services-ros1-xbee_mav/include/frame_generators.h

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/* ----------------------------------------------------------------
* File: frame_generators.h
* Created on: 21/06/2017
* Author: Pierre-Yves Breches
* Description: This file contains functions used for the the creation of xbee
* frame
* Copyright Humanitas Solutions. All rights reserved.
------------------------------------------------------------------ */
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include <iomanip>
#include <sstream>
namespace Mist
{
namespace Xbee
{
void Generate_Transmit_Request_Frame(
const char* message,
std::string* frame,
const std::size_t message_size,
const unsigned char frame_ID = static_cast<unsigned char>(0x01),
const std::string& destination_adssress = "000000000000FFFF",
const std::string& short_destination_adress = "FFFF",
const std::string& broadcast_radius = "00",
const std::string& options = "00");
void generateLinkTestingFrame(
std::string* frame,
uint16_t rssi_payload_size,
uint16_t rssi_iterations,
std::string device_64_bits_address,
uint64_t target_64_bits_address);
void Generate_AT_Command(const char* command,
std::string* frame,
const unsigned char frame_ID =
static_cast<unsigned char>(0x01));
void Convert_HEX_To_Bytes(const std::string& HEX_data,
std::string* converted_data);
void Calculate_and_Append_Checksum(std::string* frame);
void Add_Length_and_Start_Delimiter(std::string* frame);
template< typename T >
std::string int_to_hex(const T i, int size)
{
std::stringstream stream;
stream << std::setfill ('0') << std::setw(size)
<< std::hex << i;
return stream.str();
}
}
}