add 'lcd' library (LCDWrapper) that implements formatting + autoscroll | use rich formatting in entrypoints (.ino) | make well routine#0 to be non-blocking before each WAVE_TIMEOUT | add well routine#1 to receive and print messages

lcd.h

@@ -0,0 +1,72 @@
+#ifndef _LCD_H_
+	#define _LCD_H_
+
+	#include <LiquidCrystal_I2C.h>
+
+	class LCDWrapper {
+		private:
+			LiquidCrystal_I2C *display;
+			size_t cursor;
+			uint8_t cols;
+			uint8_t rows;
+
+		public:
+			LCDWrapper(uint8_t addr, uint8_t cols, uint8_t rows){
+				rows    = rows;
+				cols    = cols;
+				*display = LiquidCrystal_I2C(addr, cols, rows, LCD_5x8DOTS);
+				cursor = 0;
+			}
+			~LCDWrapper(){ display = NULL; }
+
+			void begin(){
+				display->begin();
+				display->backlight();
+				display->home();
+				clear();
+			}
+
+			void move(const uint8_t line, const uint8_t c){ display->setCursor(line, c); }
+
+			void clear(){ cursor = 0; display->clear(); }
+
+			void printf(const char *fmt, ...){
+				va_list va;
+				va_start(va, fmt);
+				char buffer[34] = {0};
+				int size = sprintf(buffer, fmt, va);
+				va_end(va);
+
+				display->print(buffer);
+			}
+
+			void printfn(const uint8_t line, const char *fmt, ...){
+				va_list va;
+				va_start(va, fmt);
+				char buffer[34] = {0};
+				int size = sprintf(buffer, fmt, va);
+				va_end(va);
+
+				display->setCursor(0,line);
+				display->print(buffer);
+			}
+
+			void printfn_overflow(const uint8_t line, const char *fmt, ...){
+				va_list va;
+				va_start(va, fmt);
+				char buffer[34] = {0};
+				int size = sprintf(buffer, fmt, va);
+				va_end(va);
+
+				display->setCursor(0,line);
+				display->print(buffer);
+
+				for( uint8_t offset = 0 ; size-offset > cols ; offset++ ){
+					delay(50);
+					display->setCursor(0,line);
+					display->print(buffer+offset);
+				}
+			}
+	};
+
+#endif

node/main/lcd.h

@@ -0,0 +1 @@
+../../lcd.h

node/main/main.ino

@@ -1,27 +1,23 @@
 #include <Wire.h>
-#include <LiquidCrystal_I2C.h>
+#include "lcd.h"
 #include "packet.h"       // Packet
 #include "xbee_wrapper.h" // WBeeWrapper
 
 // Peripherals
-LiquidCrystal_I2C screen(0x20, 16, 2);
+LCDWrapper screen = LCDWrapper(0x20, 16, 2);
 XBeeWrapper xbee = XBeeWrapper();
 
 // ACTUAL DATA
 uint8_t wave_id     = 255; // last wave
 uint8_t dist        = 255; // actual distance
-Packet recv;
+Packet recv, send;
-Packet send;
 
 void setup() {
 	Serial.begin(38400);
 	Serial.println("+ ready");
 
 	screen.begin();
-	screen.backlight();
+	screen.printf("[  node ready  ]");
-	screen.home();
-	screen.setCursor(0, 0);
-	screen.print("ready");
 
 	xbee.begin(38400);
 
@@ -43,82 +39,50 @@ void loop() {
 		if( recv.getDist() == 0 && recv.getSender() != 255 )
 			return;
 
+		screen.printfn(0, "dsc[%3d] %3d / %3d", recv.getSender(), recv.getDist(), recv.getWave());
 
-		status(wave_id, dist);
+		// ignore if same wave
-		screen.print("dsc");
+		if( recv.getWave() == wave_id ){
-		screen.print("[");
+			screen.printfn(1, "x");
-		screen.print(recv.getSender());
+			return;
-		screen.print("] -> ");
-		screen.print(recv.getDist());
-		screen.print("/");
-		screen.print(recv.getWave());
-
-		if( recv.getWave() != wave_id ){
-			wave_id = recv.getWave();
-			dist    = recv.getDist()+1;
-
-			status(wave_id, dist);
-			screen.print("propagated");
-			delay(100);
-
-			send.setOpcode(0);
-			send.setWave(wave_id);
-			send.setDist(dist);
-			send.setSender(42);
-			xbee.broadcast(send);
-			Serial.print("  + send discover[");
-			Serial.print(send.getSender());
-			Serial.print("] -> ");
-			Serial.print(send.getDist());
-			Serial.print(" / ");
-			Serial.println(send.getWave());
-
 		}
 
+		// update features
+		wave_id = recv.getWave();
+		dist    = recv.getDist()+1;
+
+		// propagate wave
+		send.setOpcode(0);
+		send.setWave(wave_id);
+		send.setDist(dist);
+		send.setSender(42);
+
+		screen.printfn(1, "dsc[%3d] %3d / %3d", send.getSender(), send.getDist(), send.getWave());
+		xbee.broadcast(send);
+
 	// MESSAGE DATA
 	} else {
 
 		screen.clear();
-		screen.setCursor(0,0);
+		screen.printfn(0, "msg[%3d/%3d] %3d", recv.getDist(), recv.getTTL(), recv.getSize());
-		screen.print("message(");
+		delay(500);
-		screen.print(recv.getDist());
+		screen.printfn_overflow(0, "%s", recv.getData());
-		screen.print(",");
-		screen.print(recv.getTTL());
-		screen.print(",");
-		screen.print(recv.getSize());
-		screen.print(")");
-		screen.setCursor(0,1);
-		screen.print( (char*)recv.getData());
-		delay(600);
 
+		// ignore
+		if( recv.getTTL() <= 0 || recv.getDist() > dist ){
+			screen.printfn(1, "x");
+			return;
+		}
 
 		// propagation
-		if( recv.getTTL() > 0 && recv.getDist() <= dist ){
+		send.setOpcode(1);
-			send.setOpcode(1);
+		send.setTTL(recv.getTTL()-1);
-			send.setTTL(recv.getTTL()-1);
+		send.setDist(dist);
-			send.setDist(dist);
+		send.setData(recv.getData(), recv.getSize());
-			send.setData(recv.getData(), recv.getSize());
+
-			xbee.broadcast(send);
+		screen.printfn(1, "msg[%3d/%3d] %3d", send.getDist(), send.getTTL(), send.getSize());
-			Serial.print("  + send message(");
+		xbee.broadcast(send);
-			Serial.print(recv.getDist());
-			Serial.print(", ");
-			Serial.print(recv.getTTL());
-			Serial.print(", ");
-			Serial.print(recv.getSize());
-			Serial.println(")");
-		}
 
 	}
 
-}
-
-
-
-void status(uint8_t wave, uint8_t dist){
-	screen.clear();
-	screen.setCursor(0,0);
-	screen.print(dist);
-	screen.print(" / ");
-	screen.print(wave);
-	screen.setCursor(0,1);
 }

packet.cpp

@@ -4,7 +4,7 @@
 /* PUBLIC
 ----------------------------------------*/
 // builds a packet from raw data and returns the error code
-uint8_t Packet::read(uint8_t buf[], size_t size){
+uint8_t Packet::read(uint8_t buf[], const size_t size){
 	// 1. fail on invalid size
 	if( size < 1          ) return PKTREAD_EMPTY;
 	if( size > PROTO_SIZE ) return PKTREAD_OVERFLOW;
@@ -51,7 +51,7 @@ void Packet::setData(uint8_t *buffer, uint8_t size) { memcpy(msg.data, buffer, s
 
 /* PRIVATE
 ----------------------------------------*/
-uint8_t Packet::read_discover(uint8_t buf[], size_t size){
+uint8_t Packet::read_discover(uint8_t buf[], const size_t size){
 	// 1. fail on invalid size
 	if( size != DISCOVER_SIZE )
 		return PKTREAD_INVALID_DISCOVER_FORMAT;
@@ -64,7 +64,7 @@ uint8_t Packet::read_discover(uint8_t buf[], size_t size){
 	return PKTREAD_OK;
 };
 
-uint8_t Packet::read_message(uint8_t buf[], size_t size){
+uint8_t Packet::read_message(uint8_t buf[], const size_t size){
 	// 1. fail on invalid size
 	if( size < MESSAGE_MIN_SIZE || size > MESSAGE_MAX_SIZE )
 		return PKTREAD_INVALID_MESSAGE_FORMAT;

packet.h

@@ -20,14 +20,14 @@
 			struct message  msg;
 
 			// 3. helpers
-			uint8_t read_discover(uint8_t  buf[], size_t size);
+			uint8_t read_discover(uint8_t  buf[], const size_t size);
-			uint8_t read_message(uint8_t   buf[], size_t size);
+			uint8_t read_message(uint8_t   buf[], const size_t size);
 			size_t  write_discover(uint8_t buf[]);
 			size_t  write_message(uint8_t  buf[]);
 
 		public:
 			// builds a packet from raw data and returns the status code
-			uint8_t read(uint8_t buf[], size_t size);
+			uint8_t read(uint8_t buf[], const size_t size);
 
 			// writes the binary representation of the packet returns the size
 			size_t write(uint8_t buf[]);

well/main/lcd.h

@@ -0,0 +1 @@
+../../lcd.h

well/main/main.ino

@@ -1,48 +1,63 @@
 #include <Wire.h>
-#include <LiquidCrystal_I2C.h>
+#include "lcd.h"
 #include "xbee_wrapper.h"
 #include "packet.h"
 
 #define WAVE_TIMEOUT 5000
 
 // Peripherals
-LiquidCrystal_I2C screen(0x20, 16, 2);
+LCDWrapper screen(0x20, 16, 2);
 XBeeWrapper xbee = XBeeWrapper();
 
 // ACTUAL DATA
 uint8_t wave_id = 250;
-Packet send;
+Packet recv, send;
+unsigned long time;
 
 void setup() {
 	Serial.begin(38400);
 	Serial.println("+ ready");
 
 	screen.begin();
-	screen.backlight();
+	screen.printf("[  well ready  ]");
-	screen.home();
-	screen.setCursor(0,0);
-	screen.print("ready");
 
 	xbee.begin(38400);
+
+	time = millis();
 }
 
 void loop() {
 
-	delay(WAVE_TIMEOUT);
+	/* [1] if WAVE_TIMEOUT reached */
+	if( millis() - time >= WAVE_TIMEOUT ){
+		time = millis();
 
+		// increment wave id (will overflow from 255 to 0)
+		send.setOpcode(0);
+		send.setWave(++wave_id);
+		send.setDist(0);
+		send.setSender(42);
+
+		screen.clear();
+		screen.printfn(1, "dsc[%3d] %3d / %3d", send.getSender(), send.getDist(), send.getWave());
+
+		if( xbee.broadcast(send) == XBWSEND_OK ) screen.printfn(1, "sent");
+		else                                     screen.printfn(1, "failed");
+	}
+
+	/* [2] Listen for incoming data */
+	if( xbee.receive(recv) != XBWRECV_OK )
+		return;
+
+	uint8_t opcode = recv.getOpcode();
+
+	// ignore DISCOVER requests
+	if( opcode == 0 )
+		return;
+
+	// log message
 	screen.clear();
-	screen.print("+ wave");
+	screen.printfn(0, "msg[%3d/%3d] %3d", recv.getDist(), recv.getTTL(), recv.getSize());
-	screen.print(wave_id+1);
+	screen.printfn_overflow(1, "%s", recv.getData());
-
-	// increment wave id (will overflow from 255 to 0)
-	send.setOpcode(0);
-	send.setWave(++wave_id);
-	send.setDist(0);
-	send.setSender(42);
-
-	if( xbee.broadcast(send) == XBWSEND_OK )
-		Serial.println("sent");
-	else
-		Serial.println("failed");
 
 }

xbee_wrapper.cpp

@@ -4,7 +4,7 @@
 XBeeWrapper::XBeeWrapper(){ xbee = XBee(); };
 
 
-void XBeeWrapper::begin(unsigned long baud){
+void XBeeWrapper::begin(const unsigned long baud){
 	xbee.setSerial(Serial1);
 	Serial1.begin(baud);
 };

xbee_wrapper.h

@@ -23,7 +23,7 @@
 			XBeeWrapper();
 
 			// initialises the XBee interface
-			void begin(unsigned long baud);
+			void begin(const unsigned long baud);
 
 			// tries to extract a received packet
 			uint8_t receive(Packet& pkt);