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Lazarewicz Julien
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// RHGenericDriver.h
// Author: Mike McCauley (mikem@airspayce.com)
// Copyright (C) 2014 Mike McCauley
// $Id: RHGenericDriver.h,v 1.24 2020/04/09 23:40:34 mikem Exp $
#ifndef RHGenericDriver_h
#define RHGenericDriver_h
#include <RadioHead.h>
// Defines bits of the FLAGS header reserved for use by the RadioHead library and
// the flags available for use by applications
#define RH_FLAGS_RESERVED 0xf0
#define RH_FLAGS_APPLICATION_SPECIFIC 0x0f
#define RH_FLAGS_NONE 0
// Default timeout for waitCAD() in ms
#define RH_CAD_DEFAULT_TIMEOUT 10000
/////////////////////////////////////////////////////////////////////
/// \class RHGenericDriver RHGenericDriver.h <RHGenericDriver.h>
/// \brief Abstract base class for a RadioHead driver.
///
/// This class defines the functions that must be provided by any RadioHead driver.
/// Different types of driver will implement all the abstract functions, and will perhaps override
/// other functions in this subclass, or perhaps add new functions specifically required by that driver.
/// Do not directly instantiate this class: it is only to be subclassed by driver classes.
///
/// Subclasses are expected to implement a half-duplex, unreliable, error checked, unaddressed packet transport.
/// They are expected to carry a message payload with an appropriate maximum length for the transport hardware
/// and to also carry unaltered 4 message headers: TO, FROM, ID, FLAGS
///
/// \par Headers
///
/// Each message sent and received by a RadioHead driver includes 4 headers:
/// -TO The node address that the message is being sent to (broadcast RH_BROADCAST_ADDRESS (255) is permitted)
/// -FROM The node address of the sending node
/// -ID A message ID, distinct (over short time scales) for each message sent by a particilar node
/// -FLAGS A bitmask of flags. The most significant 4 bits are reserved for use by RadioHead. The least
/// significant 4 bits are reserved for applications.
class RHGenericDriver
{
public:
/// \brief Defines different operating modes for the transport hardware
///
/// These are the different values that can be adopted by the _mode variable and
/// returned by the mode() member function,
typedef enum
{
RHModeInitialising = 0, ///< Transport is initialising. Initial default value until init() is called..
RHModeSleep, ///< Transport hardware is in low power sleep mode (if supported)
RHModeIdle, ///< Transport is idle.
RHModeTx, ///< Transport is in the process of transmitting a message.
RHModeRx, ///< Transport is in the process of receiving a message.
RHModeCad ///< Transport is in the process of detecting channel activity (if supported)
} RHMode;
/// Constructor
RHGenericDriver();
/// Generic destructor to prevent warnings when objects are dynamically allocated
virtual ~RHGenericDriver() {};
/// Initialise the Driver transport hardware and software.
/// Make sure the Driver is properly configured before calling init().
/// \return true if initialisation succeeded.
virtual bool init();
/// Tests whether a new message is available
/// from the Driver.
/// On most drivers, if there is an uncollected received message, and there is no message
/// currently bing transmitted, this will also put the Driver into RHModeRx mode until
/// a message is actually received by the transport, when it will be returned to RHModeIdle.
/// This can be called multiple times in a timeout loop.
/// \return true if a new, complete, error-free uncollected message is available to be retreived by recv().
virtual bool available() = 0;
/// Turns the receiver on if it not already on.
/// If there is a valid message available, copy it to buf and return true
/// else return false.
/// If a message is copied, *len is set to the length (Caution, 0 length messages are permitted).
/// You should be sure to call this function frequently enough to not miss any messages
/// It is recommended that you call it in your main loop.
/// \param[in] buf Location to copy the received message
/// \param[in,out] len Pointer to available space in buf. Set to the actual number of octets copied.
/// \return true if a valid message was copied to buf
virtual bool recv(uint8_t* buf, uint8_t* len) = 0;
/// Waits until any previous transmit packet is finished being transmitted with waitPacketSent().
/// Then optionally waits for Channel Activity Detection (CAD)
/// to show the channnel is clear (if the radio supports CAD) by calling waitCAD().
/// Then loads a message into the transmitter and starts the transmitter. Note that a message length
/// of 0 is NOT permitted. If the message is too long for the underlying radio technology, send() will
/// return false and will not send the message.
/// \param[in] data Array of data to be sent
/// \param[in] len Number of bytes of data to send (> 0)
/// specify the maximum time in ms to wait. If 0 (the default) do not wait for CAD before transmitting.
/// \return true if the message length was valid and it was correctly queued for transmit. Return false
/// if CAD was requested and the CAD timeout timed out before clear channel was detected.
virtual bool send(const uint8_t* data, uint8_t len) = 0;
/// Returns the maximum message length
/// available in this Driver.
/// \return The maximum legal message length
virtual uint8_t maxMessageLength() = 0;
/// Starts the receiver and blocks until a valid received
/// message is available.
/// Default implementation calls available() repeatedly until it returns true;
/// \param[in] polldelay Time between polling available() in milliseconds. This can be useful
/// in multitaking environment like Linux to prevent waitAvailableTimeout
/// using all the CPU while polling for receiver activity
virtual void waitAvailable(uint16_t polldelay = 0);
/// Blocks until the transmitter
/// is no longer transmitting.
virtual bool waitPacketSent();
/// Blocks until the transmitter is no longer transmitting.
/// or until the timeout occuers, whichever happens first
/// \param[in] timeout Maximum time to wait in milliseconds.
/// \return true if the radio completed transmission within the timeout period. False if it timed out.
virtual bool waitPacketSent(uint16_t timeout);
/// Starts the receiver and blocks until a received message is available or a timeout.
/// Default implementation calls available() repeatedly until it returns true;
/// \param[in] timeout Maximum time to wait in milliseconds.
/// \param[in] polldelay Time between polling available() in milliseconds. This can be useful
/// in multitaking environment like Linux to prevent waitAvailableTimeout
/// using all the CPU while polling for receiver activity
/// \return true if a message is available
virtual bool waitAvailableTimeout(uint16_t timeout, uint16_t polldelay = 0);
// Bent G Christensen (bentor@gmail.com), 08/15/2016
/// Channel Activity Detection (CAD).
/// Blocks until channel activity is finished or CAD timeout occurs.
/// Uses the radio's CAD function (if supported) to detect channel activity.
/// Implements random delays of 100 to 1000ms while activity is detected and until timeout.
/// Caution: the random() function is not seeded. If you want non-deterministic behaviour, consider
/// using something like randomSeed(analogRead(A0)); in your sketch.
/// Permits the implementation of listen-before-talk mechanism (Collision Avoidance).
/// Calls the isChannelActive() member function for the radio (if supported)
/// to determine if the channel is active. If the radio does not support isChannelActive(),
/// always returns true immediately
/// \return true if the radio-specific CAD (as returned by isChannelActive())
/// shows the channel is clear within the timeout period (or the timeout period is 0), else returns false.
virtual bool waitCAD();
/// Sets the Channel Activity Detection timeout in milliseconds to be used by waitCAD().
/// The default is 0, which means do not wait for CAD detection.
/// CAD detection depends on support for isChannelActive() by your particular radio.
void setCADTimeout(unsigned long cad_timeout);
/// Determine if the currently selected radio channel is active.
/// This is expected to be subclassed by specific radios to implement their Channel Activity Detection
/// if supported. If the radio does not support CAD, returns true immediately. If a RadioHead radio
/// supports isChannelActive() it will be documented in the radio specific documentation.
/// This is called automatically by waitCAD().
/// \return true if the radio-specific CAD (as returned by override of isChannelActive()) shows the
/// current radio channel as active, else false. If there is no radio-specific CAD, returns false.
virtual bool isChannelActive();
/// Sets the address of this node. Defaults to 0xFF. Subclasses or the user may want to change this.
/// This will be used to test the adddress in incoming messages. In non-promiscuous mode,
/// only messages with a TO header the same as thisAddress or the broadcast addess (0xFF) will be accepted.
/// In promiscuous mode, all messages will be accepted regardless of the TO header.
/// In a conventional multinode system, all nodes will have a unique address
/// (which you could store in EEPROM).
/// You would normally set the header FROM address to be the same as thisAddress (though you dont have to,
/// allowing the possibilty of address spoofing).
/// \param[in] thisAddress The address of this node.
virtual void setThisAddress(uint8_t thisAddress);
/// Sets the TO header to be sent in all subsequent messages
/// \param[in] to The new TO header value
virtual void setHeaderTo(uint8_t to);
/// Sets the FROM header to be sent in all subsequent messages
/// \param[in] from The new FROM header value
virtual void setHeaderFrom(uint8_t from);
/// Sets the ID header to be sent in all subsequent messages
/// \param[in] id The new ID header value
virtual void setHeaderId(uint8_t id);
/// Sets and clears bits in the FLAGS header to be sent in all subsequent messages
/// First it clears he FLAGS according to the clear argument, then sets the flags according to the
/// set argument. The default for clear always clears the application specific flags.
/// \param[in] set bitmask of bits to be set. Flags are cleared with the clear mask before being set.
/// \param[in] clear bitmask of flags to clear. Defaults to RH_FLAGS_APPLICATION_SPECIFIC
/// which clears the application specific flags, resulting in new application specific flags
/// identical to the set.
virtual void setHeaderFlags(uint8_t set, uint8_t clear = RH_FLAGS_APPLICATION_SPECIFIC);
/// Tells the receiver to accept messages with any TO address, not just messages
/// addressed to thisAddress or the broadcast address
/// \param[in] promiscuous true if you wish to receive messages with any TO address
virtual void setPromiscuous(bool promiscuous);
/// Returns the TO header of the last received message
/// \return The TO header
virtual uint8_t headerTo();
/// Returns the FROM header of the last received message
/// \return The FROM header
virtual uint8_t headerFrom();
/// Returns the ID header of the last received message
/// \return The ID header
virtual uint8_t headerId();
/// Returns the FLAGS header of the last received message
/// \return The FLAGS header
virtual uint8_t headerFlags();
/// Returns the most recent RSSI (Receiver Signal Strength Indicator).
/// Usually it is the RSSI of the last received message, which is measured when the preamble is received.
/// If you called readRssi() more recently, it will return that more recent value.
/// \return The most recent RSSI measurement in dBm.
virtual int16_t lastRssi();
/// Returns the operating mode of the library.
/// \return the current mode, one of RF69_MODE_*
virtual RHMode mode();
/// Sets the operating mode of the transport.
virtual void setMode(RHMode mode);
/// Sets the transport hardware into low-power sleep mode
/// (if supported). May be overridden by specific drivers to initialte sleep mode.
/// If successful, the transport will stay in sleep mode until woken by
/// changing mode it idle, transmit or receive (eg by calling send(), recv(), available() etc)
/// \return true if sleep mode is supported by transport hardware and the RadioHead driver, and if sleep mode
/// was successfully entered. If sleep mode is not suported, return false.
virtual bool sleep();
/// Prints a data buffer in HEX.
/// For diagnostic use
/// \param[in] prompt string to preface the print
/// \param[in] buf Location of the buffer to print
/// \param[in] len Length of the buffer in octets.
static void printBuffer(const char* prompt, const uint8_t* buf, uint8_t len);
/// Returns the count of the number of bad received packets (ie packets with bad lengths, checksum etc)
/// which were rejected and not delivered to the application.
/// Caution: not all drivers can correctly report this count. Some underlying hardware only report
/// good packets.
/// \return The number of bad packets received.
virtual uint16_t rxBad();
/// Returns the count of the number of
/// good received packets
/// \return The number of good packets received.
virtual uint16_t rxGood();
/// Returns the count of the number of
/// packets successfully transmitted (though not necessarily received by the destination)
/// \return The number of packets successfully transmitted
virtual uint16_t txGood();
protected:
/// The current transport operating mode
volatile RHMode _mode;
/// This node id
uint8_t _thisAddress;
/// Whether the transport is in promiscuous mode
bool _promiscuous;
/// TO header in the last received mesasge
volatile uint8_t _rxHeaderTo;
/// FROM header in the last received mesasge
volatile uint8_t _rxHeaderFrom;
/// ID header in the last received mesasge
volatile uint8_t _rxHeaderId;
/// FLAGS header in the last received mesasge
volatile uint8_t _rxHeaderFlags;
/// TO header to send in all messages
uint8_t _txHeaderTo;
/// FROM header to send in all messages
uint8_t _txHeaderFrom;
/// ID header to send in all messages
uint8_t _txHeaderId;
/// FLAGS header to send in all messages
uint8_t _txHeaderFlags;
/// The value of the last received RSSI value, in some transport specific units
volatile int16_t _lastRssi;
/// Count of the number of bad messages (eg bad checksum etc) received
volatile uint16_t _rxBad;
/// Count of the number of successfully transmitted messaged
volatile uint16_t _rxGood;
/// Count of the number of bad messages (correct checksum etc) received
volatile uint16_t _txGood;
/// Channel activity detected
volatile bool _cad;
/// Channel activity timeout in ms
unsigned int _cad_timeout;
private:
};
#endif