xbee

package
v0.26.0 Latest Latest
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 Go to latest Published: Mar 31, 2024 License: Apache-2.0 Imports: 28 Imported by: 0

README

xbee transport

A xbee API mode transport for bifrost.

This is an implementation of a bifrost transport that uses xbee radios.

  • Xbees are controlled with the gobee library in API mode.
  • Incoming packets are matched to a connection by transmitter ID
  • Incoming packet without a matching connection triggers an Accept() return
  • If configured, nodes may emit discovery pings, which contain a signed message with peer ID, timestamp, public key, device MAC.
  • Not hearing from a peer for a connection timeout length leads to a connection close event.

Note: discovery is not yet implemented in Bifrost.

Xbee Setup

Reset the xbees to default values, then set:

  • AP: 2 (API mode with escapes)
  • Baud: 115200

This will be automatic eventually.

E2E Test

Testing basic communications between two xbees connected via USB or another serial port is easily done with xbe2e. The tool accepts CLI arguments to set the baudrates and serial ports. It opens + configures both xbee using the xbserial common code, reads the local addresses, and transmits some data between them (unencrypted) as a basic test.

Documentation

Index

Constants

View Source 
const ConfigID = ControllerID

ConfigID is the string used to identify this config object.

View Source 
const ControllerID = "bifrost/xbee"

ControllerID is the xbee controller ID.

View Source 
const TransportType = "xbee"

TransportType is the transport type identifier for this transport.

Variables

View Source 
var File_github_com_aperturerobotics_bifrost_transport_xbee_xbee_proto protoreflect.FileDescriptor
View Source 
var Version = semver.MustParse("0.0.1")

Version is the version of the xbee implementation.

Functions

This section is empty.

Types

type Config 

type Config struct {

	// TransportPeerID sets the peer ID to attach the transport to.
	// If unset, attaches to any running peer with a private key.
	TransportPeerId string `protobuf:"bytes,1,opt,name=transport_peer_id,json=transportPeerId,proto3" json:"transport_peer_id,omitempty"`
	// DevicePath is the device path to open the serial stream.
	DevicePath string `protobuf:"bytes,2,opt,name=device_path,json=devicePath,proto3" json:"device_path,omitempty"`
	// DeviceBaud is the device baudrate.
	DeviceBaud int32 `protobuf:"varint,3,opt,name=device_baud,json=deviceBaud,proto3" json:"device_baud,omitempty"`
	// PacketOpts are options to set on the packet connection.
	// In lossy environments, set the data shards for error correction.
	PacketOpts *kcp.Opts `protobuf:"bytes,4,opt,name=packet_opts,json=packetOpts,proto3" json:"packet_opts,omitempty"`
	// Dialers maps peer IDs to dialers.
	Dialers map[string]*dialer.DialerOpts `` /* 155-byte string literal not displayed */
	// contains filtered or unexported fields
}

Config is the configuration for the xbee transport.

func (*Config) CloneMessageVT added in v0.15.6 

func (m *Config) CloneMessageVT() proto.Message

func (*Config) CloneVT added in v0.8.3 

func (m *Config) CloneVT() *Config

func (*Config) Descriptor deprecated 

func (*Config) Descriptor() ([]byte, []int)

Deprecated: Use Config.ProtoReflect.Descriptor instead.

func (*Config) EqualMessageVT added in v0.15.6 

func (this *Config) EqualMessageVT(thatMsg proto.Message) bool

func (*Config) EqualVT added in v0.3.0 

func (this *Config) EqualVT(that *Config) bool

func (*Config) EqualsConfig 

func (c *Config) EqualsConfig(c2 config.Config) bool

EqualsConfig checks if the other config is equal.

func (*Config) GetConfigID 

func (c *Config) GetConfigID() string

GetConfigID returns the unique string for this configuration type. This string is stored with the encoded config.

func (*Config) GetDebugVals 

func (c *Config) GetDebugVals() config.DebugValues

GetDebugVals returns the directive arguments as key/value pairs. This should be something like param1="test", param2="test". This is not necessarily unique, and is primarily intended for display.

func (*Config) GetDeviceBaud 

func (x *Config) GetDeviceBaud() int32

func (*Config) GetDevicePath 

func (x *Config) GetDevicePath() string

func (*Config) GetDialers 

func (x *Config) GetDialers() map[string]*dialer.DialerOpts

func (*Config) GetPacketOpts 

func (x *Config) GetPacketOpts() *kcp.Opts

func (*Config) GetTransportPeerId 

func (x *Config) GetTransportPeerId() string

func (*Config) MarshalToSizedBufferVT added in v0.2.0 

func (m *Config) MarshalToSizedBufferVT(dAtA []byte) (int, error)

func (*Config) MarshalToVT added in v0.2.0 

func (m *Config) MarshalToVT(dAtA []byte) (int, error)

func (*Config) MarshalVT added in v0.2.0 

func (m *Config) MarshalVT() (dAtA []byte, err error)

func (*Config) ParseTransportPeerID added in v0.20.0 

func (c *Config) ParseTransportPeerID() (peer.ID, error)

ParseTransportPeerID parses the node peer ID if it is not empty.

func (*Config) ProtoMessage 

func (*Config) ProtoMessage()

func (*Config) ProtoReflect added in v0.2.0 

func (x *Config) ProtoReflect() protoreflect.Message

func (*Config) Reset 

func (x *Config) Reset()

func (*Config) SetTransportPeerId 

func (c *Config) SetTransportPeerId(peerID string)

SetTransportPeerId sets the node peer ID field.

func (*Config) SizeVT added in v0.2.0 

func (m *Config) SizeVT() (n int)

func (*Config) String 

func (x *Config) String() string

func (*Config) UnmarshalVT added in v0.2.0 

func (m *Config) UnmarshalVT(dAtA []byte) error

func (*Config) Validate 

func (c *Config) Validate() error

Validate validates the configuration. This is a cursory validation to see if the values "look correct."

type Factory 

type Factory struct {
	// contains filtered or unexported fields
}

Factory constructs a XBee transport.

func NewFactory 

func NewFactory(bus bus.Bus) *Factory

NewFactory builds a XBee transport factory.

func (*Factory) Construct 

func (t *Factory) Construct(
	conf config.Config,
	opts controller.ConstructOpts,
) (controller.Controller, error)

Construct constructs the associated controller given configuration.

func (*Factory) ConstructConfig 

func (t *Factory) ConstructConfig() config.Config

ConstructConfig constructs an instance of the controller configuration.

func (*Factory) GetConfigID 

func (t *Factory) GetConfigID() string

GetConfigID returns the configuration ID for the controller.

func (*Factory) GetControllerID 

func (t *Factory) GetControllerID() string

GetControllerID returns the unique ID for the controller.

func (*Factory) GetVersion 

func (t *Factory) GetVersion() semver.Version

GetVersion returns the version of this controller. 

type Link = kcp.Link

Link represents a xbee-based connection/link.

type XBee 

type XBee struct {
	*kcp.Transport
	// contains filtered or unexported fields
}

XBee implements a XBee transport.

func NewXBee 

func NewXBee(
	ctx context.Context,
	le *logrus.Entry,
	opts *Config,
	pKey crypto.PrivKey,
	c transport.TransportHandler,
) (*XBee, error)

NewXBee builds a new XBee transport, opening the serial device.

func (*XBee) Execute 

func (c *XBee) Execute(ctx context.Context) error

Execute executes the transport as configured, returning any fatal error.

func (*XBee) GetPeerDialer added in v0.21.0 

func (c *XBee) GetPeerDialer(ctx context.Context, peerID peer.ID) (*dialer.DialerOpts, error)

GetPeerDialer returns the dialing information for a peer. Called when resolving EstablishLink. Return nil, nil to indicate not found or unavailable.

func (*XBee) MatchTransportType added in v0.14.1 

func (c *XBee) MatchTransportType(transportType string) bool

MatchTransportType checks if the given transport type ID matches this transport. If returns true, the transport controller will call DialPeer with that tptaddr. E.x.: "udp-quic" or "ws"

Source Files

View all Source files

Directories

Path Synopsis
toys
xbe2e

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