bool RF24Gateway::begin(bool configTUN, bool meshEnable, uint16_t address, uint8_t mesh_nodeID, rf24_datarate_e data_rate, uint8_t _channel) {
#if(DEBUG>=1)
printf("GW Begin\n");
printf("Config Device address 0%o nodeID %d\n",address,mesh_nodeID);
#endif
config_TUN = configTUN;
///FIX
channel = _channel;//97;
dataRate = data_rate;
configDevice(address);
mesh_enabled = meshEnable;
thisNodeID = mesh_nodeID;
thisNodeAddress = address;
if(meshEnable){
// GW radio channel setting takes precedence over mesh_default_channel
if(channel == 97 && MESH_DEFAULT_CHANNEL != 97){
channel = MESH_DEFAULT_CHANNEL;
}
if(!thisNodeAddress && !mesh_nodeID){
mesh.setNodeID(0);
}else{
if(!mesh_nodeID){
mesh_nodeID = 253;
}
mesh.setNodeID(mesh_nodeID); //Try not to conflict with any low-numbered node-ids
}
mesh.begin(channel,data_rate);
thisNodeAddress = mesh.mesh_address;
}else{
radio.begin();
delay(5);
const uint16_t this_node = address;
radio.setDataRate(dataRate);
radio.setChannel(channel);
network.begin(/*node address*/ this_node);
thisNodeAddress = this_node;
}
network.multicastRelay=1;
//#if (DEBUG >= 1)
radio.printDetails();
//#endif
return true;
}
int main(int argc, char *argv[]){
unsigned char stop, temp;
unsigned char cmd;
unsigned char arg1, arg2;
char arg1buf[4], arg2buf[4];
packet recievepkt;
packet sendpkt;
int fd_joy; // File Descriptor for joystick
int temp1;
struct js_event e;
temp1 = 0; // Set first time stamp to zero
fd_joy = open_joystick(); // /Initalize the joystick
// printf("fd_joy: %d\n", fd_joy);
strncpy(device, argv[1], DEVICE_MAX_SIZE);
//set up serial port
if((fd = configDevice()) < 2){
perror("Error opening/configuring device\n");
return -1;
}
menu();
//set handler for close command
signal(SIGUSR2, catchClose);
signal(SIGTERM, catchClose);
//create timer for ping
pid = fork();
if (pid < 0) printf("Error creating ping timer process\n");
else if(pid == 0){
//die if parent dies
prctl(PR_SET_PDEATHSIG, SIGHUP);
//set alarm for ping timeout
signal(SIGALRM, sendPing);
//prime Timeout reset handler
signal(SIGUSR1, catchTimeoutReset);
alarm(PING_INTERVAL);
for(timeouts = 0; timeouts < PING_RETRIES;){
//spin wheels. exit if ping timeout occurs
}
//kill parent process if ping timeout
printf("Ping timeout. %d unanswered pings\n", timeouts);
//tell parent to exit
kill(getppid(), SIGKILL);
return 1;
}
int readcount;
char zeroflag;
//main control loop
for(stop = 0; stop <= 0;){
//cmd = 'V';
//arg1 = 0;
//arg2 = 0;
/*scanf("%c %s %s%c", &cmd, arg1buf, arg2buf, NULL); //get command
//strcpy(arg1buf, "Z");
arg1 = (unsigned char)atoi(arg1buf);
arg2 = (unsigned char)atoi(arg2buf);
if(arg1 == 0){
arg1 = 1;
}
if(arg2 == 0){
arg2 = 1;
}*/
readcount = read (fd_joy, &e, sizeof(e));
//printf("servo: %d\r", e.time);
//printf("bytes read from joystick: %d\n", readcount);
//if(e.time > temp1)
{
//printf("Bryan\n");
if(e.type == 1 && e.value == 1){
if(e.time > temp1){
button_press(e.number);
temp1 = e.time;
}
}
if(e.type == 2 /*&& e.value != 0*/){
if(!zeroflag){
axis_press(e.number, e.value);
}
//set zeroflag if event input zero
//necessary to not keep resending packages
//when in the zero (stopped) position
zeroflag = (e.value == 0) ? 1 : 0;
//printf("zeroflag %c\n", zeroflag);
}
}
//while((temp = getchar()) != '\n' && temp != EOF); //clear buffer
//printf("CMD: %c ARG1: %c ARG2: %c\n", cmd, arg1, arg2);
//stop = parseCommand(cmd, arg1, arg2);
}
close(fd);
//tell child to exit
kill(pid, SIGUSR2);
t1.join();
scanf("", NULL);
return 0;
}
