/****************************** Main function ***************************/
void main()
{
init_devices();
xbee_reset();
xbee();
while(1)
{
if(DATA_RECEIVED == 1)
{
int val;
val=RECEIVE();
xbee_I_RECEIVE(val);
}
xbee_I_FRONT_IR_VALUE(FRONT_IR);
xbee();
}
}
void xbee_routine_thread(void)
{
int ret=0;
pthread_t id;
uint8 _i,_adr[8];
uint8 *HeadMidAdr=NULL;
time_t timetTime;
struct tm *pTmTime;
timetTime = time(NULL); //获取当前系统时间
//printf("timetTime=%d\n", (uint32)timetTime);
strncpy(CoorInfo.logname,"xbee_dev_log_",13);
pTmTime = localtime(&timetTime); //time_t 结构转换成tm结构
snprintf(CoorInfo.logname+13 , 24 , "%04d_%02d_%02d_%02d_%02d_%02d.txt", pTmTime->tm_year+1900, pTmTime->tm_mon+1, pTmTime->tm_mday, pTmTime->tm_hour, pTmTime->tm_min, pTmTime->tm_sec);
printf("CoorInfo.logname=%s\n", CoorInfo.logname);
err_log(CoorInfo.logname , strlen(CoorInfo.logname));
xbee_gpio_init();
xbee_serial_port_init(115200);
for(_i=0;_i<8;_i++)
_adr[_i] = 0;
MUTEX_LOCK(&mutex13_pSourcePathList);
pSourcePathList = CreatRouterLink(_adr,0,HeadMidAdr,0);
MUTEX_UNLOCK(&mutex13_pSourcePathList);
MUTEX_LOCK(&mutex01_serial_rbuf);
creat_circular_queue( &serial_rbuf );
MUTEX_UNLOCK(&mutex01_serial_rbuf);
MUTEX_LOCK(&mutex08_trans_status_buf);
creat_circular_queue( &trans_status_buf );
MUTEX_UNLOCK(&mutex08_trans_status_buf);
MUTEX_LOCK(&mutex09_xbee_other_api_buf);
creat_circular_queue( &xbee_other_api_buf );
MUTEX_UNLOCK(&mutex09_xbee_other_api_buf);
MUTEX_LOCK(&mutex10_serial_wbuf);
creat_circular_queue( &serial_wbuf );
MUTEX_UNLOCK(&mutex10_serial_wbuf);
MUTEX_LOCK(&mutex12_trans_req_buf);
creat_circular_queue( &trans_req_buf );
MUTEX_UNLOCK(&mutex12_trans_req_buf);
MUTEX_LOCK(&mutex11_route_record_buf);
creat_circular_queue( &route_record_buf );
MUTEX_UNLOCK(&mutex11_route_record_buf);
//printf("\033[33mstart xbee_routine_thread_write_serial...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_write_serial,NULL)) != 0)
{
printf ("Create xbee_routine_thread_write_serial error!\n");
err_log("Create xbee_routine_thread_write_serial error!" , strlen("Create xbee_routine_thread_write_serial error!"));
}
}while(ret != 0);
//printf("\033[33mstart xbee_routine_thread_read_serial...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_read_serial,NULL)) != 0)
{
printf ("Create xbee_routine_thread_read_serial error!\n");
err_log("Create xbee_routine_thread_read_serial error!" , strlen("Create xbee_routine_thread_read_serial error!"));
}
}while(ret != 0);
//printf("\033[33mstart xbee_routine_thread_process_serial_rbuf...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_process_serial_rbuf,NULL)) != 0)
{
printf ("Create xbee_routine_thread_process_serial_rbuf error!\n");
err_log("Create xbee_routine_thread_process_serial_rbuf error!" , strlen("Create xbee_routine_thread_process_serial_rbuf error!"));
}
}while(ret != 0);
xbee_reset();
sleep(1);
XBeeNetInit();
get_mac();
//printf("\033[33mstart xbee_routine_thread_process_trans_status_buf...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_process_trans_status_buf,NULL)) != 0)
{
printf ("Create xbee_routine_thread_process_trans_status_buf error!\n");
err_log("Create xbee_routine_thread_process_trans_status_buf error!" , strlen("Create xbee_routine_thread_process_trans_status_buf error!"));
}
}
while(ret != 0);
//printf("\033[33mstart xbee_routine_thread_process_trans_req_buf...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_process_trans_req_buf,NULL)) != 0)
{
printf ("Create xbee_routine_thread_process_trans_req_buf error!\n");
err_log("Create xbee_routine_thread_process_trans_req_buf error!" , strlen("Create xbee_routine_thread_process_trans_req_buf error!"));
}
}
while(ret != 0);
//printf("\033[33mstart xbee_routine_thread_process_route_record_buf...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_process_route_record_buf,NULL)) != 0)
{
printf ("Create xbee_routine_thread_process_route_record_buf error!\n");
err_log("Create xbee_routine_thread_process_route_record_buf error!" , strlen("Create xbee_routine_thread_process_route_record_buf error!"));
}
}
while(ret != 0);
//printf("\033[33mstart xbee_routine_thread_process_other_api_buf...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_process_other_api_buf,NULL)) != 0)
{
printf ("Create xbee_routine_thread_process_other_api_buf error!\n");
err_log("Create xbee_routine_thread_process_other_api_buf error!" , strlen("Create xbee_routine_thread_process_other_api_buf error!"));
}
}while(ret != 0);
#if __XBEE_TEST__
//printf("\033[33mstart xbee_routine_thread_test...\033[0m\r\n");
do{
if((ret=pthread_create(&id,NULL,(void *) xbee_routine_thread_test,NULL)) != 0)
{
printf ("Create xbee_routine_thread_test error!n");
}
}while(ret != 0);
#endif
while(1)
{
uint16 i=0,n=0;
SourceRouterLinkType *p=NULL;
MUTEX_LOCK(&mutex13_pSourcePathList);
n = LinkLenth(pSourcePathList);
for(i=1;i<=n;i++)
{
p = FindnNode(pSourcePathList,i);
if(p->cnt-- < 1)
DeleteNode(pSourcePathList,p);
p = NULL;
}
MUTEX_UNLOCK(&mutex13_pSourcePathList);
usleep(5000000);
//usleep(2000000);
}
}
