Roboter/Code/libraries/RF24-1.3.3/examples_linux/pingpair_dyn.cpp

/*
	TMRh20 2014 - Optimized RF24 Library Fork
*/

/**
 * Example using Dynamic Payloads
 *
 * This is an example of how to use payloads of a varying (dynamic) size.
 */

#include <cstdlib>
#include <iostream>
#include <sstream>
#include <string>
#include "./RF24.h"


using namespace std;
//
// Hardware configuration
// Configure the appropriate pins for your connections

/****************** Raspberry Pi ***********************/

// Radio CE Pin, CSN Pin, SPI Speed
// See http://www.airspayce.com/mikem/bcm2835/group__constants.html#ga63c029bd6500167152db4e57736d0939 and the related enumerations for pin information.

// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz
//RF24 radio(RPI_V2_GPIO_P1_22, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);

// NEW: Setup for RPi B+
//RF24 radio(RPI_BPLUS_GPIO_J8_15,RPI_BPLUS_GPIO_J8_24, BCM2835_SPI_SPEED_8MHZ);

// Setup for GPIO 15 CE and CE0 CSN with SPI Speed @ 8Mhz
RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);

/*** RPi Alternate ***/
//Note: Specify SPI BUS 0 or 1 instead of CS pin number.
// See http://tmrh20.github.io/RF24/RPi.html for more information on usage

//RPi Alternate, with MRAA
//RF24 radio(15,0);

//RPi Alternate, with SPIDEV - Note: Edit RF24/arch/BBB/spi.cpp and  set 'this->device = "/dev/spidev0.0";;' or as listed in /dev
//RF24 radio(22,0);


/****************** Linux (BBB,x86,etc) ***********************/

// See http://tmrh20.github.io/RF24/pages.html for more information on usage
// See http://iotdk.intel.com/docs/master/mraa/ for more information on MRAA
// See https://www.kernel.org/doc/Documentation/spi/spidev for more information on SPIDEV

// Setup for ARM(Linux) devices like BBB using spidev (default is "/dev/spidev1.0" )
//RF24 radio(115,0);

//BBB Alternate, with mraa
// CE pin = (Header P9, Pin 13) = 59 = 13 + 46 
//Note: Specify SPI BUS 0 or 1 instead of CS pin number. 
//RF24 radio(59,0);

/**************************************************************/

// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };



const int min_payload_size = 4;
const int max_payload_size = 32;
const int payload_size_increments_by = 1;
int next_payload_size = min_payload_size;

char receive_payload[max_payload_size+1]; // +1 to allow room for a terminating NULL char

int main(int argc, char** argv){

  bool role_ping_out = 1, role_pong_back = 0;
  bool role = 0;

  // Print preamble:
  cout << "RF24/examples/pingpair_dyn/\n";

  // Setup and configure rf radio
  radio.begin();
  radio.enableDynamicPayloads();
  radio.setRetries(5,15);
  radio.printDetails();


/********* Role chooser ***********/

  printf("\n ************ Role Setup ***********\n");
  string input = "";
  char myChar = {0};
  cout << "Choose a role: Enter 0 for receiver, 1 for transmitter (CTRL+C to exit) \n>";
  getline(cin,input);

  if(input.length() == 1) {
	myChar = input[0];
	if(myChar == '0'){
		cout << "Role: Pong Back, awaiting transmission " << endl << endl;
	}else{  cout << "Role: Ping Out, starting transmission " << endl << endl;
		role = role_ping_out;
	}
  }
/***********************************/

    if ( role == role_ping_out )    {
      radio.openWritingPipe(pipes[0]);
      radio.openReadingPipe(1,pipes[1]);
    } else {
      radio.openWritingPipe(pipes[1]);
      radio.openReadingPipe(1,pipes[0]);
      radio.startListening();
    }


// forever loop
	while (1)
	{

if (role == role_ping_out)
  {
    // The payload will always be the same, what will change is how much of it we send.
    static char send_payload[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZ789012";

    // First, stop listening so we can talk.
    radio.stopListening();

    // Take the time, and send it.  This will block until complete
    printf("Now sending length %i...",next_payload_size);
    radio.write( send_payload, next_payload_size );

    // Now, continue listening
    radio.startListening();

    // Wait here until we get a response, or timeout
    unsigned long started_waiting_at = millis();
    bool timeout = false;
    while ( ! radio.available() && ! timeout )
      if (millis() - started_waiting_at > 500 )
        timeout = true;

    // Describe the results
    if ( timeout )
    {
      printf("Failed, response timed out.\n\r");
    }
    else
    {
      // Grab the response, compare, and send to debugging spew
      uint8_t len = radio.getDynamicPayloadSize();
      radio.read( receive_payload, len );

      // Put a zero at the end for easy printing
      receive_payload[len] = 0;

      // Spew it
      printf("Got response size=%i value=%s\n\r",len,receive_payload);
    }

    // Update size for next time.
    next_payload_size += payload_size_increments_by;
    if ( next_payload_size > max_payload_size )
      next_payload_size = min_payload_size;

    // Try again 1s later
    delay(100);
  }

  //
  // Pong back role.  Receive each packet, dump it out, and send it back
  //

  if ( role == role_pong_back )
  {
    // if there is data ready
    if ( radio.available() )
    {
      // Dump the payloads until we've gotten everything
      uint8_t len;

      while (radio.available())
      {
        // Fetch the payload, and see if this was the last one.
	len = radio.getDynamicPayloadSize();
	radio.read( receive_payload, len );

	// Put a zero at the end for easy printing
	receive_payload[len] = 0;

	// Spew it
	printf("Got payload size=%i value=%s\n\r",len,receive_payload);
      }

      // First, stop listening so we can talk
      radio.stopListening();

      // Send the final one back.
      radio.write( receive_payload, len );
      printf("Sent response.\n\r");

      // Now, resume listening so we catch the next packets.
      radio.startListening();
    }
  }
}
}