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xbee: Initial implementation

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This is a basic serial module that allows access to various XBee
devices via a UART port.  It was tested with the XBee S6B WiFi Module
and the XBee S1 802.14.4 module.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Jon Trulson 2015-10-15 10:57:36 -07:00 committed by Abhishek Malik
parent 0d2541270e
commit 6e095826d3
10 changed files with 734 additions and 0 deletions
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3
examples/c++/CMakeLists.txt
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@ -147,6 +147,7 @@ add_executable (sm130-example sm130.cxx)
add_executable (grovegprs-example grovegprs.cxx)
add_executable (lm35-example lm35.cxx)
add_executable (micsv89-example micsv89.cxx)
add_executable (xbee-example xbee.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -259,6 +260,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/sm130)
include_directories (${PROJECT_SOURCE_DIR}/src/grovegprs)
include_directories (${PROJECT_SOURCE_DIR}/src/lm35)
include_directories (${PROJECT_SOURCE_DIR}/src/micsv89)
include_directories (${PROJECT_SOURCE_DIR}/src/xbee)
target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@ -407,3 +409,4 @@ target_link_libraries (sm130-example sm130 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (grovegprs-example grovegprs ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (lm35-example lm35 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (micsv89-example micsv89 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (xbee-example xbee ${CMAKE_THREAD_LIBS_INIT})

145
examples/c++/xbee.cxx Normal file
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@ -0,0 +1,145 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <iostream>
#include <signal.h>
#include <stdio.h>
#include "xbee.h"
using namespace std;
using namespace upm;
void printUsage(char *progname)
{
cout << "Usage: " << progname << " [AT command]" << endl;
cout << endl;
cout << "If an argument is supplied on the command line, that argument is"
<< endl;
cout << "sent to the module and the response is printed out." << endl;
cout << endl;
cout << "If no argument is used, then the firmware revision, serial number"
<< endl;
cout << "and the current IP address (if set) are queried." << endl;
cout << endl;
cout << endl;
}
//! [Interesting]
// simple helper function to send a command and wait for a response
void sendCommand(upm::XBee* sensor, string cmd)
{
// commands need to be terminated with a carriage return
cmd += "\r";
sensor->writeDataStr(cmd);
string resp;
while (sensor->dataAvailable(2000))
{
resp += sensor->readDataStr(1024);
}
if (resp.empty())
{
cerr << "Timed out waiting for response" << endl;
return;
}
resp = sensor->stringCR2LF(resp);
cout << "Returned (" << resp.size() << " bytes): " << endl;
cout << resp << endl;
}
int main(int argc, char **argv)
{
// Instantiate a XBee Module on UART 0
upm::XBee* sensor = new upm::XBee(0);
// Set the baud rate, 9600 baud is the default.
if (sensor->setBaudRate(9600))
{
cerr << "Failed to set tty baud rate" << endl;
return 1;
}
printUsage(argv[0]);
if (argc > 1)
{
// enable command mode
sensor->commandMode();
cout << "Sending command line argument (" << argv[1] << ")..." << endl;
sendCommand(sensor, argv[1]);
}
else
{
// enable command mode
sensor->commandMode();
// query the verbose firmware revision
cout << "Querying verbose firmware revision (ATVL)..." << endl;
sendCommand(sensor, "ATVL");
// query the number
cout << "Querying Serial Number High (ATSH)..." << endl;
sendCommand(sensor, "ATSH");
cout << "Querying Serial Number Low (ATSL)..." << endl;
sendCommand(sensor, "ATSL");
cout << "Querying address, if set (ATMY)..." << endl;
sendCommand(sensor, "ATMY");
// For the XBee WiFi S6B
// A comprehensive list of commands and command modes is
// available from the datasheet at:
// ftp1.digi.com/support/documentation/90002180_L.pdf
// For the XBee S1
// A comprehensive list of commands and command modes is
// available from the datasheet at:
// http://www.sparkfun.com/datasheets/Wireless/Zigbee/XBee-Datasheet.pdf
// For the XBee WiFi module:
// An example using AT commands to connect to an AP, with a
// private Key using WPA2:
// Connect to AP with SSID 'mySSID':
// ATIDmySSID
// Provide the private key 'secret':
// ATPKsecret
// Use WPA2 encryption
// ATEE2
}
delete sensor;
return 0;
}
//! [Interesting]

140
examples/javascript/xbee.js Normal file
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/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
var sensorObj = require('jsupm_xbee');
/************** Functions **************/
function printUsage(progname)
{
var outputStr = "Usage: " + progname + " [AT command]\n\n" +
"If an argument is supplied on the command line, that argument is\n" +
"sent to the module and the response is printed out.\n\n" +
"If no argument is used, then the firmware revision, serial number\n" +
"and the current IP address (if set) are queried.\n\n"
console.log(outputStr);
}
// simple helper function to send a command and wait for a response
function sendCommand(sensor, cmd)
{
// commands need to be terminated with a carriage return
cmd += "\r";
sensor.writeDataStr(cmd);
var resp = "";
while (sensor.dataAvailable(2000))
{
resp += sensor.readDataStr(1024);
}
if (!resp)
{
console.log("Timed out waiting for response");
}
else
{
resp = sensor.stringCR2LF(resp);
console.log("Returned (" + resp.length + " bytes):");
console.log(resp);
}
}
/************** Main code **************/
// Instantiate a XBEE Module on UART 0
var sensor = new sensorObj.XBee(0);
// Set the baud rate, 9600 baud is the default.
if (sensor.setBaudRate(9600))
{
console.log("Failed to set baud rate");
process.exit(0);
}
printUsage(process.argv[1]);
// Note: in nodeJS, command-line argument 0 is "node".
// Command-line argument 1 is "xbee.js"
// If you have a third argument, then it's a command
if (process.argv.length > 2)
{
// enable command mode
sensor.commandMode();
console.log("Sending command line argument (" + process.argv[2] + ")...");
sendCommand(sensor, process.argv[2]);
}
else
{
// enable command mode
sensor.commandMode();
// query the verbose firmware revision
console.log("Querying verbose firmware revision (ATVL)...");
sendCommand(sensor, "ATVL");
// query the number
console.log("Querying Serial Number High (ATSH)...");
sendCommand(sensor, "ATSH");
console.log("Querying Serial Number Low (ATSL)...");
sendCommand(sensor, "ATSL");
console.log("Querying address, if set (ATMY)...");
sendCommand(sensor, "ATMY");
// For the XBee WiFi S6B
// A comprehensive list of commands and command modes is
// available from the datasheet at:
// ftp1.digi.com/support/documentation/90002180_L.pdf
// For the XBee S1
// A comprehensive list of commands and command modes is
// available from the datasheet at:
// http://www.sparkfun.com/datasheets/Wireless/Zigbee/XBee-Datasheet.pdf
// For the XBee WiFi module:
// An example using AT commands to connect to an AP, with a
// private Key using WPA2:
// Connect to AP with SSID 'mySSID':
// ATIDmySSID
// Provide the private key 'secret':
// ATPKsecret
// Use WPA2 encryption
// ATEE2
}
/************** Exit code **************/
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting...");
process.exit(0);
});

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examples/python/xbee.py Normal file
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@ -0,0 +1,117 @@
#!/usr/bin/python
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2015 Intel Corporation.
#
# Permission is hereby granted, free of charge, to any person obtaining
# a copy of this software and associated documentation files (the
# "Software"), to deal in the Software without restriction, including
# without limitation the rights to use, copy, modify, merge, publish,
# distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so, subject to
# the following conditions:
#
# The above copyright notice and this permission notice shall be
# included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
import time, sys, signal, atexit
import pyupm_xbee as sensorObj
# Instantiate a XBee Module on UART 0
sensor = sensorObj.XBee(0)
## Exit handlers ##
# This stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
# Set the baud rate, 9600 baud is the default.
if (sensor.setBaudRate(9600)):
print "Failed to set baud rate"
sys.exit(0)
usageStr = ("Usage:\n"
"If an argument is supplied on the command line, that argument is\n"
"sent to the module and the response is printed out.\n\n"
"If no argument is used, then the firmware revision, serial number\n"
"and the current IP address (if set) are queried.\n\n")
print usageStr
# simple helper function to send a command and wait for a response
def sendCommand(sensor, cmd):
# commands need to be terminated with a carriage return
cmd += "\r"
sensor.writeDataStr(cmd)
resp = ""
while sensor.dataAvailable(2000):
resp += sensor.readDataStr(1024)
if not resp:
print "Timed out waiting for response"
else:
resp = sensor.stringCR2LF(resp)
print "Returned (", len(resp), "bytes):"
print resp
if (len(sys.argv) > 1):
# enable command mode
sensor.commandMode()
print "Sending command line argument (" + sys.argv[1] + ")..."
sendCommand(sensor, sys.argv[1])
else:
# enable command mode
sensor.commandMode()
# query the verbose firmware revision
print "Querying verbose firmware revision (ATVL)..."
sendCommand(sensor, "ATVL")
# query the number
print "Querying Serial Number High (ATSH)..."
sendCommand(sensor, "ATSH")
print "Querying Serial Number Low (ATSL)..."
sendCommand(sensor, "ATSL")
print "Querying address, if set (ATMY)..."
sendCommand(sensor, "ATMY");
# For the XBee WiFi S6B
# A comprehensive list of commands and command modes is
# available from the datasheet at:
# ftp1.digi.com/support/documentation/90002180_L.pdf
# For the XBee S1
# A comprehensive list of commands and command modes is
# available from the datasheet at:
# http://www.sparkfun.com/datasheets/Wireless/Zigbee/XBee-Datasheet.pdf
# For the XBee WiFi module:
# An example using AT commands to connect to an AP, with a
# private Key using WPA2:
# Connect to AP with SSID 'mySSID':
# ATIDmySSID
# Provide the private key 'secret':
# ATPKsecret
# Use WPA2 encryption
# ATEE2

5
src/xbee/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
set (libname "xbee")
set (libdescription "upm XBee serial module")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

11
src/xbee/javaupm_xbee.i Normal file
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@ -0,0 +1,11 @@
%module javaupm_xbee
%include "../upm.i"
%include "carrays.i"
%include "std_string.i"
%{
#include "xbee.h"
%}
%include "xbee.h"
%array_class(char, charArray);

11
src/xbee/jsupm_xbee.i Normal file
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@ -0,0 +1,11 @@
%module jsupm_xbee
%include "../upm.i"
%include "carrays.i"
%include "std_string.i"
%{
#include "xbee.h"
%}
%include "xbee.h"
%array_class(char, charArray);

12
src/xbee/pyupm_xbee.i Normal file
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@ -0,0 +1,12 @@
%module pyupm_xbee
%include "../upm.i"
%include "carrays.i"
%include "std_string.i"
%feature("autodoc", "3");
%{
#include "xbee.h"
%}
%include "xbee.h"
%array_class(char, charArray);

102
src/xbee/xbee.cxx Normal file
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@ -0,0 +1,102 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <time.h>
#include "xbee.h"
using namespace upm;
using namespace std;
static const int maxBuffer = 1024;
XBee::XBee(int uart) :
m_uart(uart)
{
}
XBee::~XBee()
{
}
bool XBee::dataAvailable(unsigned int millis)
{
return m_uart.dataAvailable(millis);
}
int XBee::readData(char *buffer, unsigned int len)
{
return m_uart.read(buffer, len);
}
std::string XBee::readDataStr(int len)
{
return m_uart.readStr(len);
}
int XBee::writeData(char *buffer, unsigned int len)
{
m_uart.flush();
return m_uart.write(buffer, len);
}
int XBee::writeDataStr(std::string data)
{
m_uart.flush();
return m_uart.writeStr(data);
}
mraa::Result XBee::setBaudRate(int baud)
{
return m_uart.setBaudRate(baud);
}
bool XBee::commandMode(std::string cmdChars, int guardTimeMS)
{
usleep(guardTimeMS * 1000);
writeDataStr(cmdChars);
usleep(guardTimeMS * 1000);
string resp;
if (dataAvailable(1000))
resp = readDataStr(maxBuffer);
if (resp.find("OK"))
return true;
else
return false;
}
string XBee::stringCR2LF(string str)
{
for (int i=0; i<str.size(); i++)
if (str[i] == '\r')
str[i] = '\n';
return str;
}

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src/xbee/xbee.h Normal file
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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Thanks to Adafruit for supplying a google translated version of the
* Chinese datasheet and some clues in their code.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <iostream>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <mraa/common.hpp>
#include <mraa/uart.hpp>
#define XBEE_DEFAULT_UART 0
namespace upm {
/**
* @brief XBee modules
* @defgroup xbee libupm-xbee
* @ingroup sparkfun uart wifi
*/
/**
* @library xbee
* @sensor xbee
* @comname XBee modules
* @type wifi
* @man sparkfun
* @con uart
* @web https://www.sparkfun.com/products/11215
*
* @brief API for the XBee modules
*
* This is a generic UART driver for use with Digi XBee modules.
* It was tested with the XBee S1 802.15.4 module and the XBee S6B
* WiFi module.
*
* It provides basic UART support for sending and receiving data
* to and from the device. It is controlled by an AT or API
* command set.
*
* It is connected at 9600 baud by default.
*
* These devices are typically configured using Digi's X-CTU
* windows software, however it is possible of course to configure
* them manually using AT commands. See the examples.
*
* @snippet xbee.cxx Interesting
*/
class XBee {
public:
/**
* XBee object constructor
*
* @param uart Default UART to use (0 or 1). Default is 0.
*/
XBee(int uart=XBEE_DEFAULT_UART);
/**
* XBee object destructor
*/
~XBee();
/**
* Checks to see if there is data available for reading
*
* @param millis Number of milliseconds to wait; 0 means no waiting
* @return true if there is data available for reading
*/
bool dataAvailable(unsigned int millis);
/**
* Reads any available data into a user-supplied buffer. Note: the
* call blocks until data is available for reading. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes read
*/
int readData(char *buffer, unsigned int len);
/**
* Reads any available data and returns it in a std::string. Note:
* the call blocks until data is available for reading. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param len Maximum length of the data to be returned
* @return string containing the data read
*/
std::string readDataStr(int len);
/**
* Writes the data in the buffer to the device. If you are
* writing an AT command, be sure to terminate it with a carriage
* return (\r)
*
* @param buffer Buffer to hold the data to write
* @param len Length of the buffer
* @return Number of bytes written
*/
int writeData(char *buffer, unsigned len);
/**
* Writes the std:string data to the device. If you are writing an
* AT command, be sure to terminate it with a carriage return (\r)
*
* @param data Buffer to write to the device
* @return Number of bytes written
*/
int writeDataStr(std::string data);
/**
* Sets the baud rate for the device. The default is 9600.
*
* @param baud Desired baud rate
* @return true if successful
*/
mraa::Result setBaudRate(int baud=9600);
/**
* Attempts to enter AT Command Mode. When Idle, data sent to the
* device (assuming it is not in API mode) is silently transmitted
* to the configured destination. Running this command attempts
* to place the device into command mode, allowing you to send AT
* commands. Note, after a configurable period of inactivity, the
* device will exit command mode automatically (default 10
* seconds).
*
* Both the cmdChars (+++) and the Guard Time can be configured
* on the device to different values using AT configuration
* commands.
*
* @param cmdChars The command mode characters, default "+++"
* @param guardTimeMS The number of milliseconds to wait before and
* after sending the command characters. Default is 1000 (1 second).
* @return true if successful (received an "OK"), false otherwise
*/
bool commandMode(std::string cmdChars="+++", int guardTimeMS=1000);
/**
* This is a convenience method that converts each CR (\r) in a
* string to a LF (\n) and returns it. This is useful for
* outputting the response to an AT command for instance, which is
* typically CR terminated.
*
* @param str The string to convert
* @return The converted string
*/
std::string stringCR2LF(std::string str);
protected:
mraa::Uart m_uart;
private:
};
}