void radioStress2_thread(void* arg) {
message_t* m = (message_t*)arg;
for(;;) {
if(TOS_NODE_ID == 0) {
amRadioReceive(m, 2000, 22);
led2Toggle();
}
else {
if(amRadioSend(!TOS_NODE_ID, m, 0, 22) == SUCCESS)
led2Toggle();
}
}
}
void blink2_thread(void* arg) {
if(blink2_count++ == 170)
led2Toggle();
tosthread_create(&thread_handler, blink0_thread, NULL, 100);
tosthread_create(&thread_handler, blink1_thread, NULL, 100);
tosthread_create(&thread_handler, blink2_thread, NULL, 100);
}
void blinkLEDs(void)
{
if (blink_mode == 0)
{
led1Toggle();
led2Toggle();
led3Toggle();
}
else if (blink_mode == 1)
{
switch(blink_state)
{
case 0:
blink_state = 1;
led1On(); led2Off(); led3On();
break;
case 1:
blink_state = 0;
led1Off(); led2On(); led3Off();
break;
}
}
else if (blink_mode == 2)
{
switch(blink_state)
{
case 0:
blink_state = 1;
led1Off(); led2Off(); led3Off();
break;
case 1:
blink_state = 2;
led1On(); led2Off(); led3Off();
break;
case 2:
blink_state = 3;
led1On(); led2On(); led3Off();
break;
case 3:
blink_state = 0;
led1On(); led2On(); led3On();
break;
}
}
IFS0bits.T1IF = 0;
}
// --------------------------------------------
// --------------------------------------------
void onRadioRecv(void)
{
static bool flRxProcessing=false;
if(flRxProcessing){
#ifdef PRINT_PACKETS
PRINTF("RX Locked\n");
#endif
return;
}
flRxProcessing=true; // There is a chance for a small race condition
#ifdef PRINT_PACKETS
uint32_t rxTime = getTimeMs();
#endif
int16_t rxLen;
rssi_t rssi;
lqi_t lqi;
rxIdx++;
if( rxIdx < 0 ) rxIdx=0;
led1Toggle();
// rxLen = radioRecv( &(DB_REC(db)), DB_REC_SIZE(db));
// DB_REC(db).recLen = rxLen;
rxLen = radioRecv(&radioBuffer, sizeof(radioBuffer));
rssi = radioGetLastRSSI();
lqi = radioGetLastLQI();
#ifdef PRINT_PACKETS
PRINTF("%d\t%d\t%d\t%d\t%ld\t", (int)rxIdx, (int)rxLen, (int)rssi, (int)lqi, (long)rxTime);
#endif
#ifdef PRINT_PACKETS
if (rxLen < 0) {
PRINTF("RX failed\n");
}
else if (rxLen > 0 ) {
debugHexdump((uint8_t *) &radioBuffer, rxLen);
// debugHexdump((uint8_t *) &(DB_REC(db)), rxLen);
}
#endif
if (rxLen < 0) {
led2Toggle();
flRxProcessing=false;
return;
}
if( ! MSG_SIGNATURE_OK(radioBuffer) ) { flRxProcessing = false; return; }
// Anticipated payload types.
MSG_NEW_PAYLOAD_PTR(radioBuffer, phaser_ping_t, test_data_p);
MSG_NEW_PAYLOAD_PTR(radioBuffer, phaser_control_t, ctrl_data_p);
MSG_NEW_PAYLOAD_PTR(radioBuffer, msg_text_data_t, msg_text_p);
MSG_NEW_PAYLOAD_PTR(radioBuffer, test_config_t, test_config_p);
int act = MSG_ACT_CLEAR;
bool flOK=true;
switch( radioBuffer.id ){
case PH_MSG_Test:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, phaser_ping_t, flOK=false );
if( !flOK ){
PRINTF("BadChk\n");
break;
}
// Check if new experiment iteration started.
if(lastExpIdx != test_data_p->expIdx && curExp){
sendTestResults();
}
processTestMsg(test_data_p, rssi, lqi);
break;
case PH_MSG_Angle:
if(curExp) sendTestResults();
if( flRestart ){ // Best time to resend the restart message after the angle change
send_ctrl_msg(MSG_ACT_RESTART);
flRestart = false;
}
break;
case PH_MSG_Control:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, phaser_control_t, break);
if(curExp) sendTestResults();
act = ctrl_data_p->action;
if(act == MSG_ACT_START ){
flRestart = false; // Clear restart command attempt
}
printAction(act);
break;
case PH_MSG_Text:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, msg_text_data_t, break );
PRINTF(msg_text_p->text);
PRINTF("\n");
break;
case PH_MSG_Config:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, test_config_t, break );
PRINTF("Config received:\n");
// TODO: parse the config and print
print_test_config(test_config_p);
}
flRxProcessing=false;
}
