;
      uint8_t _errorCode;
};

class XBeeAddress {
public:
      XBeeAddress();
};

class XBeeAddress64 : public XBeeAddress {
public:
      XBeeAddress64(uint32_t msb, uint32_t lsb);
      XBeeAddress64();
      uint32_t getMsb();
      uint32_t getLsb();
      void setMsb(uint32_t msb);
      void setLsb(uint32_t lsb);
private:
      uint32_t _msb;
      uint32_t _lsb;
};

//class XBeeAddress16 : public XBeeAddress {
//public:
//    XBeeAddress16(uint16_t addr);
//    XBeeAddress16();
//    uint16_t getAddress();
//    void setAddress(uint16_t addr);
//private:
//    uint16_t _addr;
//};

class FrameIdResponse : public XBeeResponse {
public:
      FrameIdResponse();
      uint8_t getFrameId();
private:
      uint8_t _frameId;
};

class RxDataResponse : public XBeeResponse {
public:
      RxDataResponse();
      uint8_t getData(int index);
      uint8_t* getData();
      virtual uint8_t getDataLength() = 0;
      virtual uint8_t getDataOffset() = 0;
};

// getResponse to return the proper subclass:
// we maintain a pointer to each type of response, when a response is parsed, it is allocated only if NULL
// can we allocate an object in a function?

#ifdef SERIES_2

class ZBTxStatusResponse : public FrameIdResponse {
      public:
            ZBTxStatusResponse();
            uint16_t getRemoteAddress();
            uint8_t getTxRetryCount();
            uint8_t getDeliveryStatus();
            uint8_t getDiscoveryStatus();
            bool isSuccess();
};

class ZBRxResponse : public RxDataResponse {
public:
      ZBRxResponse();
      XBeeAddress64& getRemoteAddress64();
      uint16_t getRemoteAddress16();
      uint8_t getOption();
      uint8_t getDataLength();
      // frame position where data starts
      uint8_t getDataOffset();
private:
      XBeeAddress64 _remoteAddress64;
};

class ZBRxIoSampleResponse : public ZBRxResponse {
public:
      ZBRxIoSampleResponse();
      bool containsAnalog();
      bool containsDigital();
      bool isAnalogEnabled(uint8_t pin);
      bool isDigitalEnabled(uint8_t pin);
      uint16_t getAnalog(uint8_t pin);
      bool isDigitalOn(uint8_t pin);
      uint8_t getDigitalMaskMsb();
      uint8_t getDigitalMaskLsb();
      uint8_t getAnalogMask();
};

#endif

#ifdef SERIES_1

class TxStatusResponse : public FrameIdResponse {
      public:
            TxStatusResponse();
            uint8_t getStatus();
            bool isSuccess();
};

class RxResponse : public RxDataResponse {
public:
      RxResponse();
      // remember rssi is negative but this is unsigned byte so it's up to you to convert
      uint8_t getRssi();
      uint8_t getOption();
      bool isAddressBroadcast();
      bool isPanBroadcast();
      uint8_t getDataLength();
      uint8_t getDataOffset();
      virtual uint8_t getRssiOffset() = 0;
};

class Rx16Response : public RxResponse {
public:
      Rx16Response();
      uint8_t getRssiOffset();
      uint16_t getRemoteAddress16();
protected:
      uint16_t _remoteAddress;
};

class Rx64Response : public RxResponse {
public:
      Rx64Response();
      uint8_t getRssiOffset();
      XBeeAddress64& getRemoteAddress64();
private:
      XBeeAddress64 _remoteAddress;
};

class RxIoSampleBaseResponse : public RxResponse {
      public:
            RxIoSampleBaseResponse();
            uint8_t getSampleSize();
            bool containsAnalog();
            bool containsDigital();
            bool isAnalogEnabled(uint8_t pin);
            bool isDigitalEnabled(uint8_t pin);
            uint16_t getAnalog(uint8_t pin, uint8_t sample);
            bool isDigitalOn(uint8_t pin, uint8_t sample);
            uint8_t getSampleOffset();
      private:
};

class Rx16IoSampleResponse : public RxIoSampleBaseResponse {
public:
      Rx16IoSampleResponse();
      uint16_t getRemoteAddress16();
      uint8_t getRssiOffset();

};

class Rx64IoSampleResponse : public RxIoSampleBaseResponse {
public:
      Rx64IoSampleResponse();
      XBeeAddress64& getRemoteAddress64();
      uint8_t getRssiOffset();
private:
      XBeeAddress64 _remoteAddress;
};

#endif

class ModemStatusResponse : public XBeeResponse {
public:
      ModemStatusResponse();
      uint8_t getStatus();
};

class AtCommandResponse : public FrameIdResponse {
      public:
            AtCommandResponse();
            uint8_t* getCommand();
            uint8_t getStatus();
            uint8_t* getValue();
            uint8_t getValueLength();
            bool isOk();
};

class RemoteAtCommandResponse : public AtCommandResponse {
      public:
            RemoteAtCommandResponse();
            uint8_t* getCommand();
            uint8_t getStatus();
            uint8_t* getValue();
            uint8_t getValueLength();
            uint16_t getRemoteAddress16();
            XBeeAddress64& getRemoteAddress64();
            bool isOk();
      private:
            XBeeAddress64 _remoteAddress64;
};


class XBeeRequest {
public:
      XBeeRequest(uint8_t apiId, uint8_t frameId);
      void setFrameId(uint8_t frameId);
      uint8_t getFrameId();
      uint8_t getApiId();
      // setting = 0 makes this a pure virtual function, meaning the subclass must implement, like abstract in java
      virtual uint8_t getFrameData(uint8_t pos) = 0;
      virtual uint8_t getFrameDataLength() = 0;
      //void reset();
protected:
      void setApiId(uint8_t apiId);
private:
      uint8_t _apiId;
      uint8_t _frameId;
};

// TODO add reset/clear method since responses are often reused
class XBee {
public:
      XBee();
      void readPacket();
      bool readPacket(int timeout);
      void readPacketUntilAvailable();
      void begin(long baud);
      void getResponse(XBeeResponse &response);
      XBeeResponse& getResponse();
      void send(XBeeRequest &request);
      //uint8_t sendAndWaitForResponse(XBeeRequest &request, int timeout);
      uint8_t getNextFrameId();
      void setSerial(HardwareSerial &serial);
private:
      bool available();
      uint8_t read();
      void flush();
      void write(uint8_t val);
      void sendByte(uint8_t b, bool escape);
      void resetResponse();
      XBeeResponse _response;
      bool _escape;
      // current packet position for response.  just a state variable for packet parsing and has no relevance for the response otherwise
      uint8_t _pos;
      // last byte read
      uint8_t b;
      uint8_t _checksumTotal;
      uint8_t _nextFrameId;
      // buffer for incoming RX packets.  holds only the api specific frame data, starting after the api id byte and prior to checksum
      uint8_t _responseFrameData[MAX_FRAME_DATA_SIZE];
      HardwareSerial* _serial;
};

class PayloadRequest : public XBeeRequest {
public:
      PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength);
      uint8_t* getPayload();
      void setPayload(uint8_t* payloadPtr);
      uint8_t getPayloadLength();
      void setPayloadLength(uint8_t payloadLength);
private:
      uint8_t* _payloadPtr;
      uint8_t _payloadLength;
};

#ifdef SERIES_1

class Tx16Request : public PayloadRequest {
public:
      Tx16Request(uint16_t addr16, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId);
      Tx16Request(uint16_t addr16, uint8_t *payload, uint8_t payloadLength);
      Tx16Request();
      uint16_t getAddress16();
      void setAddress16(uint16_t addr16);
      uint8_t getOption();
      void setOption(uint8_t option);
      uint8_t getFrameData(uint8_t pos);
      uint8_t getFrameDataLength();
protected:
private:
      uint16_t _addr16;
      uint8_t _option;
};

class Tx64Request : public PayloadRequest {
public:
      Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId);
      Tx64Request(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength);
      Tx64Request();
      XBeeAddress64& getAddress64();
      void setAddress64(XBeeAddress64& addr64);
      // TODO move option to superclass
      uint8_t getOption();
      void setOption(uint8_t option);
      uint8_t getFrameData(uint8_t pos);
      uint8_t getFrameDataLength();
private:
      XBeeAddress64 _addr64;
      uint8_t _option;
};

#endif


#ifdef SERIES_2

class ZBTxRequest : public PayloadRequest {
public:
      ZBTxRequest(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength);
      ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId);
      ZBTxRequest();
      XBeeAddress64& getAddress64();
      uint16_t getAddress16();
      uint8_t getBroadcastRadius();
      uint8_t getOption();
      void setAddress64(XBeeAddress64& addr64);
      void setAddress16(uint16_t addr16);
      void setBroadcastRadius(uint8_t broadcastRadius);
      void setOption(uint8_t option);
protected:
      // declare virtual functions
      uint8_t getFrameData(uint8_t pos);
      uint8_t getFrameDataLength();
private:
      XBeeAddress64 _addr64;
      uint16_t _addr16;
      uint8_t _broadcastRadius;
      uint8_t _option;
};

#endif

class AtCommandRequest : public XBeeRequest {
public:
      AtCommandRequest();
      AtCommandRequest(uint8_t *command);
      AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength);
      uint8_t getFrameData(uint8_t pos);
      uint8_t getFrameDataLength();
      uint8_t* getCommand();
      void setCommand(uint8_t* command);
      uint8_t* getCommandValue();
      void setCommandValue(uint8_t* command);
      uint8_t getCommandValueLength();
      void setCommandValueLength(uint8_t length);
      void clearCommandValue();
      //void reset();
private:
      uint8_t *_command;
      uint8_t *_commandValue;
      uint8_t _commandValueLength;
};

class RemoteAtCommandRequest : public AtCommandRequest {
public:
      RemoteAtCommandRequest();
      RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength);
      RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command);
      RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength);
      RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command);
      uint16_t getRemoteAddress16();
      void setRemoteAddress16(uint16_t remoteAddress16);
      XBeeAddress64& getRemoteAddress64();
      void setRemoteAddress64(XBeeAddress64 &remoteAddress64);
      bool getApplyChanges();
      void setApplyChanges(bool applyChanges);
      uint8_t getFrameData(uint8_t pos);
      uint8_t getFrameDataLength();
      static XBeeAddress64 broadcastAddress64;
//    static uint16_t broadcast16Address;
private:
      XBeeAddress64 _remoteAddress64;
      uint16_t _remoteAddress16;
      bool _applyChanges;
};



#endif //XBee_h

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