setup_xbee.py

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#! /usr/bin/env python
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__author__ = "astambler@willowgarage.com (Adam Stambler)"


import serial
import yaml
import sys
import time 

from optparse import OptionParser

#               

help = """
%prog [options] port my_adr

setup_xbee.py is a configuration script for Xbees.  It takes  
factory fresh xbee and programs it to work with your rosserial network.
If XBee is not factory fresh, use Digi's X-CTU software to program it.

    port :    serial port of port of the xbee (/dev/ttyUSB0)
    my_adr:   MY address is the 16 bit address of this xbee in the 
              network. This must be a unique address in the network.
              This address is always 0 for the coordinator.  """
parser = OptionParser(usage=help)


parser.add_option('-P', '--pan_id', action="store", type="int", dest="pan_id", default=1331, help="Pan ID of the xbee network.  This ID must be the same for all XBees in your network.")
parser.add_option('-c', '--channel', action="store", type="string", dest="channel", default="0D", help="Frequency channel for the xbee network. The channel value must be the same for all XBees in your network.")
parser.add_option('-C', '--coordinator', action="store_true", dest="coordinator", default=False, help="Configures the XBee as Coordinator for the network.  Only make the XBee connected to the computer a coordiantor.")



def send(port, cmd):
        for c in cmd+'\r':
                port.write(c)
                time.sleep(0.06)
                
def setAT(port, cmd):
        port.flushInput()
        send(port, 'AT'+cmd)
        rsp = port.readline()
        print rsp
        if 'OK' in rsp:
                return True
        else :
                return False

baud_lookup= { 1200   : 0, 
                           2400   : 1,
                           4800   : 2,
                           9600   : 3,
                           19200  : 4,
                           38400  : 5,
                           57600  : 6,
                           115200 : 7}


        
def beginAtMode(port):
        
        for i in range(0,3):
                port.write('+')
                time.sleep(0.05)
        time.sleep(1)
        if port.read(2) == 'OK':
                return True
        else :
                return False

if __name__ == '__main__':
        
        opts, args = parser.parse_args()
        
        if len(args) < 2:
                print "Not enough arguments!"
                exit()
        
        baud = 9600
        port_name = args[0]
        my_address = int(args[1])

        port = serial.Serial(port_name, baud, timeout=1.5)
        
        if beginAtMode(port):
                print "Connected to the XBee"
        else:
                print "Failed to connect to the XBee"
                exit()

        
        cmd = ''
        if (opts.coordinator):
                cmd += 'AP2,CE1,' #API mode 2, and enable coordinator
        
        cmd += 'MY%d,'%int(args[1]) #set the xbee address
        cmd += 'BD%d,'%baud_lookup[57600] #set the xbee to interface at 57600 baud
        cmd += 'ID%d,'%opts.pan_id
        cmd += 'CH%s,'%opts.channel
        cmd += 'DL0,'
        cmd += 'RN1,' #enables collision avoidance on first transmission
        cmd += 'RO5,' #sets packetization timeout to 5 characters
        cmd += 'WR' #wrtie the commands to nonvolatile memory

                
        if setAT(port, 'RE'): #reset the xbee
                print "XBee reset"
        else:
                print "Reset failed"
                exit()
        beginAtMode(port)
        time.sleep(1)
        print "Sending command : ", cmd

        if setAT(port, cmd):
                print "XBee sucessfully programed!"
        else:
                print "XBee programming failed.  Try again and then investigate using X-CTU"