TOS_MsgPtr TOS_MSG_EVENT(DATA_MSG) (TOS_MsgPtr msg) {
char *data = msg->data;
TOS_MsgPtr tmp = msg;
char source;
// this handler forwards packets traveling to the base.
TOS_CALL_COMMAND(CONNECT_LED2_OFF) ();
// if this is the first hop on the route, then use the origin of the
// packet<
// as the name of the person who sent the packet to you instead of the
//
//
// last hop ID (which is null)
source = data[2];
if (source == 0) {
source = data[0];
}
update_connections(source, data[28]);
// if a route is known, forward the packet towards the base.
if (VAR(route) != 0 && data[1] == TOS_LOCAL_ADDRESS) {
#ifdef BASE_STATION
if (VAR(msg_send_pending) == 0) {
VAR(msg_send_pending) =
TOS_CALL_COMMAND(CONNECT_SUB_SEND_MSG) (TOS_UART_ADDR,
AM_MSG(DATA_MSG),
msg);
tmp = VAR(msg);
VAR(msg) = msg;
}
#else
// update the packet.
data[5] = data[4];
data[4] = data[3];
data[3] = data[2];
data[2] = data[1];
data[1] = VAR(route);
// send the packet.
if (VAR(msg_send_pending) == 0) {
VAR(msg_send_pending) =
TOS_CALL_COMMAND(CONNECT_SUB_SEND_MSG) (TOS_BCAST_ADDR,
AM_MSG
(CONNECT_UPDATE),
msg);
tmp = VAR(msg);
VAR(msg) = msg;
}
#endif
printf("routing to home %x\n", VAR(route));
}
return tmp;
}
//This handler responds to routing updates.
TOS_MsgPtr TOS_MSG_EVENT(CONNECT_UPDATE)(TOS_MsgPtr msg){
TOS_MsgPtr tmp;
char* data = msg->data;
//clear LED2 when update is received.
TOS_CALL_COMMAND(CONNECT_LED2_OFF)();
update_connections(data[(int)data[0]], data[28]);
//if route hasn't already been set this period...
if(VAR(set) == 0){
//record route
VAR(route) = data[(int)data[0]];
VAR(set) = 8;
data[0] ++;
//create a update packet to be sent out.
data[(int)data[0]] = TOS_LOCAL_ADDRESS;
//send the update packet.
if(VAR(msg_send_pending) == 0){
VAR(msg_send_pending) = TOS_CALL_COMMAND(CONNECT_SUB_SEND_MSG)(TOS_BCAST_ADDR, AM_MSG(CONNECT_UPDATE),msg);
}else{
return msg;
}
printf("route set to %x\n", VAR(route));
tmp = VAR(msg);
VAR(msg) = msg;
return tmp;
}else{
printf("route already set to %x\n", VAR(route));
return msg;
}
}
char TOS_COMMAND(INT_TO_RFM_OUTPUT)(int val){
int_to_led_msg* message = (int_to_led_msg*)VAR(data).data;
if (!VAR(pending)) {
message->val = val;
message->src = TOS_LOCAL_ADDRESS;
if (TOS_COMMAND(INT_TO_RFM_SUB_SEND_MSG)(TOS_BCAST_ADDR, AM_MSG(INT_READING), &VAR(data))) {
VAR(pending) = 1;
return 1;
}
}
return 0;
}
void TOS_EVENT(CONNECT_SUB_CLOCK)(){
//clear LED3 when the clock ticks.
TOS_CALL_COMMAND(CONNECT_LED3_OFF)();
printf("route clock\n");
#ifdef BASE_STATION
//if is the base, then it should send out the route update.
if(VAR(data_send_pending) == 0){
VAR(data_send_pending) = TOS_CALL_COMMAND(CONNECT_SUB_SEND_MSG)(TOS_BCAST_ADDR, AM_MSG(CONNECT_UPDATE),&VAR(data_buf));
}
#else
//decrement the set var to know when a period is over.
if(VAR(set) != 0) VAR(set) --;
//read the value from the sensor.
TOS_COMMAND(CONNECT_SUB_READ)();
#endif //BASE_STATION
TOS_CALL_COMMAND(CONNECT_LED1_TOGGLE)();
}
char TOS_EVENT(MAGS_DATA_EVENT)(int data){
struct adc_packet* pack = (struct adc_packet*)(VAR(msg).data);
printf("data_event\n");
VAR(reading) = data;
TOS_POST_TASK(FILTER_DATA);
if(VAR(send_pending) == 0){
pack->count ++;
pack->data[(int)VAR(state)] = data;
VAR(state) ++;
}
if(VAR(pot_wait) == 0){
TOS_CALL_COMMAND(MAGS_LEDy_off)();
TOS_CALL_COMMAND(MAGS_LEDr_off)();
if(data > 0x200){
decrease_r();
//this is a counter so that we can only reset the POT once
//every 255 samples.
TOS_CALL_COMMAND(MAGS_LEDy_on)();
VAR(pot_wait) = 255;
}
else if(data < 0x100){
increase_r();
//this is a counter so that we can only reset the POT once
//every 255 samples.
VAR(pot_wait) = 255;
TOS_CALL_COMMAND(MAGS_LEDr_on)();
}
}
if(VAR(state) == sizeof(pack->data)/sizeof(int)){
pack->data[(int)VAR(state)] = VAR(diff);
VAR(state) = 0;
if (TOS_CALL_COMMAND(MAGS_SUB_SEND_MSG)(TOS_UART_ADDR,AM_MSG(mags_msg),&VAR(msg))) {
VAR(send_pending) = 1;
return 1;
}else {
return 0;
}
}
return 1;
}
char TOS_EVENT(AGRO_SUB_DATA_READY)(short data){
if(data > VAR(my_strength)) VAR(my_strength) = data;
VAR(count) ++;
if(VAR(count) == 8){
VAR(count) = 0;
if(VAR(id_gen) == 0) VAR(id_gen) = data;
if(VAR(my_strength) > VAR(max_strength) && VAR(my_strength) > MAG_THRESHOLD){
uint8_t i;
TOS_CALL_COMMAND(AGRO_LED1_ON)();
agroDataPacket* pack = (agroDataPacket*)VAR(rel_ptr)->data;
pack->pack_ID = VAR(id_gen);
pack->from = TOS_LOCAL_ADDRESS;
pack->readings[0].nodeID = TOS_LOCAL_ADDRESS;
pack->readings[0].value = VAR(my_strength);
for(i = 1; i < 4; i ++){
pack->readings[i].value = VAR(dataBlock)[i-1].value;
pack->readings[i].nodeID = VAR(dataBlock)[i-1].nodeID;
VAR(dataBlock)[i-1].value = 0;
VAR(dataBlock)[i-1].nodeID = 0xff;
}
bar_foo();
}else{
TOS_CALL_COMMAND(AGRO_LED1_OFF)();
}
VAR(my_strength) = 0;
VAR(max_strength) = 0;
}else {
if(data > MAG_THRESHOLD && VAR(msg_send_pending) == 0){
CLR_YELLOW_LED_PIN();
agroDataPacket* pack = (agroDataPacket*)VAR(msg)->data;
pack->readings[0].nodeID = TOS_LOCAL_ADDRESS;
pack->readings[0].value = data;
//TIME to send out an data messgae.
VAR(msg)->length = 6;
VAR(msg_send_pending) = TOS_CALL_COMMAND(AGRO_SUB_SEND_MSG)(TOS_BCAST_ADDR, AM_MSG(AGRO_DATA_MSG), VAR(msg));
}else{
SET_YELLOW_LED_PIN();
TOS_CALL_COMMAND(AGRO_LED1_OFF)();
}
}
return 1;
}
char TOS_COMMAND(SEND_DV_FP_OUTPUT) (const float *x,
const float *y,
const char hops) {
coordinates_msg *message = (coordinates_msg *) VAR(data).data;
if (!VAR(pending)) {
message->x = *x;
message->y = *y;
message->hops = hops;
CLR_GREEN_LED_PIN();
if (TOS_COMMAND(SEND_DV_FP_SUB_SEND_MSG)
(TOS_BCAST_ADDR, AM_MSG(INT_READING), &VAR(data))) {
VAR(pending) = 1;
return 1;
}
SET_GREEN_LED_PIN();
}
return 0;
}
char TOS_EVENT(CONNECT_SUB_DATA_READY)(int data){
//when the data comes back from the sensor, see if the counter
// has expired or if the value is significantly different
// from the previous value.
if(VAR(route) != 0 &&
((VAR(prev) - data) > 100 ||
(data - VAR(prev)) > 100 ||
VAR(count) > 10)){
char* buf = VAR(data_buf).data;
//if a new data packet needs to be sent, go for it.
if(VAR(data_send_pending) == 0){
buf[6] = data >> 8;
buf[7] = data & 0xff;
buf[0] = TOS_LOCAL_ADDRESS;
buf[1] = VAR(route);
VAR(data_send_pending) = TOS_CALL_COMMAND(CONNECT_SUB_SEND_MSG)(TOS_BCAST_ADDR, AM_MSG(DATA_MSG),&VAR(data_buf));
VAR(count) = 0;
//blink the LED
TOS_CALL_COMMAND(CONNECT_LED3_ON)();
}
/*
* sends the correction factor
*/
char TOS_COMMAND(SEND_DV_FP_CORRECTION_OUTPUT)
(const float *fpx,
const float *fpy,
const float *fpfactor)
{
correction_msg *message = (correction_msg *) VAR(data).data;
if (!VAR(pending)) {
message->fpx = *fpx;
message->fpy = *fpy;
message->fpfactor = *fpfactor;
CLR_GREEN_LED_PIN();
if (TOS_COMMAND(SEND_DV_FP_SUB_SEND_MSG) (TOS_BCAST_ADDR,
AM_MSG
(CORRECTION_READING),
&VAR(data))) {
VAR(pending = 1);
return 1;
}
SET_GREEN_LED_PIN();
}
return 0;
}
void bar_foo(){
if(VAR(rel_send_pending) == 0){
VAR(id_gen) ++;
VAR(rel_cnt) = 0;
VAR(rel_ptr)->length = 16;
((agroDataPacket*)(VAR(rel_ptr)->data))->from = VAR(my_parent)[VAR(parent_ptr)];
VAR(rel_send_pending) = TOS_CALL_COMMAND(AGRO_SUB_SEND_MSG)(VAR(my_parent)[VAR(parent_ptr)], AM_MSG(AGRO_REL_MSG), VAR(rel_ptr));
if(VAR(rel_send_pending) == 0) VAR(id_gen) --;
}
}
