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xbee_routine.c
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xbee_routine.c
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/*****************************************************************************************************
**name xbee_routine.c
**brief 主要包括硬件的初始化,通讯协议线程的建立及初始化,读取/写入串口数据
**
*****************************************************************************************************/
#include "xbee_routine.h"
#include "xbee_api.h"
#include "serial.h"
#include "sys/queue.h"
#include <time.h>
#include "serial.h"
#include "string.h"
#include "gpio.h"
/**************************gloable variable************************/
CircularQueueType serial_rbuf; //the serial read buffer
#if 0//__XBEE_TEST_LAR_NODE__
SourceRouterLinkType *pLinkHead=NULL;
#endif
uint8 send_xbee_state=0;
uint32 waite_send_head_num=0;
//uint32 send_data_timeout=0;
CircularQueueType trans_status_buf; //xbee transmit request API buffer
CircularQueueType xbee_other_api_buf; //
CircularQueueType serial_wbuf; //the serial write buffer
CircularQueueType trans_req_buf; //xbee transmit status API buffer
CircularQueueType route_record_buf; //
SourceRouterLinkType *pSourcePathList=NULL;
#if 0//__XBEE_TEST_LAR_NODE__
CircularQueueType ts_buf;
#endif
/*************************** mutex ********************************/
pthread_mutex_t mutex01_serial_rbuf = PTHREAD_MUTEX_INITIALIZER;
#if 0//__XBEE_TEST_LAR_NODE__
pthread_mutex_t mutex02_pLinkHead = PTHREAD_MUTEX_INITIALIZER;
#endif
pthread_mutex_t mutex03_send_xbee_state = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex04_waite_send_head_num = PTHREAD_MUTEX_INITIALIZER;
//pthread_mutex_t mutex05_send_data_timeout = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex06_waite_send_head = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex07_CoorInfo = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex08_trans_status_buf = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex09_xbee_other_api_buf = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex10_serial_wbuf = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex11_route_record_buf = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex12_trans_req_buf = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex13_pSourcePathList = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex14_CoorInfo = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex15_errlog = PTHREAD_MUTEX_INITIALIZER;
#if 0//__XBEE_TEST_LAR_NODE__
pthread_mutex_t mutex14_ts_buf = PTHREAD_MUTEX_INITIALIZER;
#endif
/*************************** cond *********************************/
pthread_cond_t cond_send_xbee=PTHREAD_COND_INITIALIZER;
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);
}
}
void xbee_routine_thread_process_other_api_buf(void)
{
static uint8 rbuf[255]={0};
uint16 len=0;
while(1)
{
MUTEX_LOCK(&mutex09_xbee_other_api_buf);
len = read_one_package_f_queue( &xbee_other_api_buf , rbuf );
MUTEX_UNLOCK(&mutex09_xbee_other_api_buf);
if(len)
{
switch(rbuf[3])
{
case receive_packet:
if(rbuf[15]=='C' && rbuf[16]=='F' && rbuf[17]=='G')
{
//TestPrintf("C F G",len,rbuf);
XBeeProcessCFG(rbuf);
}
else if(rbuf[15]=='C' && rbuf[16]=='T' && rbuf[17]=='L')
XBeeProcessCTL(rbuf);
else if(rbuf[15]=='S' && rbuf[16]=='E' && rbuf[17]=='N')
{
//TestPrintf("S E N",len,rbuf);
XBeeProcessSEN(rbuf);
}
else if(rbuf[15]=='O' && rbuf[16]=='T' && rbuf[17]=='A')
{}
break;
case at_command_response:
ProcessATRes(rbuf);
break;
case remoto_AT_command_response:
if(*(rbuf+17) == 1 || *(rbuf+17) == 4)
{
//XBeeRemoteATCmd(rbuf+5 , rbuf+13 , 2 , (uint8*)(rbuf+15) , param , 1 , 1);
}
TestPrintf("remote",len,rbuf);
break;
default:
break;
}
}
usleep(15000);
}
}
void xbee_routine_thread_process_trans_status_buf(void)
{
static uint8 rbuf[255]={0};
uint16 len=0;
int ret=0;
while(1)
{
MUTEX_LOCK(&mutex08_trans_status_buf);
len = read_one_package_f_queue( &trans_status_buf , rbuf );
MUTEX_UNLOCK(&mutex08_trans_status_buf);
if(len)
{
#if 0
if(*(rbuf+8) != 0 ) {for(i=0;i<11;i++) printf("%02x ",*(rbuf+i)); puts(" ");}
#endif
MUTEX_LOCK(&mutex03_send_xbee_state);
if(send_xbee_state > 0)
send_xbee_state--;
ret = pthread_cond_signal(&cond_send_xbee);
MUTEX_UNLOCK(&mutex03_send_xbee_state);
}
usleep(15000);
}
}
void xbee_routine_thread_write_serial(void)
{
static uint8 buf[255]={0};
uint16 len=0;
uint32 sleep_time;
int8 bufs[1];
bool state;
while(1)
{
//printf("file : %s,line = %d\r\n",__FILE__,__LINE__);
sleep_time = 15000;
state = read_xbee_cts(bufs);
if(state == true && *bufs == '1')
{
MUTEX_LOCK(&mutex10_serial_wbuf);
len = read_one_package_f_queue(&serial_wbuf , buf);
MUTEX_UNLOCK(&mutex10_serial_wbuf);
if(len)
{
#if 0
uint8 i=0; printf("write serial : "); for(i=0;i<len;i++) printf("%02x ",buf[i]); printf("\n");
#endif
WriteComPort(buf, len);
}
}
else
{
sleep_time = 1000000;
puts("\033[34mwarring : xbee serial buffer is full!\033[0m");
}
usleep(sleep_time);
}
}
void xbee_routine_thread_read_serial(void)
{
uint32 len=0;
static uint8 buf[255];
while(1)
{
//printf("file : %s,line = %d\r\n",__FILE__,__LINE__);
len = ReadComPort (buf, 255);
//printf("file : %s,line = %d\r\n",__FILE__,__LINE__);
if(len > 0)
{
#if 0
uint8 i=0; printf("read serial : "); for(i=0;i<len;i++) printf("%02x " , *(buf+i)); puts(" ");
#endif
//printf("file : %s,line = %d\r\n",__FILE__,__LINE__);
MUTEX_LOCK(&mutex01_serial_rbuf);
write_cqueue( &serial_rbuf , buf , len );
MUTEX_UNLOCK(&mutex01_serial_rbuf);
}
usleep(20000);
}
}
void xbee_routine_thread_process_serial_rbuf(void)
{
uint16 len=0;
uint8 buf[255];
while(1)
{
//printf("file : %s,line = %d\r\n",__FILE__,__LINE__);
MUTEX_LOCK(&mutex01_serial_rbuf);
len = read_one_package_f_queue(&serial_rbuf , buf);
MUTEX_UNLOCK(&mutex01_serial_rbuf);
#if 0
uint8 i=0; for(i=0;i<len;i++) printf("\033[32m%02x \033[0m",*(buf+i)); printf("\033[31mlen = %d\033[0m\n",len);
#endif
if(len)
{
switch(*(buf+3))
{
case transmit_status:
MUTEX_LOCK( &mutex08_trans_status_buf );
write_cqueue( &trans_status_buf , buf , len );
MUTEX_UNLOCK( &mutex08_trans_status_buf );
break;
case route_record_indicator:
MUTEX_LOCK( &mutex11_route_record_buf );
write_cqueue( &route_record_buf , buf , len );
MUTEX_UNLOCK( &mutex11_route_record_buf );
break;
default:
MUTEX_LOCK(&mutex09_xbee_other_api_buf);
write_cqueue( &xbee_other_api_buf , buf , len );
MUTEX_UNLOCK(&mutex09_xbee_other_api_buf);
break;
}
}
usleep(15000);
}
}
void xbee_routine_thread_process_trans_req_buf(void)
{
uint16 len=0;
static uint8 rbuf[255];
static uint8 tar[]={0x00,0x00,0x00,0x00,0x00,0x00,0xff,0xff,0xff,0xfe};
uint32 sleep_time;
while(1)
{
sleep_time = 80000;
MUTEX_LOCK(&mutex12_trans_req_buf);
len = read_one_package_f_queue(&trans_req_buf , rbuf);
MUTEX_UNLOCK(&mutex12_trans_req_buf);
if(len)
{
#if 0
uint16 i=0; for(i=0;i<len;i++) printf("%02x ",*(rbuf+i)); puts(" ");
#endif
sleep_time = 15000;
MUTEX_LOCK(&mutex10_serial_wbuf);
write_cqueue(&serial_wbuf , rbuf , len);
MUTEX_UNLOCK(&mutex10_serial_wbuf);
if(*(rbuf + 3) == 0x10 && arrncmp(tar,(rbuf+5),8) != 0)
{
#if 0
uint16 i=0; for(i=0;i<len;i++) printf("%02x ",*(rbuf+i)); puts(" ");
#endif
MUTEX_LOCK(&mutex03_send_xbee_state);
send_xbee_state++;
MUTEX_UNLOCK(&mutex03_send_xbee_state);
sleep_time = 80000;
}
}
usleep(sleep_time);
}
}
void xbee_routine_thread_process_route_record_buf(void)
{
uint8 buf[128];
uint16 len=0;
SourceRouterLinkType *p;
while(1)
{
MUTEX_LOCK(&mutex11_route_record_buf);
len = read_one_package_f_queue(&route_record_buf , buf);
MUTEX_UNLOCK(&mutex11_route_record_buf);
if(len)
{
#if 0
uint8 i=0; for(i=0;i<len;i++) printf("%02x ",*(buf+i)); puts("\033[31m%\%\033[0m");
#endif
MUTEX_LOCK(&mutex13_pSourcePathList);
p = XBeeProcessRoutRcord(pSourcePathList , buf);
p->cnt = 10;
MUTEX_UNLOCK(&mutex13_pSourcePathList);
}
usleep(50000);
}
}
#if __XBEE_TEST__
void xbee_routine_thread_test(void)
{
int8 in_cmd[100];
int reval;
uint8 i;
while(1)
{
reval = scanf("%s",in_cmd);
if(strncmp("list",in_cmd,strlen(in_cmd)) == 0)
{
MUTEX_LOCK(&mutex13_pSourcePathList);
LinkPrintf(pSourcePathList);
MUTEX_UNLOCK(&mutex13_pSourcePathList);
}
else if(strncmp("ar",in_cmd,strlen(in_cmd)) == 0)
{
XBeeSetAR(1,RES);
puts("ar 20s");
}
#if __XBEE_TEST_LAR_NODE__
else if(strncmp("start",in_cmd,strlen("start")) == 0)
{
start = *(in_cmd+5);
printf("start = %c\n",start);
}
#endif
else if(strncmp("ar0",in_cmd,strlen(in_cmd)) == 0)
{
XBeeSetAR(0,RES);
puts("ar one times");
}
else if(strncmp("arclose",in_cmd,strlen(in_cmd)) == 0)
{
XBeeSetAR(0xff,RES);
puts("ar has closed");
}
else if(strncmp("clear",in_cmd,strlen(in_cmd)) == 0)
{
MUTEX_LOCK(&mutex03_send_xbee_state);
send_xbee_state=0;
printf("\033[32msend_xbee_state = %d\033[0m\n",send_xbee_state);
MUTEX_UNLOCK(&mutex03_send_xbee_state);
}
else if(strncmp("op",in_cmd,strlen(in_cmd)) == 0)
{
XBeeReadAT("OP");
sleep(1);
printf("\033[35m64位panID:\033[0m");
for(i=0;i<8;i++)
printf("0x%02x ",CoorInfo.panID64[i]);
printf("\n");
}
else if(strncmp("id",in_cmd,strlen(in_cmd)) == 0)
{
XBeeReadAT("ID");
sleep(1);
printf("\033[35m64位panID:\033[0m");
for(i=0;i<8;i++)
printf("0x%02x ",CoorInfo.panID64[i]);
printf("\n");
}
else if(strncmp("oi",in_cmd,strlen(in_cmd)) == 0)
{
XBeeReadAT("OI");
sleep(1);
printf("\033[35m16位panID: \033[0m0x%04x\n",CoorInfo.panID16);
}
else if(strncmp("nj",in_cmd,strlen(in_cmd)) == 0)
{
XBeeReadAT("NJ");
sleep(1);
printf("\033[35m允许入网时间 \033[0m0x%02x\n",CoorInfo.nj);
}
else if(strncmp("ch",in_cmd,strlen(in_cmd)) == 0)
{
XBeeReadAT("CH");
sleep(1);
printf("\033[35m网络信道: \033[0m0x%04x\n",CoorInfo.channel);
}
else if(strncmp("readar",in_cmd,strlen(in_cmd)) == 0)
{
XBeeReadAT("AR");
sleep(1);
printf("\033[35mAR : \033[0m0x%02x\n",CoorInfo.ar);
}
else if(strncmp("check",in_cmd,strlen(in_cmd)) == 0)
{
if(networking_over() == 1)
printf("\033[35m全部锁已入网\033[0m\n");
else if(networking_over() == 0)
printf("\033[35m有锁未入网\033[0m\n");
}
else
printf("\033[35m无效的命令\033[0m\n");
usleep(1000);
}
}
#endif
void TestPrintf(int8* sss,int16 lens,uint8 *buf)
{
int loop=0;
printf("\033[34m数据序列--%s:数据长度--%d; 数据内容:\033[0m\n",sss,lens);
for( loop = 0;loop < lens;loop ++)
{
switch(*(buf+3))
{
case 0x88:
if(loop==5 || loop==6)
printf("\033[32m%c \033[0m",(int8)buf[loop]);
else
printf("0x%02x ",buf[loop]);
break;
case 0x90:
if(loop==15 || loop==16 || loop==17)
printf("\033[32m%c \033[0m",(int8)buf[loop]);
else
printf("0x%02x ",buf[loop]);
break;
case 0xa1:
if(loop == 3)
printf("\033[32m0x%02x \033[0m",buf[loop]);
else
printf("0x%02x ",buf[loop]);
break;
case 0x8b:
if(loop == 3)
printf("\033[35m0x%02x \033[0m",buf[loop]);
else
printf("0x%02x ",buf[loop]);
break;
default:
printf("0x%02x ",buf[loop]);
break;
}
}
printf("\n");
}