package xbee import ( "bytes" "encoding/binary" "errors" "io" ) // Frameable is an object that can be sent in an XBee Frame. An XBee Frame // consists of a start delimiter, length, the payload, and a checksum. type Frameable interface { // returns the API identifier for this frame. // encodes this frame correctly. Bytes() []byte } // calculateChecksum is a helper function to calculate the 1-byte checksum of a data range. // the data range does not include the start delimiter, or the length uint16 (only the frame payload) func calculateChecksum(data []byte) byte { var sum byte for _, v := range data { sum += v } return 0xFF - sum } // writeXBeeFrame takes some bytes and wraps it in an XBee frame. // // An XBee frame has a start delimiter, followed by the length of the payload, // then the payload itself, and finally a checksum. func writeXBeeFrame(w io.Writer, data []byte) (n int, err error) { frame := make([]byte, len(data)+4) frame[0] = 0x7E binary.BigEndian.PutUint16(frame[1:], uint16(len(data))) copy(frame[3:], data) chk := calculateChecksum(data) frame[len(frame)-1] = chk return w.Write(frame) } // now we can describe frames in other files that implement Frameable. // the remaining challenge is reception and actual API frames. // xbee uses the first byte of the "frame data" as the API identifier or command. //go:generate stringer -output=api_frame_cmd.go -type xbeeCmd // XBeeCmd is the frame command type. type XBeeCmd byte const ( // commands sent to the xbee s3b ATCmdType XBeeCmd = 0x08 // AT Command ATCmdQueueType XBeeCmd = 0x09 // AT Command - Queue Parameter Value TxReqType XBeeCmd = 0x10 // TX Request TxReqExplType XBeeCmd = 0x11 // Explicit TX Request RemoteCmdReqType XBeeCmd = 0x17 // Remote Command Request // commands recieved from the xbee ATCmdResponseType XBeeCmd = 0x88 // AT Command Response ModemStatusType XBeeCmd = 0x8A // Modem Status TxStatusType XBeeCmd = 0x8B // Transmit Status RouteInfoType XBeeCmd = 0x8D // Route information packet AddrUpdateType XBeeCmd = 0x8E // Aggregate Addressing Update RxPktType XBeeCmd = 0x90 // RX Indicator (AO=0) RxPktExplType XBeeCmd = 0x91 // Explicit RX Indicator (AO=1) IOSampleType XBeeCmd = 0x92 // Data Sample RX Indicator NodeIdType XBeeCmd = 0x95 // Note Identification Indicator RemoteCmdRespType XBeeCmd = 0x97 // Remote Command Response ) // Now we will implement receiving packets from a character stream. // we first need to make a thing that produces frames from a stream using a scanner. // xbeeFrameSplit is a split function for bufio.scanner. It makes it easier to handle the FSM // for extracting data from a stream. For the Xbee, this means that we must // find the magic start character, (check that it's escaped), read the length, // and then ensure we have enough length to finish the token, requesting more data // if we do not. // // see https://pkg.go.dev/bufio#SplitFunc for more info // https://medium.com/golangspec/in-depth-introduction-to-bufio-scanner-in-golang-55483bb689b4 func xbeeFrameSplit(data []byte, atEOF bool) (advance int, token []byte, err error) { if atEOF && len(data) == 0 { // there's no data, request more. return 0, nil, nil } if startIdx := bytes.IndexByte(data, 0x7E); startIdx >= 0 { // we have a start character. see if we can get the length. // we add 4 since start delimiter (1) + length (2) + checksum (1). // the length inside the packet represents the frame data only. if len(data[startIdx:]) < 3 { // since we don't have enough bytes to get the length, instead we // will discard all data before the start index return startIdx, nil, nil } // FIXME: add bounds checking! this can panic. var frameLen = int(binary.BigEndian.Uint16(data[startIdx+1:startIdx+3])) + 4 // if the value of frameLen is > 0x100, we know that it's screwed up. // this helps keep error duration lowered. if frameLen > 0x100 { return startIdx + 1, nil, nil } if len(data[startIdx:]) < frameLen { // we got the length, but there's not enough data for the frame. we can trim the // data that came before the start, but not return a token. return startIdx, nil, nil } // there is enough data to pull a frame, so return it. // todo: is startDix + frameLen + 1? return startIdx + frameLen, data[startIdx : startIdx+frameLen], nil } // we didn't find a start character in our data, so request more. trash everythign given to us return len(data), nil, nil } // parseFrame takes a framed packet and returns the contents after checking the // checksum and start delimiter. func parseFrame(frame []byte) ([]byte, error) { if frame[0] != 0x7E { return nil, errors.New("incorrect start delimiter") } fsize := len(frame) if calculateChecksum(frame[3:fsize-1]) != frame[fsize-1] { return nil, errors.New("checksum mismatch") } return frame[3 : fsize-1], nil } // stackup // low level readwriter (serial or IP socket) // XBee library layer (frame encoding/decoding to/from structs) // AT command layer (for setup/control) // xbee conn-like layer (ReadWriter + custom control functions) // application marshalling format (msgpack or json or gob) // application