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app.c
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app.c
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#include "app.h"
#include <string.h>
#include <time.h>
/* Application context data instance */
REGISTER_USERDATA(app_ctx_t)
/* Application wrapper layer data send */
int app_send(addr_t dst, uint8_t *data, uint8_t size)
{
int res;
uint8_t wdata[TPL_SDU_MAX];
if (size + 1 > TPL_SDU_MAX)
return -1;
wdata[0] = mydata->proto;
memcpy(wdata + 1, data, size);
res = tpl_send(dst, wdata, size + 1);
return res;
}
/* Application wrapper layer data recv */
int app_recv(addr_t *src, uint8_t *data, uint8_t *size)
{
int res;
uint8_t wdata[TPL_SDU_MAX];
uint8_t wsize = TPL_SDU_MAX;
if ((res = tpl_recv(src, wdata, &wsize)) < 0)
return res;
if (wsize == 0 || wdata[0] != mydata->proto)
return -1;
if (size != NULL)
*size = wsize - 1;
if (data != NULL)
memcpy(data, wdata + 1, wsize - 1);
return res;
}
void app_neighbor_print(void)
{
int i;
TRACE_APP("N(x) = { ");
for (i = 0; i < mydata->nneigh; i++)
TRACE2_APP("%u ", mydata->neigh[i]);
TRACE2_APP("}\n");
}
void app_neighbor_add(addr_t addr)
{
uint8_t i;
for (i = 0; i < mydata->nneigh; i++) {
if (mydata->neigh[i] == addr)
break;
}
if (i == mydata->nneigh) {
if (i < APP_NEIGHBORS_MAX) {
mydata->neigh[i] = addr;
mydata->nneigh++;
} else {
TRACE("NEIGHBOR %u ignored, max capacity reached\n", addr);
}
}
}
void app_neighbor_del(addr_t addr)
{
uint8_t i;
for (i = 0; i < mydata->nneigh; i++) {
if (mydata->neigh[i] == addr) {
memcpy(&mydata->neigh[i], &mydata->neigh[i+1],
mydata->nneigh - i);
mydata->nneigh--;
break;
}
}
}
int app_is_neighbor(addr_t addr)
{
uint8_t i;
for (i = 0; i < mydata->nneigh; i++) {
if (mydata->neigh[i] == addr)
break;
}
return (i < mydata->nneigh);
}
/* Application loop */
static void app_loop(void)
{
switch (mydata->proto) {
case APP_PROTO_DIS:
dis_loop();
if (mydata->dis.state == DIS_STATE_DONE) {
tpl_drop();
if (mydata->nneigh > 0) {
mydata->proto = APP_PROTO_SPT;
spt_init();
} else {
mydata->proto = 0xFF; /* Nothing to do, just sleep */
COLOR_APP(WHITE);
}
}
break;
case APP_PROTO_SPT:
spt_loop();
if (mydata->spt.state == SPT_STATE_DONE) {
mydata->gid = (uint8_t)mydata->spt.root;
mydata->proto = APP_PROTO_WSC;
mydata->nneigh = mydata->spt.nchild;
memcpy(mydata->neigh, mydata->spt.child,
mydata->spt.nchild * sizeof(addr_t));
if (mydata->uid != mydata->gid) {
mydata->neigh[mydata->nneigh] = mydata->spt.parent;
mydata->nneigh++;
}
hnt_init();
}
break;
case APP_PROTO_WSC:
hnt_loop();
break;
default:
break;
}
}
static void app_timeout(addr_t dst, uint8_t *data, uint8_t siz)
{
TRACE_APP("TIMEOUT waiting ACK from %u\n", dst);
ASSERT(siz > 0);
if (data[0] != mydata->proto) {
TRACE_APP("... inactive subsystem %u, current active is %u, ignore!\n",
data[0], mydata->proto);
return;
}
/* SPT is the only protocol with a timeout handler */
if (mydata->proto == APP_PROTO_SPT)
spt_timeout(dst, data + 1, siz - 1);
}
/* Application initialization */
static void app_setup(void)
{
set_motors(0, 0);
set_color(WHITE);
/* Application data erase */
memset(mydata, 0, sizeof(*mydata));
/* Communication channel init */
tpl_init(0, app_timeout);
mydata->uid = kilo_uid;
#ifndef SKIP_ELECTION
dis_init();
mydata->gid = TPL_BROADCAST_ADDR;
mydata->proto = APP_PROTO_DIS;
#else
hnt_init();
mydata->gid = APP_DEFAULT_GID;
mydata->proto = APP_PROTO_WSC;
if (mydata->uid == mydata->gid) {
/*
* Hack to let the hnt work as expected.
* The kilobot with uid equal to DEFAULT_WSC_GID will be both the
* first witch and the target.
*/
mydata->nneigh = 1;
mydata->neigh[0] = mydata->uid;
mydata->hnt.dist = 0;
}
mydata->hnt.target = APP_DEFAULT_GID;
mydata->hnt.state = WSC_STATE_ACTIVE;
#endif
}
int main(void)
{
srand(time(NULL));
kilo_init();
kilo_start(app_setup, app_loop);
return 0;
}