actuator.c

/*
 * Copyright (c) 2007, Swedish Institute of Computer Science.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the Institute nor the names of its contributors
 *    may be used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 *
 * This file is part of the Contiki operating system.
 *
 */

/**
 * \file
 *         Testing the broadcast layer in Rime
 * \author
 *         Adam Dunkels <adam@sics.se>
 */

#include "contiki.h"
#include "net/rime/rime.h"
#include "random.h"

#include "dev/button-sensor.h"

#include "dev/leds.h"

#include <stdio.h>

static int flag = 0;
static int check = 0;
static int schedule_flag = 0;
static int nr_neighbors = 0;
/* This is the structure of broadcast messages. */
struct broadcast_message {
  uint8_t seqno;
};

/* This is the structure of unicast ping messages. */
struct unicast_message {
  uint8_t type;
};

/* This structure holds information about neighbors. */
struct neighbor {
  /* The ->next pointer is needed since we are placing these on a
     Contiki list. */
  struct neighbor *next;

  /* The ->addr field holds the Rime address of the neighbor. */
  linkaddr_t addr;

  /* The ->last_rssi and ->last_lqi fields hold the Received Signal
     Strength Indicator (RSSI) and CC2420 Link Quality Indicator (LQI)
     values that are received for the incoming broadcast packets. */
  uint16_t last_rssi, last_lqi;

  /* Each broadcast packet contains a sequence number (seqno). The
     ->last_seqno field holds the last sequenuce number we saw from
     this neighbor. */
  uint8_t last_seqno;

  /* The ->avg_gap contains the average seqno gap that we have seen
     from this neighbor. */
  uint32_t avg_seqno_gap;

};

/* This #define defines the maximum amount of neighbors we can remember. */
#define MAX_NEIGHBORS 16

/* This MEMB() definition defines a memory pool from which we allocate
   neighbor entries. */
MEMB(neighbors_memb, struct neighbor, MAX_NEIGHBORS);

/* The neighbors_list is a Contiki list that holds the neighbors we
   have seen thus far. */
LIST(neighbors_list);

/* These hold the broadcast and unicast structures, respectively. */
static struct broadcast_conn broadcast;

#define MAX_RETRANSMISSIONS 4
#define NUM_HISTORY_ENTRIES 4
/*---------------------------------------------------------------------------*/
PROCESS(initialization_process, "initialization");
PROCESS(schedule_process, "schedule");
AUTOSTART_PROCESSES(&initialization_process, &schedule_process);
/*---------------------------------------------------------------------------*/
/*static void
broadcast_recv(struct broadcast_conn *c, const linkaddr_t *from)
{
	  char * rcv_bfr;
	  char * address = "address";

	  struct neighbor *n;
	  struct broadcast_message *m;
	  uint8_t seqno_gap;
}*/
/* This function is called for every incoming unicast packet. */
struct history_entry {
  struct history_entry *next;
  linkaddr_t addr;
  uint8_t seq;
};
LIST(history_table);
MEMB(history_mem, struct history_entry, NUM_HISTORY_ENTRIES);
/*---------------------------------------------------------------------------*/
static void
recv_runicast(struct runicast_conn *c, const linkaddr_t *from, uint8_t seqno)
{
  /* OPTIONAL: Sender history */
  struct history_entry *e = NULL;
  char * receive_msg = "null";
  char * address = "address";

  struct neighbor *n;
  struct broadcast_message *m;

  for(e = list_head(history_table); e != NULL; e = e->next) {
    if(linkaddr_cmp(&e->addr, from)) {
      break;
    }
  }
  if(e == NULL) {
    /* Create new history entry */
    e = memb_alloc(&history_mem);
    if(e == NULL) {
      e = list_chop(history_table); /* Remove oldest at full history */
    }
    linkaddr_copy(&e->addr, from);
    e->seq = seqno;
    list_push(history_table, e);
  } else {
    /* Detect duplicate callback */
    if(e->seq == seqno) {
      printf("runicast message received from %d.%d, seqno %d (DUPLICATE)\n",
	     from->u8[0], from->u8[1], seqno);
      return;
    }
    /* Update existing history entry */
    e->seq = seqno;
  }

  /* Grab the pointer to the incoming data. */
  receive_msg = packetbuf_dataptr();
  printf("runicast received with message %s\n",receive_msg);
  if ((flag == 1) && (strcmp(receive_msg,address)==0)){
	  /* The packetbuf_dataptr() returns a pointer to the first data byte
	     in the received packet. */
	  m = packetbuf_dataptr();

	  /* Check if we already know this neighbor. */
	  for(n = list_head(neighbors_list); n != NULL; n = list_item_next(n)) {

	    /* We break out of the loop if the address of the neighbor matches
	       the address of the neighbor from which we received this
	       broadcast message. */
	    if(linkaddr_cmp(&n->addr, from)) {
	      break;
	    }
	  }

	  /* If n is NULL, this neighbor was not found in our list, and we
	     allocate a new struct neighbor from the neighbors_memb memory
	     pool. */
	  if(n == NULL) {
	    n = memb_alloc(&neighbors_memb);

	    /* If we could not allocate a new neighbor entry, we give up. We
	       could have reused an old neighbor entry, but we do not do this
	       for now. */
	    if(n == NULL) {
	      return;
	    }
	    /* Initialize the fields. */
	    linkaddr_copy(&n->addr, from);

	    /* Place the neighbor on the neighbor list. */
	    list_add(neighbors_list, n);
	    nr_neighbors = nr_neighbors + 1;
	    printf("neighbor added\n");
	  }
  }
  receive_msg = "null";
}
static const struct broadcast_callbacks broadcast_call = {};
static struct broadcast_conn broadcast;
static void
sent_runicast(struct runicast_conn *c, const linkaddr_t *to, uint8_t retransmissions)
{
  printf("runicast message sent to %d.%d, retransmissions %d\n",
	 to->u8[0], to->u8[1], retransmissions);
  check = 0;
}
static void
timedout_runicast(struct runicast_conn *c, const linkaddr_t *to, uint8_t retransmissions)
{
  printf("runicast message timed out when sending to %d.%d, retransmissions %d\n",
	 to->u8[0], to->u8[1], retransmissions);
  check = 1;
}
static const struct runicast_callbacks runicast_callbacks = {recv_runicast,
							     sent_runicast,
							     timedout_runicast};
static struct runicast_conn runicast;

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(initialization_process, ev, data)
{
  static struct etimer et,dt;
  char * msg;
  struct neighbor *n;
  int randneighbor, i, j, x;
  static int k;
  PROCESS_EXITHANDLER(runicast_close(&runicast);)

  PROCESS_BEGIN();

  broadcast_open(&broadcast, 129, &broadcast_call);

  while(1) {
	if(check == 1)
	{
		printf("unresponsive neighbor deleted\n");
		list_remove(neighbors_list, n);
		nr_neighbors--;
		check = 0;
	}
    /* Delay 2-4 seconds */
	if (flag == 3)
	{
		etimer_set(&et, CLOCK_SECOND * 60);
		PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&dt));
	}
	else if(flag == 1)
	{
    	etimer_set(&dt, CLOCK_SECOND * 20);
    	PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&dt));
	}
	else
	{
		etimer_set(&et, CLOCK_SECOND * 1);
	    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
	}

    switch (flag){
    case 0:
    	broadcast_open(&broadcast, 129, &broadcast_call);
        packetbuf_copyfrom("req", 4);
        broadcast_send(&broadcast);
        flag = 1;
        printf("broadcast message sent\n");
        runicast_open(&runicast, 146, &runicast_callbacks);
        broadcast_close(&broadcast);
    break;
    case 1:
    	printf("actuator: waited for addresses\n");
    	if(schedule_flag != 1)
    	{
    		flag = 2;
    	}
    	else
    	{
    		flag = 3;
    	}
    break;
    case 2:
		if(list_length(neighbors_list) > 0)
		{
			  if(k >= nr_neighbors)
			  {
				  k = 0;
			  }
			  n = list_head(neighbors_list);
			  for(j = 0; j < k; j=j+1){
				  n = list_item_next(n);
			  }
			  k++;
			  msg = "schedule";
			  printf("sending runicast to %d.%d with message %s\n", n->addr.u8[0], n->addr.u8[1], msg);

			  packetbuf_copyfrom(msg, (strlen(msg)+1));
			  runicast_send(&runicast, &n->addr, MAX_RETRANSMISSIONS);
		}
		if(k == nr_neighbors)
		{
			flag = 3;
			schedule_flag = 1;
			printf("schedule sent\n");
		}

			//printf("%d, %d\n",k,nr_neighbors);
    break;
    case 3:
  	    flag = 0;
  	    printf("Rerun initialization broadcast \n");
    break;
    default:
    break;
    }
  }
  PROCESS_END();
}
/*---------------------------------------------------------------------------*/

PROCESS_THREAD(schedule_process, ev, data)
{
	static struct etimer et;
	PROCESS_EXITHANDLER(broadcast_close(&broadcast);)

	PROCESS_BEGIN();

	while(1)
    {
		etimer_set(&et, CLOCK_SECOND * 1);
	    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
	    switch(schedule_flag){
	    case 1:
	    	//printf("")
	    break;
	    case 2:
		break;
	    default:
	    break;
	    }
    }


	PROCESS_END();
}


/*---------------------------------------------------------------------------*/