Added basic support for the zigbee module.

src/bioloid_robot.cpp

@@ -41,6 +41,8 @@ CBioloidRobot::CBioloidRobot(const std::string &name,std::string &serial_dev,int
       this->start_pb=NULL;
       this->mode_pb=NULL;
       this->clear_pending_interrupts();
+      /* get the current zigbee status */ 
+      this->robot_device->read_byte_register(BIOLOID_ZIGBEE_CNTRL,&this->zigbee_status);
     }catch(CException &e){
       if(this->robot_device!=NULL)
         this->dyn_server->free_device(id);
@@ -308,6 +310,83 @@ void CBioloidRobot::adc_disable(void)
     throw CBioloidRobotException(_HERE_,"Invalid robot device");
 }
 
+// zigbee interface
+void CBioloidRobot::zigbee_enable_power(void)
+{
+  if(this->robot_device!=NULL)
+  {
+    this->zigbee_status|=0x01;
+    this->robot_device->write_byte_register(BIOLOID_ZIGBEE_CNTRL,this->zigbee_status);
+  }
+  else
+    throw CBioloidRobotException(_HERE_,"Invalid robot device");
+}
+
+void CBioloidRobot::zigbee_disable_power(void)
+{
+  if(this->robot_device!=NULL)
+  {
+    this->zigbee_status&=0xFE;
+    this->robot_device->write_byte_register(BIOLOID_ZIGBEE_CNTRL,this->zigbee_status);
+  }
+  else
+    throw CBioloidRobotException(_HERE_,"Invalid robot device");
+}
+
+bool CBioloidRobot::is_zigbee_power_on(void)
+{
+  unsigned char value;
+
+  if(this->robot_device!=NULL)
+  {
+    this->robot_device->read_byte_register(BIOLOID_ZIGBEE_CNTRL,&value);
+    if(value&0x01)
+      return true;
+    else
+      return false;
+  }
+  else
+    throw CBioloidRobotException(_HERE_,"Invalid robot device");
+}
+
+void CBioloidRobot::zigbee_enable(void)
+{
+  if(this->robot_device!=NULL)
+  {
+    this->zigbee_status|=0x02;
+    this->robot_device->write_byte_register(BIOLOID_ZIGBEE_CNTRL,this->zigbee_status);
+  }
+  else
+    throw CBioloidRobotException(_HERE_,"Invalid robot device");
+}
+
+void CBioloidRobot::zigbee_disable(void)
+{
+  if(this->robot_device!=NULL)
+  {
+    this->zigbee_status&=0xFD;
+    this->robot_device->write_byte_register(BIOLOID_ZIGBEE_CNTRL,this->zigbee_status);
+  }
+  else
+    throw CBioloidRobotException(_HERE_,"Invalid robot device");
+}
+
+bool CBioloidRobot::is_zigbee_enabled(void)
+{
+  unsigned char value;
+
+  if(this->robot_device!=NULL)
+  {
+    this->robot_device->read_byte_register(BIOLOID_ZIGBEE_CNTRL,&value);
+    if(value&0x02)
+      return true;
+    else
+      return false;
+  }
+  else
+    throw CBioloidRobotException(_HERE_,"Invalid robot device");
+}
+
 // motion manager interface
 /*void CBioloidRobot::mm_set_period(double period_ms)
 {

src/bioloid_robot.h

@@ -45,6 +45,8 @@ class CBioloidRobot
     CFunctor *reset_pb;
     CFunctor *start_pb;
     CFunctor *mode_pb;
+    /* zigbee status */
+    unsigned char zigbee_status;
   protected:
     static void *ext_int_thread(void *param);
     void clear_pending_interrupts(void);
@@ -123,6 +125,13 @@ class CBioloidRobot
     double adc_get_temperature(void);
     double adc_get_vrefint(void);
     void adc_disable(void);
+    // zigbee interface
+    void zigbee_enable_power(void);
+    void zigbee_disable_power(void);
+    bool is_zigbee_power_on(void);
+    void zigbee_enable(void);
+    void zigbee_disable(void);
+    bool is_zigbee_enabled(void);
     // motion manager interface
 /*    void mm_set_period(double period_ms);
     unsigned char mm_get_num_servos(void);

src/examples/bioloid_robot_test.cpp

@@ -63,7 +63,7 @@ int main(int argc, char *argv[])
     tina.clear_led(USER1_LED);
     tina.clear_led(USER2_LED);
     sleep(10);*/
-    for(i=0;i<100;i++)
+/*    for(i=0;i<100;i++)
     {
       std::cout << "temperature: " << tina.adc_get_temperature() << std::endl;
       std::cout << "Vref_int: " << tina.adc_get_vrefint() << std::endl;
@@ -74,7 +74,10 @@ int main(int argc, char *argv[])
       std::cout << "Channel 5: " << tina.adc_get_value(ADC_CH5) << std::endl;
       std::cout << "Channel 6: " << tina.adc_get_value(ADC_CH6) << std::endl;
       usleep(100000);
-    }
+    }*/
+    tina.zigbee_enable_power();
+    sleep(10);
+    tina.zigbee_disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }