Dockerfile

@@ -5,6 +5,7 @@ RUN apt-get update && apt-get install -y \
     vim \
     build-essential \
     ros-kinetic-mavros \
+    dos2unix \
     ros-kinetic-mavros-extras \
     ros-kinetic-mavros-msgs \
     ros-kinetic-catkin
@@ -20,5 +21,6 @@ ENV CATKIN_SETUP_FILE devel/setup.bash
 
 RUN apt-get clean
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
+RUN /bin/bash -c "dos2unix /ros_entrypoint.sh"
 
-HEALTHCHECK --interval=5s --timeout=5s --retries=3 CMD /ros_entrypoint.sh rostopic list
+HEALTHCHECK --interval=5s --timeout=5s --retries=3 CMD /ros_entrypoint.sh rostopic list

README.md

@@ -1,4 +1,19 @@
 # XbeeMav
+
+
+## Usage
+
+To run xbee_mav and ros master as a docker pod, use:
+  - `docker compose -f docker-compose-test-stadalone.yml up --build`
+
+To run xbee_mav as an exclusive service to flash xbee devices, use:
+  - `docker compose -f docker-compose-flash-device.yml up --build`
+
+#### Note: The xbee config file is located in: 
+- `/xbeemav/Resources/XBee_Config.xml`.
+#### This setup assumes the xbee is attached to `/dev/ttyUSB0` and programmed to work at a baud rate of `230400`.
+
+
 ## Description
 
 The "xbee_ros_node" package provides many tools (ROS nodes) to configure, test and communicate Xbee devices.

docker-compose-flash-device.yml

@@ -0,0 +1,12 @@
+version: "3.8"
+
+services:
+  xbee-mav:
+    command: rosrun xbee_ros_node xbee_config /dev/ttyUSB0 230400
+    build:
+      context: .
+      dockerfile: Dockerfile
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+
+

docker-compose-test-stadalone.yml

@@ -0,0 +1,45 @@
+version: "3.8"
+
+
+
+services:
+
+  ros-master:
+    image: git.spirirobotics.com/spiri/services-ros1-core:main
+    command: stdbuf -o L roscore
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+    restart: always
+    ports:
+      - "11311:11311"
+    deploy:
+      resources:
+        limits:
+          memory: 1G
+    # Madness, setting a low ulimit here fixes memory leaks
+    # https://answers.ros.org/question/336963/rosout-high-memory-usage/
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+    networks:
+      - sim_network
+
+  xbee-mav:
+    # command: rosrun xbee_ros_node xbee_config /dev/ttyUSB0 230400
+    command: tail -f /dev/null
+    depends_on:
+      - ros-master
+    build:
+      context: .
+      dockerfile: Dockerfile
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+    networks:
+      - sim_network
+
+networks:
+  sim_network:
+    driver: bridge

xbeemav/Resources/XBee_Config.xml

@@ -2,9 +2,9 @@
 
 <XBeeConfig>
     <Settings>
-		<Parameter Command="CM" Description="Channel Mask">00FFFFFFFFFFF7FFFF</Parameter>
+		<Parameter Command="CM" Description="Channel Mask">00FFFFFFFFFFFFFFFF</Parameter>
 		<Parameter Command="HP" Description="Preamble ID">1</Parameter>
-		<Parameter Command="ID" Description="Network ID">5FFF</Parameter>
+		<Parameter Command="ID" Description="Network ID">7777</Parameter>
 		<Parameter Command="MT" Description="Broadcast Multi-Transmits">0</Parameter>
 		<Parameter Command="PL" Description="TX Power Level">4</Parameter>
 		<Parameter Command="RR" Description="Unicast Retries">A</Parameter>
@@ -16,10 +16,10 @@
 		<Parameter Command="DH" Description="Destination Address High">0</Parameter>
 		<Parameter Command="DL" Description="Destination Address Low">FFFF</Parameter>
 		<Parameter Command="TO" Description="Transmit Options">C0</Parameter>
-		<Parameter Command="NI" Description="Node Identifier">'Node 1'</Parameter>
+		<Parameter Command="NI" Description="Node Identifier">Router</Parameter>
 		<Parameter Command="NT" Description="Network Dsicovery Back-Off">82</Parameter>
 		<Parameter Command="NO" Description="Network Dsicovery Options">0</Parameter>
-		<Parameter Command="CI" Description="Cluster ID">11</Parameter>
+		<Parameter Command="CI" Description="Cluster ID">1</Parameter>
 		<Parameter Command="EE" Description="Encryption Enbale">0</Parameter>
 		<Parameter Command="KY" Description="Encryption Key"></Parameter>
 		<Parameter Command="BD" Description="Baud Rate">8</Parameter>
@@ -46,7 +46,7 @@
 		<Parameter Command="P4" Description="DIO14/DIN">1</Parameter>
 		<Parameter Command="PD" Description="Pull Direction">7FFF</Parameter>
 		<Parameter Command="PR" Description="Pull-Up/Down Resistor">7FFF</Parameter>
-		<Parameter Command="M0" Description=" PWM0 Duty Cycle">0</Parameter>
+		<Parameter Command="M0" Description="PWM0 Duty Cycle">0</Parameter>
 		<Parameter Command="M1" Description="PWM1 Duty Cycle">0</Parameter>
 		<Parameter Command="LT" Description="Associate LED Blink Time">0</Parameter>
 		<Parameter Command="RP" Description="RSSI PWM Timer">28</Parameter>
@@ -56,7 +56,7 @@
 		<Parameter Command="IR" Description="Sample Rate">0</Parameter>
 		<Parameter Command="SM" Description="Sleep Mode">0</Parameter>
 		<Parameter Command="SO" Description="Sleep Options">2</Parameter>
-		<Parameter Command="SN" Description="Nu,ber of Cycles between On/Sleep">1</Parameter>
+		<Parameter Command="SN" Description="Number of Cycles between On/Sleep">1</Parameter>
 		<Parameter Command="SP" Description="Sleep Time">12C</Parameter>
 		<Parameter Command="ST" Description="Wake Time">BB8</Parameter>
 		<Parameter Command="WH" Description="Wake Host Delay">0</Parameter>

xbeemav/Resources/database.xml

@@ -5,5 +5,7 @@
     <Device Address= "1" >0013A20041C4FEAB</Device> 
     <Device Address= "2" >0013A20041C4FC1C</Device>
     <Device Address= "3" >0013A20041C4FC97</Device>
+    <Device Address= "4" >0013A20041C4FF68</Device>
+    <Device Address= "5" >0013A20041C4FC42</Device>
 </Addresses>
 

xbeemav/src/XBeeSetup.cpp

@@ -13,58 +13,41 @@ bool setupXBee(const std::string &device_port, const unsigned int baud_rate) {
   XBeeModule xbee_module;
   XMLConfigParser config_parser;
 
-  if (xbee_module.Init_Port(device_port, baud_rate)) {
+  // Init port at specified baud rate
-    std::thread th_service(&XBeeModule::Run_Service, &xbee_module);
+  if (!xbee_module.Init_Port(device_port, baud_rate)) {
-
+    std::cout << "XBee Configuration Failed. Could not Init_Port." << std::endl;
-    while (!xbee_module.Is_Connected() &&
+    return false;
-           !xbee_module.Check_Time_Out_Exceeded()) {
-      continue;
-    }
-
-    if (xbee_module.Is_Connected()) {
-      std::cout << "Connected to XBee." << std::endl;
-      std::cout << "Loading Config File..." << std::endl;
-
-      if (config_parser.Load_Config()) {
-        std::cout << "Config Loaded Successfully." << std::endl;
-        std::cout << "Transferring Data..." << std::endl;
-        std::vector<XBee_Parameter_S> *config_parameters =
-            config_parser.Get_Loaded_Parameters();
-
-        for (std::size_t i = 0; i < config_parameters->size(); i++) {
-          std::string current_command;
-          xbee_module.Format_AT_Command(config_parameters->at(i),
-                                        &current_command);
-          xbee_module.Send_Data(current_command);
-        }
-
-        std::string write_command = "ATWR \r";
-        xbee_module.Send_Data(write_command);
-      }
-    }
-
-    th_service.join();
-
-    std::cout << "Exiting AT Command Mode..." << std::endl;
-
-    if (xbee_module.Is_Connected())
-    {
-      xbee_module.Exit_AT_Command_Mode();
-
-      if (config_parser.Is_Config_Loaded_Successfully())
-      {
-        std::cout << "XBee Configured Successfully." << std::endl;
-        return true;
-      }
-      else
-      {
-        std::cout << "XBee Configuration Failed." << std::endl;
-      }
-    }
-    else
-    {
-      std::cout << "XBee Configuration Failed." << std::endl;
-    }
   }
-  return false;
+
+  // Run xbee flashing process in a separate thread
+  std::thread th_service(&XBeeModule::Run_Service, &xbee_module);
+
+  // Wait till connection to device is established
+  while (!xbee_module.Is_Connected() && !xbee_module.Check_Time_Out_Exceeded()) {
+    continue;
+  }
+
+  // Load external config file
+  if (!config_parser.Load_Config()) {
+    std::cout << "XBee Configuration Failed. Could not config file." << std::endl;
+    return false;
+  }
+
+  // Flash config params to device
+  std::cout << "Connected to XBee. Flashing Config File..." << std::endl;
+  std::vector<XBee_Parameter_S> *config_parameters = config_parser.Get_Loaded_Parameters();
+  for (auto& param : *config_parameters) {
+    std::string current_command = "";
+    xbee_module.Format_AT_Command(param, &current_command);
+    xbee_module.Send_Data(current_command);
+  }
+  std::string write_command = "ATWR \r";
+  xbee_module.Send_Data(write_command);
+
+  // Kill service once device has been flashed
+  th_service.join();
+  xbee_module.Exit_AT_Command_Mode();
+
+  std::cout << "Flashing process complete." << std::endl;
+  return true;
 }

xbeemav/src/main.cpp

@@ -13,7 +13,7 @@ int main(int argc, char*argv[])
   {
     std::string device_port;
     unsigned int baud_rate = 0;
-    const unsigned int DEFAULT_BAUD_RATE = 9600;
+    const unsigned int DEFAULT_BAUD_RATE = 230400;
     const std::string DEFAULT_DEVICE_PORT = "/dev/ttyUSB0";
 
     if (argc  < 1)
@@ -26,7 +26,7 @@ int main(int argc, char*argv[])
     else
       sscanf(argv[2], "%u", &baud_rate);
 
-    //setupXBee(device_port, baud_rate);
+    setupXBee(device_port, baud_rate);
   }
   catch (const std::exception& e)
   {