File content as of revision 15:4c748df01e5b:

// ===================== COORDINATOR =====================
// =======================================================
#include "EthernetInterface.h"
#include "ConfigFile.h"
#include "mbed.h"
#include "rtos.h"

AnalogOut errorLed(p18);
DigitalOut reset(p8);
DigitalOut led1(LED1);
EthernetInterface eth;
Serial xbee(p13, p14);   // tx, rx
Serial pc(USBTX, USBRX); // tx, rx
TCPSocketConnection sock;
Ticker ticker1;
Thread *t1;

/* Mail */
typedef struct {
    uint8_t type;
    char strAccelerationX[15];
    char strAccelerationY[15];
    char strAccelerationZ[15]; 
    char strDryContact[15];      
} mail_t;

Mail<mail_t, 100> mail_box;

uint8_t routerAddress[8] = { 0 }; // Should be 00 13 A2 00 40 8B 41 6E
uint16_t portNumber = 0;
uint16_t panId = 0;
char serverAddress[32];
char panIdChar[5];
char portNbr[5];
bool led = false; 

void printBuffer(uint8_t bufferSize, uint8_t* buffer) {
    for(uint8_t k = 0; k <= bufferSize; k++) {
        pc.printf("%X-", buffer[k]);
    }
    printf("\n");
}

void toggleErrorLed() {
    errorLed.write(3.3);
    wait(1);
    errorLed.write(0);
}

void readConfigFile() {
    LocalFileSystem local("local");
    ConfigFile cfg;
    char *serverAddressStr = "serverAddr";
    char *portNumberStr = "portNb";
    char *panIdStr = "panID";
    
    if (!cfg.read("/local/input.cfg")) { 
        error("Erreur dans la lecture du fichier de configuration.\n");
    } else {
        cfg.getValue(panIdStr, &panIdChar[0], sizeof(panIdChar));
        cfg.getValue(serverAddressStr, &serverAddress[0], sizeof(serverAddress));
        cfg.getValue(portNumberStr, &portNbr[0], sizeof(portNbr));

        portNumber = (uint16_t)strtol(portNbr, NULL, 10);
        panId = (uint16_t)strtol(panIdChar, NULL, 10);
        
        // printf("The server address is %s\n", serverAddress);
        // printf("The port number is %i\n", portNumber);
        // printf("The PAN ID is %i\n", panId);
    }
}

uint8_t calculateChecksum(uint8_t frameTypeIndex, uint8_t frameSize, uint8_t* buffer) {
    char checksum = 0;
    
    for (int i = frameTypeIndex; i < frameSize - 1; i++) {
        checksum += buffer[i];
    }

    return (0xFF - checksum);      
}

void toggleLed() {
    // uint8_t high[20] = {0x7E, 0x00, 0x10, 0x17, 0x01, 0x00, 0x13, 0xA2, 0x00, 0x40, 0x8B, 0x41, 0x6E, 0xFF, 0xFE, 0x02, 0x44, 0x34, 0x05, 0x3C};
    // uint8_t low[20]  = {0x7E, 0x00, 0x10, 0x17, 0x02, 0x00, 0x13, 0xA2, 0x00, 0x40, 0x8B, 0x41, 0x6E, 0xFF, 0xFE, 0x02, 0x44, 0x34, 0x04, 0x3C};
    Thread::signal_wait(0x2);
    
    while(1) {
        Thread::signal_wait(0x1);
        
        uint8_t command[20] = {0};
        
        command[0] = 0x7E;
        command[1] = 0x00;
        command[2] = 0x10;
        command[3] = 0x17;
        if (led) { 
            command[4] = 0x01;
        }
        else {
            command[4] = 0x02;
        }
        command[5] = routerAddress[0];
        command[6] = routerAddress[1];
        command[7] = routerAddress[2];
        command[8] = routerAddress[3];
        command[9] = routerAddress[4];
        command[10] = routerAddress[5];
        command[11] = routerAddress[6];
        command[12] = routerAddress[7];
        command[13] = 0xFF;
        command[14] = 0xFE;
        command[15] = 0x02;
        command[16] = 0x44;
        command[17] = 0x34;
        if (led) {
            command[18] = 0x05;
        }
        else {
            command[18] = 0x04;
        }
        command[19] = calculateChecksum(3, 20, command);
        
        for (uint8_t i = 0; i < 20;) {
            if (xbee.writeable()) {
                xbee.putc(command[i]);
                i++; 
            }   
        }
        led = !led;
        led1 = !led1;
    }
}

void sendDataToServer() {
    while(1) {
        osEvent evt = mail_box.get();
        
        if (evt.status == osEventMail) {
            mail_t *mail = (mail_t*)evt.value.p;
            
            int responseSize = 0;
            char buffer[50] = { 0 };
            
            if (mail->type == 0) {
                sprintf(buffer, "%s, %s, %s\0", mail->strAccelerationX, mail->strAccelerationY, mail->strAccelerationZ);
            } else {
                sprintf(buffer, "%s\0", mail->strDryContact);
            }
            
            sock.send_all(buffer, sizeof(buffer)-1);
            responseSize = sock.receive(buffer, sizeof(buffer)-1);
                    
            if (responseSize <= 0) {
                pc.printf("Error");
            }
                
            buffer[responseSize] = '\0';
            pc.printf("Received %d chars from server: %s\n", responseSize, buffer);
            
            mail_box.free(mail);      
        }
    }
}

void readATCommandResponse(uint8_t* buffer) {
    if (!buffer[4] == 0x00)    toggleErrorLed();
    
    if (buffer[4] == 0x01)       pc.printf("AT Command Response: Error.\n");
    else if (buffer[4] == 0x02)  pc.printf("AT Command Response: Invalid Command.\n");
    else if (buffer[4] == 0x03)  pc.printf("AT Command Response: Invalid Parameter.\n");
    else if (buffer[4] == 0x04)  pc.printf("AT Command Response: Tx Failure.\n"); 
}

void readRemoteATCommandResponse(uint8_t* buffer) {
    if (!buffer[14] == 0x00)    toggleErrorLed();

    if (buffer[14] == 0x01)      pc.printf("Remote AT Command Response: Error.\n");
    else if (buffer[14] == 0x02) pc.printf("Remote AT Command Response: Invalid Command.\n");
    else if (buffer[14] == 0x03) pc.printf("Remote AT Command Response: Invalid Parameter.\n");
    else if (buffer[14] == 0x04) pc.printf("Remote AT Command Response: Tx Failure.\n");
}

void readTransmitStatus(uint8_t* buffer) {
    if (buffer[5] == 0x01)      pc.printf("Transmit Status: An expedted MAC acknowledgement never occured. \n");
    else if (buffer[5] == 0x02) pc.printf("Transmit Status: CCA failure. \n");
    else if (buffer[5] == 0x03) pc.printf("Transmit Status: Packet was purgedwithoutbeing transmitted. \n");
    else if (buffer[5] == 0x04) pc.printf("Transmit Status: Physical error on the interface with the WiFi transceiver. \n");
    else if (buffer[5] == 0x18) pc.printf("Transmit Status: No buffers. \n");
    else if (buffer[5] == 0x21) pc.printf("Transmit Status: Expected networkacknowledgement never occured. \n");
    else if (buffer[5] == 0x22) pc.printf("Transmit Status: Not joined to network. \n");
    else if (buffer[5] == 0x23) pc.printf("Transmit Status: Self-addressed. \n");
    else if (buffer[5] == 0x24) pc.printf("Transmit Status: Address not found. \n");
    else if (buffer[5] == 0x25) pc.printf("Transmit Status: Route not found. \n");
    else if (buffer[5] == 0x26) pc.printf("Transmit Status: Broadcast relay was not heard. \n");
    else if (buffer[5] == 0x2B) pc.printf("Transmit Status: Invalid binding table index. \n");
    else if (buffer[5] == 0x2C) pc.printf("Transmit Status: Invalid Endpoint. \n");
    else if (buffer[5] == 0x31) pc.printf("Transmit Status: A software error occurred. \n");
    else if (buffer[5] == 0x32) pc.printf("Transmit Status: Resource Error. \n");
    else if (buffer[5] == 0x74) pc.printf("Transmit Status: Data payload too large. \n");
    else if (buffer[5] == 0x76) pc.printf("Transmit Status: Client socket creationat attempt failed. \n");
}

void readModemStatus(uint8_t* buffer) {
    if (buffer[1] == 0x00) {
        pc.printf("Modem status: Hardware reset.\n");
    }
    else if (buffer[1] == 0x01) {
        pc.printf("Modem status: Watchdog timer reset.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x02) {
        pc.printf("Modem status: Joined network.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x03) {
        pc.printf("Modem status: Disassociated.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x04) {
        pc.printf("Modem status: Configuration error/synchronization.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x05) {
        pc.printf("Modem status: Coordinator realignment.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x06) {
        pc.printf("Modem status: Coordinator started.\n");
    }
    else if (buffer[1] == 0x07) {
        pc.printf("Modem status: Network security key updated.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x08) {
        pc.printf("Modem status: Network woke up.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x0C) {
        pc.printf("Modem status: Network went to sleep.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x0E) {
        pc.printf("Modem status: Device cloud connected.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x0F) {
        pc.printf("Modem status: Device cloud disconnected.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x11) {
        pc.printf("Modem status: Modem configurationchanged while join in progress.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x80) {
        pc.printf("Modem status: Stack error (80+).\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x82) {
        pc.printf("Modem status: Send/join command issuedwithout connecting from AP.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x83) {
        pc.printf("Modem status: Access point not found.\n");
        toggleErrorLed();
    }
    else if (buffer[1] == 0x84) {
        pc.printf("Modem status: PSK not configured.\n");
        toggleErrorLed();
    }
}

bool checksumIsValid(uint8_t bufferSize, uint8_t* buffer) {
    uint32_t checkSum = 0;
    
    for (int i = 0; i < bufferSize; i++) {
        checkSum += buffer[i];
    }    
    if ((0xFF - (checkSum & 0xFF)) != buffer[bufferSize]) {
        pc.printf("Erreur dans la transmission de la trame. \n");
        return false;
    }
    return true;
}

void readRouterAddress(uint8_t* buffer) {    
    routerAddress[0] = buffer[1];
    routerAddress[1] = buffer[2];
    routerAddress[2] = buffer[3];
    routerAddress[3] = buffer[4];
    routerAddress[4] = buffer[5];
    routerAddress[5] = buffer[6];
    routerAddress[6] = buffer[7];
    routerAddress[7] = buffer[8];
    t1->signal_set(0x02);
}

void readRouterData(uint8_t bufferSize, uint8_t* buffer) {
    uint16_t acc[3] = {0};

    if (buffer[0] == 0x90 && bufferSize == 18) { // Accelerations (X,Y,Z)
        for (uint8_t i = 12; i < bufferSize; i += 2) {
            acc[(i/2)-6] = (buffer[i+1] << 8 ) | (buffer[i] & 0xff);
        }
        // pc.printf("Acceleration X: %d\n", acc[0]);
        // pc.printf("Acceleration Y: %d\n", acc[1]);
        // pc.printf("Acceleration Z: %d\n", acc[2]);
        
        mail_t *mail = mail_box.alloc();
        mail->type = 0;
        sprintf(mail->strAccelerationX, "Acc. X: %i\0", acc[0]);
        sprintf(mail->strAccelerationY, "Acc. Y: %i\0", acc[1]);
        sprintf(mail->strAccelerationZ, "Acc. Z: %i\0", acc[2]);
        mail_box.put(mail);
                        
    } else if (buffer[0] == 0x90 && bufferSize == 13) { // Dry contact
        mail_t *mail = mail_box.alloc();
        mail->type = 1;
        sprintf(mail->strDryContact, "Dry Contact: %i\0", buffer[12]);
        mail_box.put(mail);
    }
}

void readDataFromRouter(){
    while(1) {
        uint8_t bufferSize = 0;
        uint8_t buffer[104] = { 0 };
    
        if (xbee.readable() && xbee.getc() == 0x7E) {
            bufferSize = (xbee.getc() << 8 ) | (xbee.getc() & 0xff);
                        
            for (uint8_t i = 0; i <= bufferSize;) {
                if (xbee.readable()) {
                    buffer[i] = xbee.getc();
                    i++;
                }
            }
            
            printBuffer(bufferSize, buffer);
            if (checksumIsValid(bufferSize, buffer)) {
                if (buffer[0] == 0x90) {
                    readRouterAddress(buffer);
                    readRouterData(bufferSize, buffer);
                    
                } else if (buffer[0] == 0x8A) { // Modem Status
                    readModemStatus(buffer);
                }  else if (buffer[0] == 0x8B) { // Transmit Status
                    // Should never occur...
                }  else if (buffer[0] == 0x97) { // Remote AT Command Response
                    readRemoteATCommandResponse(buffer);
                }  else if (buffer[0] == 0x09) { // AT Command Response
                    printf("AT COMMAND RESPONSE");
                    
                }      
            } else {
            
                // HERE: Try to resend the frame...
            }
        }
    }
}

void setCoordinatorPanId(uint16_t panId) {
    char _8bitsPanId[2];
    _8bitsPanId[0] = (panId >> 8) & 0xFF;
    _8bitsPanId[1] = panId & 0xFF;
    uint8_t setPanIdBuffer[10] = {0x07, 0x00, 0x06, 0x09, 0x01, 0x49, 0x44, _8bitsPanId[0], _8bitsPanId[1], 0x00};
    setPanIdBuffer[10] = calculateChecksum(0, 10, setPanIdBuffer);
    
    for (uint8_t i = 0; i < 10;) {
        if (xbee.writeable()) {
            xbee.putc(setPanIdBuffer[i]);
            i++; 
        }   
    }
    
    uint8_t saveChangesBuffer[8] = {0x7E, 0x00, 0x04, 0x09, 0x02, 0x57, 0x52, 0x4B};
    
    for (uint8_t i = 0; i < 8;) {
        if (xbee.writeable()) {
            xbee.putc(saveChangesBuffer[i]);
            i++; 
        }   
    }
    
    
    uint8_t applyChangesBuffer[8] = {0x7E, 0x00, 0x04, 0x09, 0x03, 0x41, 0x43, 0x6F};
    
    for (uint8_t i = 0; i < 8;) {
        if (xbee.writeable()) {
            xbee.putc(saveChangesBuffer[i]);
            i++; 
        }   
    }
}

void isr() {
    t1->signal_set(0x1);
}

int main() {
    pc.printf("Starting a coordinator... \n");
    
    reset = 0;
    wait_ms(1);
    reset = 1;
    wait_ms(1); 
    
    readConfigFile();
    
    xbee.baud(9600);                    // Set baud rate
    //xbee.printf("ATID %i\r",panId);     // Set the 64-bit PAN ID
    //xbee.printf("ATWR \r");             // Save the changes  
    //xbee.printf("ATCN \r");             // Apply changes by sending the CN command
    setCoordinatorPanId(panId);

    if (eth.init() != 0) { // Use DHCP
        pc.printf("Erreur d'initialisation du RJ45.\n");
    }
    if (eth.connect() != 0) {
        pc.printf("Erreur de connection du RJ45\n"); 
    }
    pc.printf("IP Address is %s\n", eth.getIPAddress());
    
    /*int numberOfRetries = 0;
    while (sock.connect(serverAddress, portNumber) != 0) {
        if (numberOfRetries == 5) {
            error("Erreur dans la connection au socket.\n");
        }
        numberOfRetries++;
    }*/ 
    
    // Démarrage des tâches:
    Thread _readDataFromRouter(readDataFromRouter);
    //Thread _sendDataToServer(sendDataToServer);
    Thread _toggleRouterLed(toggleLed);
    t1 = &_toggleRouterLed;
    
    ticker1.attach(&isr, 1);

    while(1) {}
}