File content as of revision 2:a5f8e04bd02b:

/*
 Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>

 This program is free software; you can redistribute it and/or
 modify it under the terms of the GNU General Public License
 version 2 as published by the Free Software Foundation.
 */

#include "RF24Network_config.h"















#include <RF24.h>
#include "RF24Network.h"









uint16_t RF24NetworkHeader::next_id = 1;
#if defined ENABLE_NETWORK_STATS
uint32_t RF24Network::nFails = 0;
uint32_t RF24Network::nOK = 0;
#endif
uint64_t pipe_address( uint16_t node, uint8_t pipe );
#if defined (RF24NetworkMulticast)
uint16_t levelToAddress( uint8_t level );
#endif
bool is_valid_address( uint16_t node );

/******************************************************************/








#if !defined (DUAL_HEAD_RADIO)
RF24Network::RF24Network( RF24& _radio ): radio(_radio), next_frame(frame_queue) 
{
  #if !defined ( DISABLE_FRAGMENTATION )
  frag_queue.message_buffer=&frag_queue_message_buffer[0];
  frag_ptr = &frag_queue;
  #endif
}
#else
RF24Network::RF24Network( RF24& _radio, RF24& _radio1 ): radio(_radio), radio1(_radio1), next_frame(frame_queue)
{
  #if !defined ( DISABLE_FRAGMENTATION )
  frag_queue.message_buffer=&frag_queue_message_buffer[0];
  frag_ptr = &frag_queue;
  #endif
}
#endif
/******************************************************************/

void RF24Network::begin(uint8_t _channel, uint16_t _node_address )
{
rf24netTimer.start();
if (! is_valid_address(_node_address) )
    return;
    
  node_address = _node_address;

  if ( ! radio.isValid() ){
    return;
  }

  // Set up the radio the way we want it to look
  if(_channel != USE_CURRENT_CHANNEL){
    radio.setChannel(_channel);
  }
  //radio.enableDynamicAck();
  radio.setAutoAck(0,0);
  
  #if defined (ENABLE_DYNAMIC_PAYLOADS)
  radio.enableDynamicPayloads();
  #endif
  
  // Use different retry periods to reduce data collisions
  uint8_t retryVar = (((node_address % 6)+1) *2) + 3;
  radio.setRetries(retryVar, 5);
  txTimeout = 25;
  routeTimeout = txTimeout*9; // Adjust for max delay per node


#if defined (DUAL_HEAD_RADIO)
  radio1.setChannel(_channel);
  radio1.enableDynamicAck();
  radio1.enableDynamicPayloads();
#endif

  // Setup our address helper cache
  setup_address();

  // Open up all listening pipes
  uint8_t i = 6;
  while (i--){
    radio.openReadingPipe(i,pipe_address(_node_address,i)); 
  }
  radio.startListening();
  
}

/******************************************************************/

#if defined ENABLE_NETWORK_STATS
void RF24Network::failures(uint32_t *_fails, uint32_t *_ok){
    *_fails = nFails;
    *_ok = nOK;
}
#endif

/******************************************************************/

uint8_t RF24Network::update(void)
{
  // if there is data ready
  uint8_t pipe_num;
  uint8_t returnVal = 0;
  
  // If bypass is enabled, continue although incoming user data may be dropped
  // Allows system payloads to be read while user cache is full
  // Incoming Hold prevents data from being read from the radio, preventing incoming payloads from being acked
  

  if(!(networkFlags & FLAG_BYPASS_HOLDS)){
    if( (networkFlags & FLAG_HOLD_INCOMING) || (next_frame-frame_queue) + 34 > MAIN_BUFFER_SIZE ){
      if(!available()){
        networkFlags &= ~FLAG_HOLD_INCOMING;
      }else{
        return 0;
      }
    }
  }

  
  while ( radio.isValid() && radio.available(&pipe_num) ){

    #if defined (ENABLE_DYNAMIC_PAYLOADS)
      if( (frame_size = radio.getDynamicPayloadSize() ) < sizeof(RF24NetworkHeader)){
        wait_ms(10);
        continue;
      }
    #else
      frame_size=32;
    #endif
      // Dump the payloads until we've gotten everything
      // Fetch the payload, and see if this was the last one.
      radio.read( frame_buffer, frame_size );
      
      // Read the beginning of the frame as the header
      RF24NetworkHeader *header = (RF24NetworkHeader*)(&frame_buffer);
      

      
      
      
      
      
      
      IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Received on %u %s\n\r"),millis(),pipe_num,header->toString()));
      IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(frame_buffer + sizeof(RF24NetworkHeader));printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i));

      
      // Throw it away if it's not a valid address
      if ( !is_valid_address(header->to_node) ){
        continue;
      }
      
      uint8_t returnVal = header->type;

      // Is this for us?
      if ( header->to_node == node_address   ){
            
            if(header->type == NETWORK_PING){
               continue;
            }
            if(header->type == NETWORK_ADDR_RESPONSE ){ 
                uint16_t requester = frame_buffer[8];   
                requester |= frame_buffer[9] << 8;
                if(requester != node_address){
                    header->to_node = requester;
                    write(header->to_node,USER_TX_TO_PHYSICAL_ADDRESS);
                    wait_ms(10);
                    write(header->to_node,USER_TX_TO_PHYSICAL_ADDRESS);
                    //printf("Fwd add response to 0%o\n",requester);
                    continue;
                }
            }
            if(header->type == NETWORK_REQ_ADDRESS && node_address){
                //printf("Fwd add req to 0\n");
                header->from_node = node_address;
                header->to_node = 0;
                write(header->to_node,TX_NORMAL);
                continue;
            }
            
            if( (returnSysMsgs && header->type > 127) || header->type == NETWORK_ACK ){ 
                //IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu MAC: System payload rcvd %d\n"),millis(),returnVal); );
                //if( (header->type < 148 || header->type > 150) && header->type != NETWORK_MORE_FRAGMENTS_NACK && header->type != EXTERNAL_DATA_TYPE && header->type!= NETWORK_LAST_FRAGMENT){
                if( header->type != NETWORK_FIRST_FRAGMENT && header->type != NETWORK_MORE_FRAGMENTS && header->type != NETWORK_MORE_FRAGMENTS_NACK && header->type != EXTERNAL_DATA_TYPE && header->type!= NETWORK_LAST_FRAGMENT){
                    return returnVal;
                }
            }

            if( enqueue(header) == 2 ){ //External data received            
                #if defined (SERIAL_DEBUG_MINIMAL)
                  printf("ret ext\n");
                #endif
                return EXTERNAL_DATA_TYPE;              
            }
      }else{      

      #if defined   (RF24NetworkMulticast)  

            if( header->to_node == 0100){
            

                if(header->type == NETWORK_POLL ){
                    //Serial.println("Send poll");
                    header->to_node = header->from_node;
                    header->from_node = node_address;           
                    //delay((node_address%5)*3);
                    write(header->to_node,USER_TX_TO_PHYSICAL_ADDRESS);
                    continue;
                }
                uint8_t val = enqueue(header);
                
                if(multicastRelay){                 
                    //IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%u MAC: FWD multicast frame from 0%o to level %u\n"),millis(),header->from_node,multicast_level+1); );
                    write(levelToAddress(multicast_level)<<3,4);
                }
                if( val == 2 ){ //External data received            
                  //Serial.println("ret ext multicast");
                    return EXTERNAL_DATA_TYPE;
                }

            }else{
                write(header->to_node,1);   //Send it on, indicate it is a routed payload
            }
        #else
        write(header->to_node,1);   //Send it on, indicate it is a routed payload
        #endif
      }
      
  }
  return returnVal;
}



/******************************************************************/






















































































































































/******************************************************************/
/******************************************************************/

 // Not defined RF24_Linux:

/******************************************************************/
/******************************************************************/

uint8_t RF24Network::enqueue(RF24NetworkHeader* header)
{
  bool result = false;
  uint8_t message_size = frame_size - sizeof(RF24NetworkHeader);
  
  IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Enqueue @%x "),millis(),next_frame-frame_queue));
  
#if !defined ( DISABLE_FRAGMENTATION ) 

  bool isFragment = header->type == NETWORK_FIRST_FRAGMENT || header->type == NETWORK_MORE_FRAGMENTS || header->type == NETWORK_LAST_FRAGMENT || header->type == NETWORK_MORE_FRAGMENTS_NACK ;

  if(isFragment){

    if(header->type == NETWORK_FIRST_FRAGMENT){
        // Drop frames exceeding max size and duplicates (MAX_PAYLOAD_SIZE needs to be divisible by 24)
        if(header->reserved > (MAX_PAYLOAD_SIZE / max_frame_payload_size) ){

  #if defined (SERIAL_DEBUG_FRAGMENTATION) || defined (SERIAL_DEBUG_MINIMAL)
            printf_P(PSTR("Frag frame with %d frags exceeds MAX_PAYLOAD_SIZE or out of sequence\n"),header->reserved);
  #endif
            frag_queue.header.reserved = 0;
            return false;
        }else
        if(frag_queue.header.id == header->id && frag_queue.header.from_node == header->from_node){
            return true;
        }
        
        if( (header->reserved * 24) > (MAX_PAYLOAD_SIZE - (next_frame-frame_queue)) ){
          networkFlags |= FLAG_HOLD_INCOMING;
          radio.stopListening();
        }
          
        memcpy(&frag_queue,&frame_buffer,8);
        memcpy(frag_queue.message_buffer,frame_buffer+sizeof(RF24NetworkHeader),message_size);
        
//IF_SERIAL_DEBUG_FRAGMENTATION( Serial.print(F("queue first, total frags ")); Serial.println(header->reserved); );
        //Store the total size of the stored frame in message_size
        frag_queue.message_size = message_size;
        --frag_queue.header.reserved;
          
IF_SERIAL_DEBUG_FRAGMENTATION_L2(  for(int i=0; i<frag_queue.message_size;i++){  Serial.println(frag_queue.message_buffer[i],HEX);  } );
        
        return true;        

    }else // NETWORK_MORE_FRAGMENTS 
    if(header->type == NETWORK_LAST_FRAGMENT || header->type == NETWORK_MORE_FRAGMENTS || header->type == NETWORK_MORE_FRAGMENTS_NACK){
        
        if(frag_queue.message_size + message_size > MAX_PAYLOAD_SIZE){
          #if defined (SERIAL_DEBUG_FRAGMENTATION) || defined (SERIAL_DEBUG_MINIMAL)
          Serial.print(F("Drop frag ")); Serial.print(header->reserved);          
          Serial.println(F(" Size exceeds max"));
          #endif
          frag_queue.header.reserved=0;
          return false;
        }
        if(  frag_queue.header.reserved == 0 || (header->type != NETWORK_LAST_FRAGMENT && header->reserved != frag_queue.header.reserved ) || frag_queue.header.id != header->id ){
            #if defined (SERIAL_DEBUG_FRAGMENTATION) || defined (SERIAL_DEBUG_MINIMAL)
            Serial.print(F("Drop frag ")); Serial.print(header->reserved);
            //Serial.print(F(" header id ")); Serial.print(header->id);
            Serial.println(F(" Out of order "));
            #endif
            return false;
        }
        
        memcpy(frag_queue.message_buffer+frag_queue.message_size,frame_buffer+sizeof(RF24NetworkHeader),message_size);
        frag_queue.message_size += message_size;
        
        if(header->type != NETWORK_LAST_FRAGMENT){
          --frag_queue.header.reserved;
          return true;
        }
        frag_queue.header.reserved = 0;
        frag_queue.header.type = header->reserved;
        
IF_SERIAL_DEBUG_FRAGMENTATION( printf(PSTR("fq 3: %d\n"),frag_queue.message_size); );
IF_SERIAL_DEBUG_FRAGMENTATION_L2(for(int i=0; i< frag_queue.message_size;i++){ Serial.println(frag_queue.message_buffer[i],HEX); }  );      
    
        //Frame assembly complete, copy to main buffer if OK        
        if(frag_queue.header.type == EXTERNAL_DATA_TYPE){
           return 2;
        }
        #if defined (DISABLE_USER_PAYLOADS)
          return 0;
        #endif
            
        if(MAX_PAYLOAD_SIZE - (next_frame-frame_queue) >= frag_queue.message_size){
          memcpy(next_frame,&frag_queue,10);
          memcpy(next_frame+10,frag_queue.message_buffer,frag_queue.message_size);
          next_frame += (10+frag_queue.message_size);
          IF_SERIAL_DEBUG_FRAGMENTATION( printf(PSTR("enq size %d\n"),frag_queue.message_size); );
          return true;
        }else{
          radio.stopListening();
          networkFlags |= FLAG_HOLD_INCOMING;          
        }
        IF_SERIAL_DEBUG_FRAGMENTATION( printf(PSTR("Drop frag payload, queue full\n")); );
        return false;
    }//If more or last fragments

  }else //else is not a fragment
 #endif // End fragmentation enabled

  // Copy the current frame into the frame queue

#if !defined( DISABLE_FRAGMENTATION )

    if(header->type == EXTERNAL_DATA_TYPE){
        memcpy(&frag_queue,&frame_buffer,8);
        frag_queue.message_buffer = frame_buffer+sizeof(RF24NetworkHeader);
        frag_queue.message_size = message_size;
        return 2;
    }
#endif      
#if defined (DISABLE_USER_PAYLOADS)
    return 0;
 }
#else
  if(message_size + (next_frame-frame_queue) <= MAIN_BUFFER_SIZE){
    memcpy(next_frame,&frame_buffer,8);
    RF24NetworkFrame *f = (RF24NetworkFrame*)next_frame;
    f->message_size = message_size;
    memcpy(next_frame+10,frame_buffer+sizeof(RF24NetworkHeader),message_size);

    IF_SERIAL_DEBUG_FRAGMENTATION( for(int i=0; i<message_size;i++){ Serial.print(next_frame[i],HEX); Serial.print(" : "); } Serial.println(""); );
    
    next_frame += (message_size + 10);
  IF_SERIAL_DEBUG_FRAGMENTATION( Serial.print("Enq "); Serial.println(next_frame-frame_queue); );//printf_P(PSTR("enq %d\n"),next_frame-frame_queue); );
  
    result = true;
  }else{
    result = false;
    IF_SERIAL_DEBUG(printf_P(PSTR("NET **Drop Payload** Buffer Full")));
  }
  return result;
}
#endif //USER_PAYLOADS_ENABLED


/******************************************************************/

bool RF24Network::available(void)
{



  // Are there frames on the queue for us?
  return (next_frame > frame_queue);
  
}

/******************************************************************/

uint16_t RF24Network::parent() const
{
  if ( node_address == 0 )
    return -1;
  else
    return parent_node;
}

/******************************************************************/
/*uint8_t RF24Network::peekData(){
        
        return frame_queue[0];
}*/

uint16_t RF24Network::peek(RF24NetworkHeader& header)
{
  if ( available() )
  {

  
  
  
  
    RF24NetworkFrame *frame = (RF24NetworkFrame*)(frame_queue);
    memcpy(&header,&frame->header,sizeof(RF24NetworkHeader));
    return frame->message_size;

  }
  return 0;
}

/******************************************************************/

uint16_t RF24Network::read(RF24NetworkHeader& header,void* message, uint16_t maxlen)
{
  uint16_t bufsize = 0;


  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  if ( available() )
  {
    
    memcpy(&header,frame_queue,8);
    RF24NetworkFrame *f = (RF24NetworkFrame*)frame_queue;
    bufsize = f->message_size;

    if (maxlen > 0)
    {       
        maxlen = min(maxlen,bufsize);
        memcpy(message,frame_queue+10,maxlen);
        IF_SERIAL_DEBUG(printf("%lu: NET message size %d\n",millis(),bufsize););

    
    IF_SERIAL_DEBUG( uint16_t len = maxlen; printf_P(PSTR("%lu: NET r message "),millis());const uint8_t* charPtr = reinterpret_cast<const uint8_t*>(message);while(len--){ printf("%02x ",charPtr[len]);} printf_P(PSTR("\n\r") ) );      
      
    }
    memmove(frame_queue,frame_queue+bufsize+10,sizeof(frame_queue)- bufsize);
    next_frame-=bufsize+10;

    //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Received %s\n\r"),millis(),header.toString()));
  }

  return bufsize;
}


#if defined RF24NetworkMulticast
/******************************************************************/
bool RF24Network::multicast(RF24NetworkHeader& header,const void* message, uint16_t len, uint8_t level){
    // Fill out the header
  header.to_node = 0100;
  header.from_node = node_address;
  return write(header, message, len, levelToAddress(level));
}
#endif

/******************************************************************/
bool RF24Network::write(RF24NetworkHeader& header,const void* message, uint16_t len){    
    return write(header,message,len,070);
}
/******************************************************************/
bool RF24Network::write(RF24NetworkHeader& header,const void* message, uint16_t len, uint16_t writeDirect){
    
    //Allows time for requests (RF24Mesh) to get through between failed writes on busy nodes
    while(rf24netTimer.read_ms()-txTime < 25){ if(update() > 127){break;} }
    wait_us(200);

#if defined (DISABLE_FRAGMENTATION)
    frame_size = rf24_min(len+sizeof(RF24NetworkHeader),MAX_FRAME_SIZE);
    return _write(header,message,rf24_min(len,max_frame_payload_size),writeDirect);
#else  
  if(len <= max_frame_payload_size){
    //Normal Write (Un-Fragmented)
    frame_size = len + sizeof(RF24NetworkHeader);
    if(_write(header,message,len,writeDirect)){
      return 1;
    }
    txTime = rf24netTimer.read_ms();
    return 0;
  }
  //Check payload size
  if (len > MAX_PAYLOAD_SIZE) {
    IF_SERIAL_DEBUG(printf("%u: NET write message failed. Given 'len' %d is bigger than the MAX Payload size %i\n\r",millis(),len,MAX_PAYLOAD_SIZE););
    return false;
  }

  //Divide the message payload into chunks of max_frame_payload_size
  uint8_t fragment_id = (len % max_frame_payload_size != 0) + ((len ) / max_frame_payload_size);  //the number of fragments to send = ceil(len/max_frame_payload_size)

  uint8_t msgCount = 0;

  IF_SERIAL_DEBUG_FRAGMENTATION(printf("%lu: FRG Total message fragments %d\n\r",millis(),fragment_id););
  
  if(header.to_node != 0100){
    networkFlags |= FLAG_FAST_FRAG;
    #if !defined (DUAL_HEAD_RADIO)
    radio.stopListening();
    #endif
  }

  uint8_t retriesPerFrag = 0;
  uint8_t type = header.type;

  while (fragment_id > 0) {

    //Copy and fill out the header
    //RF24NetworkHeader fragmentHeader = header;
   header.reserved = fragment_id;

    if (fragment_id == 1) {
      header.type = NETWORK_LAST_FRAGMENT;  //Set the last fragment flag to indicate the last fragment
      header.reserved = type; //The reserved field is used to transmit the header type
    } else {
      if (msgCount == 0) {
        header.type = NETWORK_FIRST_FRAGMENT;
      }else{
        header.type = NETWORK_MORE_FRAGMENTS; //Set the more fragments flag to indicate a fragmented frame
      }
    }
    
    uint16_t offset = msgCount*max_frame_payload_size;
    uint16_t fragmentLen = rf24_min((uint16_t)(len-offset),max_frame_payload_size);

    //Try to send the payload chunk with the copied header
    frame_size = sizeof(RF24NetworkHeader)+fragmentLen;
    bool ok = _write(header,((char *)message)+offset,fragmentLen,writeDirect);
    
    if (!ok) {
       wait_ms(2);
       ++retriesPerFrag;

    }else{
      retriesPerFrag = 0;
      fragment_id--;
      msgCount++;
    }
    
    if(writeDirect != 070){ wait_ms(2); } //Delay 2ms between sending multicast payloads
 
    if (!ok && retriesPerFrag >= 3) {
        IF_SERIAL_DEBUG_FRAGMENTATION(printf("%lu: FRG TX with fragmentID '%d' failed after %d fragments. Abort.\n\r",millis(),fragment_id,msgCount););
        break;
    }

    
    //Message was successful sent
    #if defined SERIAL_DEBUG_FRAGMENTATION_L2 
      printf("%lu: FRG message transmission with fragmentID '%d' sucessfull.\n\r",millis(),fragment_id);
    #endif

  }

  #if !defined (DUAL_HEAD_RADIO)
  if(networkFlags & FLAG_FAST_FRAG){
    radio.startListening();
  }
  #endif
  networkFlags &= ~FLAG_FAST_FRAG
  //int frag_delay = uint8_t(len/48);
  //delay( rf24_min(len/48,20));

  //Return true if all the chunks where sent successfully
 
  IF_SERIAL_DEBUG_FRAGMENTATION(printf("%u: FRG total message fragments sent %i. \n",millis(),msgCount); );
  if(fragment_id > 0){
    txTime = rf24netTimer.read_ms();
    return false;
  }
  return true;
  
#endif //Fragmentation enabled
}
/******************************************************************/

bool RF24Network::_write(RF24NetworkHeader& header,const void* message, uint16_t len, uint16_t writeDirect)
{
  // Fill out the header
  header.from_node = node_address;
  
  // Build the full frame to send
  memcpy(frame_buffer,&header,sizeof(RF24NetworkHeader));
  

  
  
    IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Sending %s\n\r"),millis(),header.toString()));

  if (len){

  
  
  
  
    
    memcpy(frame_buffer + sizeof(RF24NetworkHeader),message,len);
    
    IF_SERIAL_DEBUG(uint16_t tmpLen = len;printf_P(PSTR("%lu: NET message "),millis());const uint8_t* charPtr = reinterpret_cast<const uint8_t*>(message);while(tmpLen--){ printf("%02x ",charPtr[tmpLen]);} printf_P(PSTR("\n\r") ) );

  }

  // If the user is trying to send it to himself
  /*if ( header.to_node == node_address ){
    #if defined (RF24_LINUX)
      RF24NetworkFrame frame = RF24NetworkFrame(header,message,rf24_min(MAX_FRAME_SIZE-sizeof(RF24NetworkHeader),len)); 
    #else
      RF24NetworkFrame frame(header,len);
    #endif
    // Just queue it in the received queue
    return enqueue(frame);
  }*/
    // Otherwise send it out over the air   
    
    
    if(writeDirect != 070){     
        uint8_t sendType = USER_TX_TO_LOGICAL_ADDRESS; // Payload is multicast to the first node, and routed normally to the next
        
        if(header.to_node == 0100){
          sendType = USER_TX_MULTICAST;
        }
        if(header.to_node == writeDirect){
          sendType = USER_TX_TO_PHYSICAL_ADDRESS; // Payload is multicast to the first node, which is the recipient
        }
        return write(writeDirect,sendType);             
    }
    return write(header.to_node,TX_NORMAL);
    
}

/******************************************************************/

bool RF24Network::write(uint16_t to_node, uint8_t directTo)  // Direct To: 0 = First Payload, standard routing, 1=routed payload, 2=directRoute to host, 3=directRoute to Route
{
  bool ok = false;
  bool isAckType = false;
  if(frame_buffer[6] > 64 && frame_buffer[6] < 192 ){ isAckType=true; }
  
  /*if( ( (frame_buffer[7] % 2) && frame_buffer[6] == NETWORK_MORE_FRAGMENTS) ){
    isAckType = 0;
  }*/
  
  // Throw it away if it's not a valid address
  if ( !is_valid_address(to_node) )
    return false;  
  
  //Load info into our conversion structure, and get the converted address info
  logicalToPhysicalStruct conversion = { to_node,directTo,0};
  logicalToPhysicalAddress(&conversion);
  

  
  
  IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sending to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,conversion.send_node,conversion.send_pipe));

  /**Write it*/
  ok=write_to_pipe(conversion.send_node, conversion.send_pipe, conversion.multicast);   
  
  
    if(!ok){    

    
    
    
    IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu: MAC Send fail to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,conversion.send_node,conversion.send_pipe););
    }

 
    if( directTo == TX_ROUTED && ok && conversion.send_node == to_node && isAckType){
            
            RF24NetworkHeader* header = (RF24NetworkHeader*)&frame_buffer;
            header->type = NETWORK_ACK;                 // Set the payload type to NETWORK_ACK          
            header->to_node = header->from_node;          // Change the 'to' address to the 'from' address          

            conversion.send_node = header->from_node;
            conversion.send_pipe = TX_ROUTED;
            conversion.multicast = 0;
            logicalToPhysicalAddress(&conversion);
            
            //Write the data using the resulting physical address
            frame_size = sizeof(RF24NetworkHeader);
            write_to_pipe(conversion.send_node, conversion.send_pipe, conversion.multicast);
            
            //dynLen=0;

            
            
                IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu MAC: Route OK to 0%o ACK sent to 0%o\n"),millis(),to_node,header->from_node); );

    }
 


    if( ok && conversion.send_node != to_node && (directTo==0 || directTo==3) && isAckType){
        #if !defined (DUAL_HEAD_RADIO)
          // Now, continue listening
          if(networkFlags & FLAG_FAST_FRAG){
             radio.txStandBy(txTimeout);
             networkFlags &= ~FLAG_FAST_FRAG;
          }
          radio.startListening();
        #endif
        uint32_t reply_time = rf24netTimer.read_ms(); 

        while( update() != NETWORK_ACK){
            wait_us(900);
            if(rf24netTimer.read_ms() - reply_time > routeTimeout){

            
            
                  IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu: MAC Network ACK fail from 0%o via 0%o on pipe %x\n\r"),millis(),to_node,conversion.send_node,conversion.send_pipe); );

                ok=false;
                break;                  
            }
        }
    }
    if( !(networkFlags & FLAG_FAST_FRAG) ){
       #if !defined (DUAL_HEAD_RADIO)
         // Now, continue listening
         radio.startListening();
       #endif   
    }

#if defined ENABLE_NETWORK_STATS
  if(ok == true){
            ++nOK;
  }else{    ++nFails;
  }
#endif
  return ok;
}

/******************************************************************/

    // Provided the to_node and directTo option, it will return the resulting node and pipe
bool RF24Network::logicalToPhysicalAddress(logicalToPhysicalStruct *conversionInfo){

  //Create pointers so this makes sense.. kind of
  //We take in the to_node(logical) now, at the end of the function, output the send_node(physical) address, etc.
  //back to the original memory address that held the logical information.
  uint16_t *to_node = &conversionInfo->send_node;
  uint8_t *directTo = &conversionInfo->send_pipe;
  bool *multicast = &conversionInfo->multicast;    
  
  // Where do we send this?  By default, to our parent
  uint16_t pre_conversion_send_node = parent_node; 

  // On which pipe
  uint8_t pre_conversion_send_pipe = parent_pipe %5;
  
 if(*directTo > TX_ROUTED ){    
    pre_conversion_send_node = *to_node;
    *multicast = 1;
    //if(*directTo == USER_TX_MULTICAST || *directTo == USER_TX_TO_PHYSICAL_ADDRESS){
        pre_conversion_send_pipe=0;
    //} 
  }     
  // If the node is a direct child,
  else
  if ( is_direct_child(*to_node) )
  {   
    // Send directly
    pre_conversion_send_node = *to_node;
    // To its listening pipe
    pre_conversion_send_pipe = 5;
  }
  // If the node is a child of a child
  // talk on our child's listening pipe,
  // and let the direct child relay it.
  else if ( is_descendant(*to_node) )
  {
    pre_conversion_send_node = direct_child_route_to(*to_node);
    pre_conversion_send_pipe = 5;
  }
  
  *to_node = pre_conversion_send_node;
  *directTo = pre_conversion_send_pipe;
  
  return 1;
  
}

/********************************************************/


bool RF24Network::write_to_pipe( uint16_t node, uint8_t pipe, bool multicast )
{
  bool ok = false;
  uint64_t out_pipe = pipe_address( node, pipe );
  
  #if !defined (DUAL_HEAD_RADIO)
  // Open the correct pipe for writing.
  // First, stop listening so we can talk

  if(!(networkFlags & FLAG_FAST_FRAG)){
    radio.stopListening();
  }
  
  if(multicast){ radio.setAutoAck(0,0);}else{radio.setAutoAck(0,1);}
  
  radio.openWritingPipe(out_pipe);
  radio.writeFast(frame_buffer, frame_size,multicast);
  ok = radio.txStandBy(txTimeout);
  
  radio.setAutoAck(0,0);
  
#else
  radio1.openWritingPipe(out_pipe);
  radio1.writeFast(frame_buffer, frame_size);
  ok = radio1.txStandBy(txTimeout,multicast);

#endif




  IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sent on %lx %S\n\r"),rf24netTimer.read_ms(),(uint32_t)out_pipe,ok?PSTR("ok"):PSTR("failed")));

  
  return ok;
}

/******************************************************************/

const char* RF24NetworkHeader::toString(void) const
{
  static char buffer[45];
  //snprintf_P(buffer,sizeof(buffer),PSTR("id %04x from 0%o to 0%o type %c"),id,from_node,to_node,type);
  sprintf(buffer,PSTR("id %u from 0%o to 0%o type %d"),id,from_node,to_node,type);
  return buffer;
}

/******************************************************************/

bool RF24Network::is_direct_child( uint16_t node )
{
  bool result = false;

  // A direct child of ours has the same low numbers as us, and only
  // one higher number.
  //
  // e.g. node 0234 is a direct child of 034, and node 01234 is a
  // descendant but not a direct child

  // First, is it even a descendant?
  if ( is_descendant(node) )
  {
    // Does it only have ONE more level than us?
    uint16_t child_node_mask = ( ~ node_mask ) << 3;
    result = ( node & child_node_mask ) == 0 ;
  }
  return result;
}

/******************************************************************/

bool RF24Network::is_descendant( uint16_t node )
{
  return ( node & node_mask ) == node_address;
}

/******************************************************************/

void RF24Network::setup_address(void)
{
  // First, establish the node_mask
  uint16_t node_mask_check = 0xFFFF;  
  #if defined (RF24NetworkMulticast)
  uint8_t count = 0;
  #endif
  
  while ( node_address & node_mask_check ){
    node_mask_check <<= 3;
  #if defined (RF24NetworkMulticast)
      count++;
  }
  multicast_level = count;
  #else
  }
  #endif
  
  node_mask = ~ node_mask_check;

  // parent mask is the next level down
  uint16_t parent_mask = node_mask >> 3;

  // parent node is the part IN the mask
  parent_node = node_address & parent_mask;

  // parent pipe is the part OUT of the mask
  uint16_t i = node_address;
  uint16_t m = parent_mask;
  while (m)
  {
    i >>= 3;
    m >>= 3;
  }
  parent_pipe = i;

  IF_SERIAL_DEBUG( printf_P(PSTR("setup_address node=0%o mask=0%o parent=0%o pipe=0%o\n\r"),node_address,node_mask,parent_node,parent_pipe););

}

/******************************************************************/
uint16_t RF24Network::addressOfPipe( uint16_t node, uint8_t pipeNo )
{
        //Say this node is 013 (1011), mask is 077 or (00111111)
        //Say we want to use pipe 3 (11)
        //6 bits in node mask, so shift pipeNo 6 times left and | into address      
    uint16_t m = node_mask >> 3;
    uint8_t i=0;
    
    while (m){     //While there are bits left in the node mask
        m>>=1;     //Shift to the right
        i++;       //Count the # of increments
    }
    return node | (pipeNo << i);    
}

/******************************************************************/

uint16_t RF24Network::direct_child_route_to( uint16_t node )
{
  // Presumes that this is in fact a child!!
  uint16_t child_mask = ( node_mask << 3 ) | 7;
  return node & child_mask;
  
}

/******************************************************************/
/*
uint8_t RF24Network::pipe_to_descendant( uint16_t node )
{
  uint16_t i = node;       
  uint16_t m = node_mask;

  while (m)
  {
    i >>= 3;
    m >>= 3;
  }

  return i & 0B111;
}*/

/******************************************************************/

bool RF24Network::is_valid_address( uint16_t node )
{
  bool result = true;

  while(node)
  {
    uint8_t digit = node & 7;
    #if !defined (RF24NetworkMulticast)
    if (digit < 1 || digit > 5)
    #else
    if (digit < 0 || digit > 5) //Allow our out of range multicast address
    #endif
    {
      result = false;
      IF_SERIAL_DEBUG_MINIMAL(printf_P(PSTR("*** WARNING *** Invalid address 0%o\n\r"),node););
      break;
    }
    node >>= 3;
  }

  return result;
}

/******************************************************************/
#if defined (RF24NetworkMulticast)
void RF24Network::multicastLevel(uint8_t level){
  multicast_level = level;
  //radio.stopListening();  
  radio.openReadingPipe(0,pipe_address(levelToAddress(level),0));
  //radio.startListening();
  }
  
uint16_t levelToAddress(uint8_t level){
    
    uint16_t levelAddr = 1;
    if(level){
        levelAddr = levelAddr << ((level-1) * 3);
    }else{
        return 0;       
    }
    return levelAddr;
}  
#endif
/******************************************************************/

uint64_t pipe_address( uint16_t node, uint8_t pipe )
{
  
  static uint8_t address_translation[] = { 0xc3,0x3c,0x33,0xce,0x3e,0xe3,0xec };
  uint64_t result = 0xCCCCCCCCCCLL;
  uint8_t* out = reinterpret_cast<uint8_t*>(&result);
  
  // Translate the address to use our optimally chosen radio address bytes
    uint8_t count = 1; uint16_t dec = node;

    while(dec){
      #if defined (RF24NetworkMulticast)
      if(pipe != 0 || !node)
      #endif
        out[count]=address_translation[(dec % 8)];      // Convert our decimal values to octal, translate them to address bytes, and set our address
      
      dec /= 8; 
      count++;
    }
    
    #if defined (RF24NetworkMulticast)
    if(pipe != 0 || !node)
    #endif
      out[0] = address_translation[pipe];
    #if defined (RF24NetworkMulticast)
    else
      out[1] = address_translation[count-1];
    #endif

        
  

  
  
  IF_SERIAL_DEBUG(uint32_t* top = reinterpret_cast<uint32_t*>(out+1);printf_P(PSTR("%lu: NET Pipe %i on node 0%o has address %lx%x\n\r"),millis(),pipe,node,*top,*out));

  
  return result;
}


/************************ Sleep Mode ******************************************/


#if defined ENABLE_SLEEP_MODE

#if !defined(__arm__) && !defined(__ARDUINO_X86__)

void wakeUp(){
  wasInterrupted=true;
  sleep_cycles_remaining = 0;
}

ISR(WDT_vect){
  --sleep_cycles_remaining;
}


bool RF24Network::sleepNode( unsigned int cycles, int interruptPin ){


  sleep_cycles_remaining = cycles;
  set_sleep_mode(SLEEP_MODE_PWR_DOWN); // sleep mode is set here
  sleep_enable();
  if(interruptPin != 255){
    wasInterrupted = false; //Reset Flag
    attachInterrupt(interruptPin,wakeUp, LOW);
  }    


  
  
  WDTCSR |= _BV(WDIE);


  while(sleep_cycles_remaining){
    sleep_mode();                        // System sleeps here
  }                                     // The WDT_vect interrupt wakes the MCU from here
  sleep_disable();                     // System continues execution here when watchdog timed out
  detachInterrupt(interruptPin);


  
  
  
    WDTCSR &= ~_BV(WDIE);

  
  return !wasInterrupted;
}

void RF24Network::setup_watchdog(uint8_t prescalar){

  uint8_t wdtcsr = prescalar & 7;
  if ( prescalar & 8 )
    wdtcsr |= _BV(WDP3);
  MCUSR &= ~_BV(WDRF);                      // Clear the WD System Reset Flag


  
  
  WDTCSR = _BV(WDCE) | _BV(WDE);            // Write the WD Change enable bit to enable changing the prescaler and enable system reset
  WDTCSR = _BV(WDCE) | wdtcsr | _BV(WDIE);  // Write the prescalar bits (how long to sleep, enable the interrupt to wake the MCU

}


#endif // not ATTiny
#endif // Enable sleep mode