setup_xbee.py

Go to the documentation of this file.

#! /usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of Willow Garage, Inc. nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
 
__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 = 57600
        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")