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