Program that uses the QuickStart Library to interface a SmartMesh IP mote: Connects to the default network and starts publishing a random walk value every 5 seconds.
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QSL SimplePublish
SmartMesh IP QuickStart Library
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- Current release used: REL-1.0.2.2
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Diff: dn_fsm.c
- Revision:
- 0:d3f5fdf2e6da
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/dn_fsm.c Thu Sep 01 14:53:55 2016 +0000 @@ -0,0 +1,1350 @@ +/* +Copyright (c) 2016, Dust Networks. All rights reserved. + +Finite State Machine for the QuickStart Library. + +\license See attached DN_LICENSE.txt. +*/ + +#include "dn_fsm.h" +#include "dn_ipmt.h" +#include "dn_time.h" +#include "dn_watchdog.h" +#include "dn_qsl_api.h" +#include "dn_debug.h" + +//=========================== variables ======================================= + +typedef struct +{ + // FSM + uint32_t fsmEventScheduled_ms; + uint16_t fsmDelay_ms; + bool fsmArmed; + uint8_t state; + // C Library API + dn_fsm_reply_cbt replyCb; + dn_fsm_timer_cbt fsmCb; + uint8_t replyBuf[MAX_FRAME_LENGTH]; + uint8_t notifBuf[MAX_FRAME_LENGTH]; + // Connection + uint8_t socketId; + uint16_t networkId; + uint8_t joinKey[DN_JOIN_KEY_LEN]; + uint16_t srcPort; + uint32_t service_ms; + uint8_t payloadBuf[DN_DEFAULT_PAYLOAD_SIZE_LIMIT]; + uint8_t payloadSize; + uint8_t destIPv6[DN_IPv6ADDR_LEN]; + uint16_t destPort; + dn_inbox_t inbox; +} dn_fsm_vars_t; + +static dn_fsm_vars_t dn_fsm_vars; + + +//=========================== prototypes ====================================== +// FSM +static void dn_fsm_run(void); +static void dn_fsm_scheduleEvent(uint16_t delay, dn_fsm_timer_cbt cb); +static void dn_fsm_cancelEvent(void); +static void dn_fsm_setReplyCallback(dn_fsm_reply_cbt cb); +static void dn_fsm_enterState(uint8_t newState, uint16_t spesificDelay); +static bool dn_fsm_cmd_timeout(uint32_t cmdStart_ms, uint32_t cmdTimeout_ms); +// C Library API +static void dn_ipmt_notif_cb(uint8_t cmdId, uint8_t subCmdId); +static void dn_ipmt_reply_cb(uint8_t cmdId); +static void dn_event_responseTimeout(void); +static void dn_event_reset(void); +static void dn_reply_reset(void); +static void dn_event_disconnect(void); +static void dn_reply_disconnect(void); +static void dn_event_getMoteStatus(void); +static void dn_reply_getMoteStatus(void); +static void dn_event_openSocket(void); +static void dn_reply_openSocket(void); +static void dn_event_bindSocket(void); +static void dn_reply_bindSocket(void); +static void dn_event_setJoinKey(void); +static void dn_reply_setJoinKey(void); +static void dn_event_setNetworkId(void); +static void dn_reply_setNetworkId(void); +static void dn_event_search(void); +static void dn_reply_search(void); +static void dn_event_join(void); +static void dn_reply_join(void); +static void dn_event_requestService(void); +static void dn_reply_requestService(void); +static void dn_event_getServiceInfo(void); +static void dn_reply_getServiceInfo(void); +static void dn_event_sendTo(void); +static void dn_reply_sendTo(void); +// helpers +static dn_err_t checkAndSaveNetConfig(uint16_t netID, const uint8_t* joinKey, uint16_t srcPort, uint32_t req_service_ms); +static uint8_t getPayloadLimit(uint16_t destPort); + +//=========================== public ========================================== + +//========== QSL API + +bool dn_qsl_init(void) +{ + debug("QSL: Init"); + // Reset local variables + memset(&dn_fsm_vars, 0, sizeof (dn_fsm_vars)); + + // Initialize the ipmt module + dn_ipmt_init // Should be augmented with return value to know if successful... + ( + dn_ipmt_notif_cb, + dn_fsm_vars.notifBuf, + sizeof (dn_fsm_vars.notifBuf), + dn_ipmt_reply_cb + ); + + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + return TRUE; +} + +bool dn_qsl_isConnected(void) +{ + debug("QSL: isConnected"); + return dn_fsm_vars.state == DN_FSM_STATE_CONNECTED; +} + +bool dn_qsl_connect(uint16_t netID, const uint8_t* joinKey, uint16_t srcPort, uint32_t req_service_ms) +{ + uint32_t cmdStart_ms = dn_time_ms(); + dn_err_t err; + debug("QSL: Connect"); + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_NOT_INITIALIZED: + log_warn("Can't connect; not initialized"); + return FALSE; + case DN_FSM_STATE_DISCONNECTED: + err = checkAndSaveNetConfig(netID, joinKey, srcPort, req_service_ms); + if (err != DN_ERR_NONE) + { + return FALSE; + } + debug("Starting connect process..."); + dn_fsm_enterState(DN_FSM_STATE_PRE_JOIN, 0); + break; + case DN_FSM_STATE_CONNECTED: + if ((netID > 0 && netID != dn_fsm_vars.networkId) + || (joinKey != NULL && memcmp(joinKey, dn_fsm_vars.joinKey, DN_JOIN_KEY_LEN) != 0) + || (srcPort > 0 && srcPort != dn_fsm_vars.srcPort)) + { + err = checkAndSaveNetConfig(netID, joinKey, srcPort, req_service_ms); + if (err != DN_ERR_NONE) + { + return FALSE; + } + debug("New network ID, join key and/or source port; reconnecting..."); + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + } else if (req_service_ms > 0 && req_service_ms != dn_fsm_vars.service_ms) + { + debug("New service request"); + dn_fsm_vars.service_ms = req_service_ms; + dn_fsm_enterState(DN_FSM_STATE_REQ_SERVICE, 0); + } else + { + debug("Already connected"); + // Nothing to do + } + break; + default: + log_err("Unexpected state"); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + return FALSE; + } + + // Drive FSM until connect success/failure or timeout + while (dn_fsm_vars.state != DN_FSM_STATE_CONNECTED + && dn_fsm_vars.state != DN_FSM_STATE_DISCONNECTED + && !dn_fsm_cmd_timeout(cmdStart_ms, DN_CONNECT_TIMEOUT_S * 1000)) + { + dn_watchdog_feed(); + dn_fsm_run(); + } + + return dn_fsm_vars.state == DN_FSM_STATE_CONNECTED; +} + +bool dn_qsl_send(const uint8_t* payload, uint8_t payloadSize_B, uint16_t destPort) +{ + uint32_t cmdStart_ms = dn_time_ms(); + uint8_t maxPayloadSize; + debug("QSL: Send"); + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_CONNECTED: + maxPayloadSize = getPayloadLimit(destPort); + + if (payloadSize_B > maxPayloadSize) + { + log_warn("Payload size (%u) exceeds limit (%u)", payloadSize_B, maxPayloadSize); + return FALSE; + } + // Store outbound payload and parameters + memcpy(dn_fsm_vars.payloadBuf, payload, payloadSize_B); + dn_fsm_vars.payloadSize = payloadSize_B; + memcpy(dn_fsm_vars.destIPv6, DN_DEST_IP, DN_IPv6ADDR_LEN); + dn_fsm_vars.destPort = (destPort > 0) ? destPort : DN_DEFAULT_DEST_PORT; + // Start send process + dn_fsm_enterState(DN_FSM_STATE_SENDING, 0); + break; + default: + log_warn("Can't send; not connected"); + return FALSE; + } + + // Drive FSM until send success/failure or timeout + while (dn_fsm_vars.state == DN_FSM_STATE_SENDING + && !dn_fsm_cmd_timeout(cmdStart_ms, DN_SEND_TIMEOUT_MS)) + { + dn_watchdog_feed(); + dn_fsm_run(); + } + + // Catch send failure + if (dn_fsm_vars.state == DN_FSM_STATE_SEND_FAILED) + { + debug("Send failed"); + dn_fsm_enterState(DN_FSM_STATE_CONNECTED, 0); + return FALSE; + } + + return dn_fsm_vars.state == DN_FSM_STATE_CONNECTED; +} + +uint8_t dn_qsl_read(uint8_t* readBuffer) +{ + uint8_t bytesRead = 0; + debug("QSL: Read"); + if (dn_fsm_vars.inbox.unreadPackets > 0) + { + // Pop payload at head of inbox + memcpy + ( + readBuffer, + dn_fsm_vars.inbox.pktBuf[dn_fsm_vars.inbox.head], + dn_fsm_vars.inbox.pktSize[dn_fsm_vars.inbox.head] + ); + bytesRead = dn_fsm_vars.inbox.pktSize[dn_fsm_vars.inbox.head]; + dn_fsm_vars.inbox.head = (dn_fsm_vars.inbox.head + 1) % DN_INBOX_SIZE; + dn_fsm_vars.inbox.unreadPackets--; + debug("Read %u bytes from inbox", bytesRead); + } else + { + debug("Inbox empty"); + } + return bytesRead; +} + +//=========================== private ========================================= + +//========== FSM + +//===== run + +/** + Check if an event is scheduled and run it if due. + */ +static void dn_fsm_run(void) +{ + if (dn_fsm_vars.fsmArmed && (dn_time_ms() - dn_fsm_vars.fsmEventScheduled_ms > dn_fsm_vars.fsmDelay_ms)) + { + // Scheduled event is due; execute it + dn_fsm_vars.fsmArmed = FALSE; + if (dn_fsm_vars.fsmCb != NULL) + { + dn_fsm_vars.fsmCb(); + } + } else + { + // Sleep to save CPU power + dn_sleep_ms(DN_FSM_RUN_INTERVAL_MS); + } +} + +//===== scheduleEvent + +/** + Schedule function to be called after a given delay. + */ +static void dn_fsm_scheduleEvent(uint16_t delay_ms, dn_fsm_timer_cbt cb) +{ + dn_fsm_vars.fsmEventScheduled_ms = dn_time_ms(); + dn_fsm_vars.fsmDelay_ms = delay_ms; + dn_fsm_vars.fsmCb = cb; + dn_fsm_vars.fsmArmed = TRUE; +} + +//===== cancelEvent + +/** + Cancel currently scheduled event. + */ +static void dn_fsm_cancelEvent(void) +{ + dn_fsm_vars.fsmDelay_ms = 0; + dn_fsm_vars.fsmCb = NULL; + dn_fsm_vars.fsmArmed = FALSE; +} + +//===== setReplyCallback + +/** + Set the callback function that the C Library will execute when the next reply + is received and the reply buffer is ready to be parsed. + */ +static void dn_fsm_setReplyCallback(dn_fsm_reply_cbt cb) +{ + dn_fsm_vars.replyCb = cb; +} + +//===== setReplyCallback + +/** + Transition FSM to new state and schedule any default entry events. + */ +static void dn_fsm_enterState(uint8_t newState, uint16_t spesificDelay) +{ + uint32_t now = dn_time_ms(); + uint16_t delay = DN_CMD_PERIOD_MS; + static uint32_t lastTransition = 0; + if (lastTransition == 0) + lastTransition = dn_time_ms(); + + // Use default delay if none given + if (spesificDelay > 0) + delay = spesificDelay; + + // Schedule default events for transition into states + switch (newState) + { + case DN_FSM_STATE_PRE_JOIN: + dn_fsm_scheduleEvent(delay, dn_event_getMoteStatus); + break; + case DN_FSM_STATE_PROMISCUOUS: + dn_fsm_scheduleEvent(delay, dn_event_search); + break; + case DN_FSM_STATE_JOINING: + dn_fsm_scheduleEvent(delay, dn_event_join); + break; + case DN_FSM_STATE_REQ_SERVICE: + dn_fsm_scheduleEvent(delay, dn_event_requestService); + break; + case DN_FSM_STATE_RESETTING: + if (DN_MOTE_DISCONNECT_BEFORE_RESET) + dn_fsm_scheduleEvent(delay, dn_event_disconnect); // More graceful + else + dn_fsm_scheduleEvent(delay, dn_event_reset); // Faster + break; + case DN_FSM_STATE_SENDING: + /* + Send is scheduled immediately because it is the users responsibility + to implement the necessary backoff and not exceed the granted bandwidth. + */ + dn_fsm_scheduleEvent(0, dn_event_sendTo); + break; + case DN_FSM_STATE_SEND_FAILED: + case DN_FSM_STATE_DISCONNECTED: + case DN_FSM_STATE_CONNECTED: + // These states have no default entry events + break; + default: + log_warn("Attempt at entering unexpected state %#.2x", newState); + return; + } + + debug("FSM state transition: %#.2x --> %#.2x (%u ms)", + dn_fsm_vars.state, newState, now - lastTransition); + lastTransition = now; + dn_fsm_vars.state = newState; +} + +//===== cmdTimeout + +/** + Correctly abort the current API command if time passed since the given start + has exceeded the given timeout. + */ +static bool dn_fsm_cmd_timeout(uint32_t cmdStart_ms, uint32_t cmdTimeout_ms) +{ + bool timeout = (dn_time_ms() - cmdStart_ms) > cmdTimeout_ms; + if (timeout) + { + // Cancel any ongoing transmission or scheduled event and reset reply cb + dn_ipmt_cancelTx(); + dn_fsm_vars.replyCb = NULL; + dn_fsm_cancelEvent(); + + // Default timeout state is different while connecting vs sending + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_PRE_JOIN: + case DN_FSM_STATE_JOINING: + case DN_FSM_STATE_REQ_SERVICE: + case DN_FSM_STATE_RESETTING: + debug("Connect timeout"); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + case DN_FSM_STATE_SENDING: + debug("Send timeout"); + dn_fsm_enterState(DN_FSM_STATE_SEND_FAILED, 0); + break; + default: + log_err("Command timeout in unexpected state: %#x", dn_fsm_vars.state); + break; + } + } + return timeout; +} + +//========== C Library API + +//===== notif_cb + +/** + This function is called whenever a notification is received through the + SmartMesh C Library. The notification variables are than available through + the notification buffer that can be cast to the correct type based on the + given command ID (notification type). + */ +static void dn_ipmt_notif_cb(uint8_t cmdId, uint8_t subCmdId) +{ + //dn_ipmt_timeIndication_nt* notif_timeIndication; + dn_ipmt_events_nt* notif_events; + dn_ipmt_receive_nt* notif_receive; + //dn_ipmt_macRx_nt* notif_macRx; + //dn_ipmt_txDone_nt* notif_txDone; + dn_ipmt_advReceived_nt* notif_advReceived; + + debug("Got notification: cmdId; %#.2x (%u), subCmdId; %#.2x (%u)", + cmdId, cmdId, subCmdId, subCmdId); + + switch (cmdId) + { + case CMDID_TIMEINDICATION: + // Not implemented + break; + case CMDID_EVENTS: + notif_events = (dn_ipmt_events_nt*)dn_fsm_vars.notifBuf; + debug("State: %#.2x | Events: %#.4x", notif_events->state, notif_events->events); + + // Check if in fsm state where we expect a certain mote event + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_JOINING: + if (notif_events->events & DN_MOTE_EVENT_MASK_OPERATIONAL) + { + // Join complete + if (dn_fsm_vars.service_ms > 0) + { + dn_fsm_enterState(DN_FSM_STATE_REQ_SERVICE, 0); + } else + { + dn_fsm_enterState(DN_FSM_STATE_CONNECTED, 0); + } + return; + } + break; + case DN_FSM_STATE_REQ_SERVICE: + if (notif_events->events & DN_MOTE_EVENT_MASK_SVC_CHANGE) + { + // Service request complete; check what we were granted + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_getServiceInfo); + return; + } + break; + } + + // Check if reported mote state should trigger fsm state transition + switch (notif_events->state) + { + case DN_MOTE_STATE_IDLE: + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_PRE_JOIN: + case DN_FSM_STATE_JOINING: + case DN_FSM_STATE_REQ_SERVICE: + case DN_FSM_STATE_RESETTING: + case DN_FSM_STATE_PROMISCUOUS: + // Restart during connect; retry + dn_fsm_enterState(DN_FSM_STATE_PRE_JOIN, 0); + break; + case DN_FSM_STATE_CONNECTED: + case DN_FSM_STATE_SENDING: + case DN_FSM_STATE_SEND_FAILED: + // Disconnect/reset; set state accordingly + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } + break; + case DN_MOTE_STATE_OPERATIONAL: + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_PRE_JOIN: + case DN_FSM_STATE_PROMISCUOUS: + /* + Early (and unexpected) operational (connected to network) + during connect; reset and retry + */ + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + } + break; + } + break; + case CMDID_RECEIVE: + notif_receive = (dn_ipmt_receive_nt*)dn_fsm_vars.notifBuf; + debug("Received downstream data"); + + // Push payload at tail of inbox + memcpy + ( + dn_fsm_vars.inbox.pktBuf[dn_fsm_vars.inbox.tail], + notif_receive->payload, + notif_receive->payloadLen + ); + dn_fsm_vars.inbox.pktSize[dn_fsm_vars.inbox.tail] = notif_receive->payloadLen; + dn_fsm_vars.inbox.tail = (dn_fsm_vars.inbox.tail + 1) % DN_INBOX_SIZE; + if(dn_fsm_vars.inbox.unreadPackets == DN_INBOX_SIZE) + { + log_warn("Inbox overflow; oldest packet dropped"); + } else + { + dn_fsm_vars.inbox.unreadPackets++; + } + debug("Inbox capacity at %u / %u", dn_fsm_vars.inbox.unreadPackets, DN_INBOX_SIZE); + + break; + case CMDID_MACRX: + // Not implemented + break; + case CMDID_TXDONE: + // Not implemented + break; + case CMDID_ADVRECEIVED: + notif_advReceived = (dn_ipmt_advReceived_nt*)dn_fsm_vars.notifBuf; + debug("Received network advertisement"); + + if (dn_fsm_vars.state == DN_FSM_STATE_PROMISCUOUS + && dn_fsm_vars.networkId == DN_PROMISCUOUS_NET_ID) + { + debug("Saving network ID: %#.4x (%u)", + notif_advReceived->netId, notif_advReceived->netId); + dn_fsm_vars.networkId = notif_advReceived->netId; + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_setNetworkId); + } + + break; + default: + log_warn("Unknown notification ID"); + break; + } +} + +//===== reply_cb + +/** + This function is called whenever a reply is received through the SmartMesh. + C Library. It calls the reply function that was armed at the start of the + current event. + */ +static void dn_ipmt_reply_cb(uint8_t cmdId) +{ + debug("Got reply: cmdId; %#.2x (%u)", cmdId, cmdId); + if (dn_fsm_vars.replyCb == NULL) + { + debug("Reply callback empty"); + return; + } + dn_fsm_vars.replyCb(); +} + +//===== response_timeout + +/** + This event is scheduled after each mote API command is sent, effectively + placing a timeout for the mote to reply. + */ +static void dn_event_responseTimeout(void) +{ + debug("Response timeout"); + + // Cancel any ongoing transmission and reset reply cb + dn_ipmt_cancelTx(); + dn_fsm_vars.replyCb = NULL; + + switch (dn_fsm_vars.state) + { + case DN_FSM_STATE_PRE_JOIN: + case DN_FSM_STATE_JOINING: + case DN_FSM_STATE_REQ_SERVICE: + case DN_FSM_STATE_RESETTING: + case DN_FSM_STATE_PROMISCUOUS: + // Response timeout during connect; retry + dn_fsm_enterState(DN_FSM_STATE_PRE_JOIN, 0); + break; + case DN_FSM_STATE_SENDING: + // Response timeout during send; fail + dn_fsm_enterState(DN_FSM_STATE_SEND_FAILED, 0); + break; + default: + log_err("Response timeout in unexpected state: %#x", dn_fsm_vars.state); + break; + } +} + +//===== reset + +/** + Initiates a soft-reset of the mote. Its reply simply checks that + the command was accepted, as the FSM will wait for the ensuing boot event. + */ +static void dn_event_reset(void) +{ + debug("Reset"); + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_reset); + + // Issue mote API command + dn_ipmt_reset + ( + (dn_ipmt_reset_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_reset(void) +{ + dn_ipmt_reset_rpt* reply; + debug("Reset reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_reset_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Mote soft-reset initiated"); + // Will wait for notification of reboot + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== disconnect + +/** + This event does much the same as reset, however it uses the disconnect command + instead, where the mote first spends a couple of seconds notifying its + neighbors of its imminent soft-reset. If the reply is anything but success, + it will schedule a simple reset event instead. + */ +static void dn_event_disconnect(void) +{ + debug("Disconnect"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_disconnect); + + // Issue mote API command + dn_ipmt_disconnect + ( + (dn_ipmt_disconnect_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_disconnect(void) +{ + dn_ipmt_disconnect_rpt* reply; + debug("Disconnect reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_disconnect_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Mote disconnect initiated"); + // Will wait for notification of reboot + break; + case DN_RC_INVALID_STATE: + debug("The mote is in an invalid state to disconnect; resetting"); + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_reset); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_reset); + break; + } +} + +//===== getMoteStatus + +/** + Asks the mote for its status, and the reply will use the reported + mote state to decide whether or not it is ready to proceed with pre-join + configurations or if a reset is needed first. + */ +static void dn_event_getMoteStatus(void) +{ + debug("Mote status"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_getMoteStatus); + + // Issue mote API command + dn_ipmt_getParameter_moteStatus + ( + (dn_ipmt_getParameter_moteStatus_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_getMoteStatus(void) +{ + dn_ipmt_getParameter_moteStatus_rpt* reply; + debug("Mote status reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_getParameter_moteStatus_rpt*)dn_fsm_vars.replyBuf; + debug("Mote state: %#.2x", reply->state); + + // Choose next event or state transition + switch (reply->state) + { + case DN_MOTE_STATE_IDLE: + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_openSocket); + break; + case DN_MOTE_STATE_OPERATIONAL: + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + default: + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + } +} + +//===== openSocket + +/** + Tells the mote to open a socket, and the reply saves the reported + socket ID before scheduling its binding. If no sockets are available, a mote + reset is scheduled and the connect process starts over. + */ +static void dn_event_openSocket(void) +{ + debug("Open socket"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_openSocket); + + // Issue mote API command + dn_ipmt_openSocket + ( + DN_PROTOCOL_TYPE_UDP, + (dn_ipmt_openSocket_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_openSocket(void) +{ + dn_ipmt_openSocket_rpt* reply; + debug("Open socket reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_openSocket_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Socket %d opened successfully", reply->socketId); + dn_fsm_vars.socketId = reply->socketId; + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_bindSocket); + break; + case DN_RC_NO_RESOURCES: + debug("Couldn't create socket due to resource availability"); + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== bindSocket + +/** + Binds the previously opened socket to a port. If said port is already bound, + a mote reset is scheduled and the connect process starts over. + */ +static void dn_event_bindSocket(void) +{ + debug("Bind socket"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_bindSocket); + + // Issue mote API command + dn_ipmt_bindSocket + ( + dn_fsm_vars.socketId, + dn_fsm_vars.srcPort, + (dn_ipmt_bindSocket_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_bindSocket(void) +{ + dn_ipmt_bindSocket_rpt* reply; + debug("Bind socket reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_bindSocket_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Socket bound successfully"); + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_setJoinKey); + break; + case DN_RC_BUSY: + debug("Port already bound"); + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + case DN_RC_NOT_FOUND: + debug("Invalid socket ID"); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== setJoinKey + +/** + Configures the join key that the mote should use when attempting to join a + network. + */ +static void dn_event_setJoinKey(void) +{ + debug("Set join key"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_setJoinKey); + + // Issue mote API command + dn_ipmt_setParameter_joinKey + ( + dn_fsm_vars.joinKey, + (dn_ipmt_setParameter_joinKey_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_setJoinKey(void) +{ + dn_ipmt_setParameter_joinKey_rpt* reply; + debug("Set join key reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_setParameter_joinKey_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Join key set"); + if (dn_fsm_vars.networkId == DN_PROMISCUOUS_NET_ID) + { + // Promiscuous netID set; search for new first + dn_fsm_enterState(DN_FSM_STATE_PROMISCUOUS, 0); + /* + As of version 1.4.x, a network ID of 0xFFFF can be used to indicate + that the mote should join the first network heard. Thus, searching + before joining will not be necessary. + */ + } else + { + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_setNetworkId); + } + break; + case DN_RC_WRITE_FAIL: + debug("Could not write the key to storage"); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== setNetworkId + +/** + Configures the ID of the network that the mote should should try to join. + */ +static void dn_event_setNetworkId(void) +{ + debug("Set network ID"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_setNetworkId); + + // Issue mote API command + dn_ipmt_setParameter_networkId + ( + dn_fsm_vars.networkId, + (dn_ipmt_setParameter_networkId_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_setNetworkId(void) +{ + dn_ipmt_setParameter_networkId_rpt* reply; + debug("Set network ID reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_setParameter_networkId_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Network ID set"); + dn_fsm_enterState(DN_FSM_STATE_JOINING, 0); + break; + case DN_RC_WRITE_FAIL: + debug("Could not write the network ID to storage"); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== search + +/** + Tells the mote to start listening for network advertisements. The mote will + then report the network ID (among other things) of any advertisements heard. + Upon a successful reply, the FSM will wait for an advReceived notification, + before attempting to join the reported network. + */ +static void dn_event_search(void) +{ + debug("Search"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_search); + + // Issue mote API command + dn_ipmt_search + ( + (dn_ipmt_search_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_search(void) +{ + dn_ipmt_search_rpt* reply; + debug("Search reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_search_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Searching for network advertisements"); + // Will wait for notification of advertisement received + break; + case DN_RC_INVALID_STATE: + debug("The mote is in an invalid state to start searching"); + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== join + +/** + Requests that the mote start searching for the previously configured network + and attempt to join with the configured join key. If the mote is in an invalid + state to join or lacks configuration to start joining, a reset is scheduled and + the connect procedure starts over. Otherwise the FSM will wait for the ensuing + operational event when the mote has finished joining. + */ +static void dn_event_join(void) +{ + debug("Join"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_join); + + // Issue mote API command + dn_ipmt_join + ( + (dn_ipmt_join_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_join(void) +{ + dn_ipmt_join_rpt* reply; + debug("Join reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_join_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Join operation started"); + // Will wait for join complete notification (operational event) + break; + case DN_RC_INVALID_STATE: + debug("The mote is in an invalid state to start join operation"); + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + case DN_RC_INCOMPLETE_JOIN_INFO: + debug("Incomplete configuration to start joining"); + dn_fsm_enterState(DN_FSM_STATE_RESETTING, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== requestService + +/** + The mote is told to request a new service level from the manager. Its reply + simply checks that the command was accepted, as the FSM will wait for the + ensuing svcChange event when the service allocation has changed. + */ +static void dn_event_requestService(void) +{ + debug("Request service"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_requestService); + + // Issue mote API command + dn_ipmt_requestService + ( + DN_SERVICE_ADDRESS, + DN_SERVICE_TYPE_BW, + dn_fsm_vars.service_ms, + (dn_ipmt_requestService_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_requestService(void) +{ + dn_ipmt_requestService_rpt* reply; + debug("Request service reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_requestService_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Service request accepted"); + // Will wait for svcChanged notification + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== getServiceInfo + +/** + Requests details about the service currently allocated to the mote. Its reply + checks that we have been granted a service equal to or better than what was + requested (smaller value equals better). + */ +static void dn_event_getServiceInfo(void) +{ + debug("Get service info"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_getServiceInfo); + + // Issue mote API command + dn_ipmt_getServiceInfo + ( + DN_SERVICE_ADDRESS, + DN_SERVICE_TYPE_BW, + (dn_ipmt_getServiceInfo_rpt*)dn_fsm_vars.replyBuf + ); + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_getServiceInfo(void) +{ + dn_ipmt_getServiceInfo_rpt* reply; + debug("Get service info reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_getServiceInfo_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + if (reply->state == DN_SERVICE_STATE_COMPLETED) + { + if (reply->value <= dn_fsm_vars.service_ms) + { + debug("Granted service of %u ms (requested %u ms)", reply->value, dn_fsm_vars.service_ms); + dn_fsm_enterState(DN_FSM_STATE_CONNECTED, 0); + } else + { + log_warn("Only granted service of %u ms (requested %u ms)", reply->value, dn_fsm_vars.service_ms); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + } + + } else + { + debug("Service request still pending"); + dn_fsm_scheduleEvent(DN_CMD_PERIOD_MS, dn_event_getServiceInfo); + } + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_DISCONNECTED, 0); + break; + } +} + +//===== sendTo + +/** + This event sends a packet into the network, and its reply checks that it was + accepted and queued up for transmission. + */ +static void dn_event_sendTo(void) +{ + dn_err_t err; + debug("Send"); + + // Arm reply callback + dn_fsm_setReplyCallback(dn_reply_sendTo); + + // Issue mote API command + err = dn_ipmt_sendTo + ( + dn_fsm_vars.socketId, + dn_fsm_vars.destIPv6, + dn_fsm_vars.destPort, + DN_SERVICE_TYPE_BW, + DN_PACKET_PRIORITY_MEDIUM, + DN_PACKET_ID_NO_NOTIF, + dn_fsm_vars.payloadBuf, + dn_fsm_vars.payloadSize, + (dn_ipmt_sendTo_rpt*)dn_fsm_vars.replyBuf + ); + if (err != DN_ERR_NONE) + { + debug("Send error: %u", err); + dn_fsm_enterState(DN_FSM_STATE_SEND_FAILED, 0); + } + + // Schedule timeout for reply + dn_fsm_scheduleEvent(DN_SERIAL_RESPONSE_TIMEOUT_MS, dn_event_responseTimeout); +} + +static void dn_reply_sendTo(void) +{ + dn_ipmt_sendTo_rpt* reply; + debug("Send reply"); + + // Cancel reply timeout + dn_fsm_cancelEvent(); + + // Parse reply + reply = (dn_ipmt_sendTo_rpt*)dn_fsm_vars.replyBuf; + + // Choose next event or state transition + switch (reply->RC) + { + case DN_RC_OK: + debug("Packet was queued up for transmission"); + dn_fsm_enterState(DN_FSM_STATE_CONNECTED, 0); + break; + case DN_RC_NO_RESOURCES: + debug("No queue space to accept the packet"); + dn_fsm_enterState(DN_FSM_STATE_SEND_FAILED, 0); + break; + default: + log_warn("Unexpected response code: %#x", reply->RC); + dn_fsm_enterState(DN_FSM_STATE_SEND_FAILED, 0); + break; + } +} + +//=========================== helpers ========================================= + +static dn_err_t checkAndSaveNetConfig(uint16_t netID, const uint8_t* joinKey, uint16_t srcPort, uint32_t req_service_ms) +{ + if (netID == 0) + { + debug("No network ID given; using default"); + dn_fsm_vars.networkId = DN_DEFAULT_NET_ID; + } else if (netID == DN_PROMISCUOUS_NET_ID) + { + debug("Promiscuous network ID given; will search for and join first network advertised"); + dn_fsm_vars.networkId = netID; + } else + { + dn_fsm_vars.networkId = netID; + } + + if (joinKey == NULL) + { + debug("No join key given; using default"); + memcpy(dn_fsm_vars.joinKey, DN_DEFAULT_JOIN_KEY, DN_JOIN_KEY_LEN); + } else + { + memcpy(dn_fsm_vars.joinKey, joinKey, DN_JOIN_KEY_LEN); + } + + if (srcPort == 0) + { + debug("No source port given; using default"); + dn_fsm_vars.srcPort = DN_DEFAULT_SRC_PORT; + } else + { + dn_fsm_vars.srcPort = srcPort; + } + + if (req_service_ms == 0) + { + debug("No service requested; will only be granted base bandwidth"); + } + dn_fsm_vars.service_ms = req_service_ms; + + return DN_ERR_NONE; +} + +static uint8_t getPayloadLimit(uint16_t destPort) +{ + bool destIsF0Bx = (destPort >= DN_WELL_KNOWN_PORT_1 && destPort <= DN_WELL_KNOWN_PORT_8); + bool srcIsF0Bx = (dn_fsm_vars.srcPort >= DN_WELL_KNOWN_PORT_1 && dn_fsm_vars.srcPort <= DN_WELL_KNOWN_PORT_8); + int8_t destIsMng = memcmp(DN_DEST_IP, DN_DEFAULT_DEST_IP, DN_IPv6ADDR_LEN); + + if (destIsMng == 0) + { + if (destIsF0Bx && srcIsF0Bx) + return DN_PAYLOAD_SIZE_LIMIT_MNG_HIGH; + else if (destIsF0Bx || srcIsF0Bx) + return DN_PAYLOAD_SIZE_LIMIT_MNG_MED; + else + return DN_PAYLOAD_SIZE_LIMIT_MNG_LOW; + } else + { + if (destIsF0Bx && srcIsF0Bx) + return DN_PAYLOAD_SIZE_LIMIT_IP_HIGH; + else if (destIsF0Bx || srcIsF0Bx) + return DN_PAYLOAD_SIZE_LIMIT_IP_MED; + else + return DN_PAYLOAD_SIZE_LIMIT_IP_LOW; + } +} +