Revision 1:6e61ee662fd3, committed 2012-02-23

Comitter:

recotana

Date:

Thu Feb 23 02:38:05 2012 +0000

Parent:

0:432b571e11a3

Commit message:

added standalone test mode

Changed in this revision

diff -r 432b571e11a3 -r 6e61ee662fd3 XBee.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee.lib	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/okini3939/code/XBee/#6efb3541af61

diff -r 432b571e11a3 -r 6e61ee662fd3 config.h
--- a/config.h	Sun Feb 19 06:21:50 2012 +0000
+++ b/config.h	Thu Feb 23 02:38:05 2012 +0000
@@ -1,14 +1,41 @@
 #ifndef _CONFIG_
 #define _CONFIG_
+#include "mbed.h"
 
-#define kSserverIp 192,168,0,111
+//comentout -> nomal(do not debug printf)
+//#define DEBUG
+
+//standalone -> mbed ether echo back mode
+//#define _SERVER_TEST_MODE_
+
+#ifdef DEBUG
+#define DBGV(fmt, ...) printf(fmt, __VA_ARGS__)
+#define DBGF(X) printf(X);
+#else
+#define DBGV(...)
+#define DBGF(...)
+#endif
+
+//mbed server.client
+#define kSserverIp  192,168,0,111
 #define kSubnetMask 255,255,255,0
-#define kRouterIp 192,168,0,1
+#define kRouterIp   192,168,0,1
 #define kServerPort 12345
  
-#define kClientIp 192,168,0,2
+//iPad
+#define kClientIp   192,168,0,2
 #define kClientPort 12346
 
+#define kXBeeNo0DL 0x4086B0D5    //mbed server.client
+#define kXBeeNo1DL 0x4086AFDE   //sender
+#define kXBeeNo2DL 0x4086AFEA   //reciever
+
+#define kLedSender    kXBeeNo1DL
+#define kLedReciever  kXBeeNo2DL
+
+
+
+
 typedef enum{
     close,
     connecting,

diff -r 432b571e11a3 -r 6e61ee662fd3 data_models.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/data_models.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,64 @@
+#include "types.h"
+#include "data_models.h"
+#include "EthernetNetIf.h"
+
+
+void initPayload(Payload *_payload)
+{
+    _payload->size=sizeof(Payload);
+    for(int i=0 ; i < sizeof(_payload->id.personalId) ; i++) _payload->id.personalId[i]=0;
+    
+    _payload->message.frameNumber=0;
+    _payload->message.device=SERVER;
+    _payload->message.command=SEND;
+    
+    for(int i=0 ; i < sizeof(_payload->message.data) ; i++) _payload->message.data[i]=0;
+}
+
+void payloadToNetwork(Payload *_payload)
+{
+    
+    _payload->size                  = htons(_payload->size);
+    _payload->id.head               = htons(_payload->id.head);
+    _payload->message.totalSize     = htons(_payload->message.totalSize);
+    _payload->message.frameNumber   = htons(_payload->message.frameNumber);
+    
+}
+void networkToPayload(Payload *_payload)
+{
+    _payload->size                  = ntohs(_payload->size);
+    _payload->id.head               = ntohs(_payload->id.head);
+    _payload->message.totalSize     = ntohs(_payload->message.totalSize);
+    _payload->message.frameNumber   = ntohs(_payload->message.frameNumber);
+}
+
+void dumpPayload(Payload *_payload)
+{
+    printf("\r\n======== dump!!\r\n");
+    printf("payload\nsize:%04X\r\n ",_payload->size);
+    
+    printf("Payload id_head:%04X\r\n personal id:",_payload->id.head);  
+    for(int i=0 ; i < sizeof(_payload->id.personalId) ; i++){
+        printf("%d:%02X ",i,_payload->id.personalId[i]);
+    }
+    
+    printf("\r\n");
+    
+    printf("total size:%d , frame number:%d , divece:%0X , command:%02X\r\n"
+        ,_payload->message.totalSize
+        ,_payload->message.frameNumber
+        ,_payload->message.device
+        ,_payload->message.command);
+    
+    printf("message data:\r\n");
+    for(int i=0 ; i < sizeof(_payload->message.data) ; i++){
+         printf("%d:%02X ",i,_payload->message.data[i]);
+    }
+    
+    printf("\r\n--- RAW DATA -------\r\n");
+    for(int i=0 ; i < sizeof(Payload) ; i++){
+         printf("%d:%02X ",i,((uint8_t*)_payload)[i]);
+    }
+    printf("\r\n");
+    
+}
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 data_models.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/data_models.h	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,53 @@
+#ifndef _DATA_MODELS_
+#define _DATA_MODELS_
+
+#include "types.h"
+
+typedef enum{
+    SERVER,
+    LED_SENDER,
+    LED_RECIEVER
+} Device;
+
+typedef enum{
+    SEND,
+    RECIEVE,
+    PING,
+    ACK
+} Command;
+
+//
+//for TCP/IP data structure
+//
+
+//48byte message data
+typedef struct{
+    uint16_t totalSize;   //uint16_t + uint16_t + uint8_t + uint8_t + 42byte
+    uint16_t frameNumber;
+    Device   device;
+    Command  command;
+    uint8_t  data[42];
+} Message;
+
+//16byte payload id
+typedef struct{
+    uint16_t head;          //reserve 0x0000
+    uint8_t  personalId[14]; 
+} PayloadID;
+
+//66byte payload
+typedef struct{
+    uint16_t  size;     //  2(size) + 64(payload id + message) = 66 byte   
+    PayloadID id;       // 16 byte
+    Message   message;  // 48 byte
+} Payload;
+
+
+void initPayload(Payload *_payload);
+
+void payloadToNetwork(Payload *_payload);
+void networkToPayload(Payload *_payload);
+
+void dumpPayload(Payload *_payload);
+
+#endif
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 leds.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/leds.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+#include "leds.h"
+
+Timeout led_ether;
+Timeout led_xbee;
+Timeout led_device;
+
+DigitalOut ledXb(LED1);
+DigitalOut ledDev(LED2);
+DigitalOut ledTcpCon(LED3);
+DigitalOut ledEt(LED4);
+
+void offEther(void){
+    ledEt=0;
+}
+void offXBee(void){
+    ledXb=0;
+}
+void offDevice(void){
+    ledDev=0;
+}
+
+void ledEther(void)
+{
+    ledEt=1;
+    led_ether.attach(&offEther,kLedOnTime);
+}
+void ledXBee(void)
+{
+    ledXb=1;
+    led_xbee.attach(&offXBee,kLedOnTime);
+}
+void ledDevice(void)
+{
+    ledDev=1;
+    led_device.attach(&offDevice,kLedOnTime);
+}
+
+void ledTcpConnect(bool isConnect)
+{
+    if(isConnect)   ledTcpCon=1;
+    else            ledTcpCon=0;
+}
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 leds.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/leds.h	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,11 @@
+#ifndef _LEDS_
+#define _LEDS_
+
+#define kLedOnTime 0.2
+
+void ledEther(void);
+void ledXBee(void);
+void ledDevice(void);
+void ledTcpConnect(bool isConnect);
+
+#endif
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 main.cpp
--- a/main.cpp	Sun Feb 19 06:21:50 2012 +0000
+++ b/main.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -1,17 +1,78 @@
 #include "mbed.h"
+#include "xbee_lib.h"
 #include "EthernetNetIf.h"
 #include "config.h"
 #include "tcp_server.h"
 #include "tcp_client.h"
+#include "xbee_rec_route.h"
+
+#include "leds.h"
 
 EthernetNetIf eth ;   
 
 Ticker connectCheck;
- 
+
+#ifdef _SERVER_TEST_MODE_
+
+#include "data_models.h"
+
+DigitalIn  recSw(p20);
+Timeout chatter;
+bool isPressed;
+
+void testModeInit(void)
+{
+    recSw.mode(PullUp);
+}
+
+void testSendRecieveData()
+{
+   Payload payload;
+   initPayload(&payload);
+   payload.size=sizeof(Payload);
+   
+   payload.id.head=0x0000;
+   uint8_t tmpid[14]={0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39,0x40,0x41,0x42,0x43,0x44};
+   for(int i=0;i<sizeof(tmpid);i++) payload.id.personalId[i]=tmpid[i];
+   
+   
+   payload.message.frameNumber=1;
+   payload.message.device=LED_RECIEVER;
+   payload.message.command=RECIEVE;
+   
+   uint8_t tmpdata[42]={
+    1,2,3,4,5,6,7,8,9,10,
+    11,12,13,14,15,16,17,18,19,20,
+    21,22,23,24,25,26,27,28,29,30,
+    31,32,33,34,35,36,37,38,39,40,
+    41,42};
+   for(int i=0;i<sizeof(tmpdata);i++) payload.message.data[i]=tmpdata[i];
+   
+   payload.message.totalSize=
+     sizeof(payload.message.totalSize)
+    +sizeof(payload.message.frameNumber)
+    +sizeof(payload.message.device)
+    +sizeof(payload.message.command)
+    +sizeof(payload.message.data);
+
+   tcpSendPayload(&payload); 
+   
+}
+
+
+#endif
+
+
+
 int main() {
 
+    #ifdef _SERVER_TEST_MODE_
+    testModeInit();
+    #endif
+    
+    xbeeInit();
 
-    EthernetNetIf eth( //)  -- static IP address 
+    EthernetNetIf eth( //  -- static IP address
         IpAddr(kSserverIp),     // IP Address
         IpAddr(kSubnetMask),   // Subnet Mask
         IpAddr(kRouterIp),     // Default Gateway
@@ -20,20 +81,34 @@
 
     if( eth.setup() != ETH_OK )
     {
-        printf("Ether Setup Error\r\n");
+        DBGF("Ether Setup Error\r\n");
         return -1;
     }
-    printf("Setup OK\r\n");
+    DBGF("Setup OK\r\n");
 
     IpAddr ip = eth.getIp() ;
-    printf("mbed IP Address is [%d.%d.%d.%d]\r\n", ip[0], ip[1], ip[2], ip[3]) ;
+    DBGV("mbed IP Address is [%d.%d.%d.%d]\r\n", ip[0], ip[1], ip[2], ip[3]) ;
 
     serverInit();
+    clientInit();
     
-    clientInit();
     connectCheckStart( IpAddr(kClientIp),kClientPort );
+    wait(2);
+    ledEther();
+    ledXBee();
+    ledDevice();
 
     while(1) {
         Net::poll();
+        
+        #ifdef _SERVER_TEST_MODE_
+        if(!recSw){
+            testSendRecieveData();
+            wait(2);
+        }
+        #else
+        xbeeRecieveRouting();
+        #endif
+
     }
 }

diff -r 432b571e11a3 -r 6e61ee662fd3 net_routing.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/net_routing.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,38 @@
+#include "net_routing.h"
+#include "types.h"
+#include "config.h"
+#include "xbee_lib.h"
+#include "tcp_client.h"
+
+void netRouting(Payload *_payload)
+{
+    
+
+    #ifdef _SERVER_TEST_MODE_
+        tcpSendPayload(_payload);
+
+    #else
+    
+    uint32_t xbeeAdr=0;
+    
+    switch(_payload->message.device)
+    {
+        case LED_SENDER:
+        {
+            xbeeAdr = kLedSender;
+            break;
+        }
+        
+        case LED_RECIEVER:
+        {
+            xbeeAdr = kLedReciever;
+            break;
+        }
+    
+    }
+    
+
+    xbeeSend(xbeeAdr,_payload);
+    #endif
+    
+}
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 net_routing.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/net_routing.h	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,8 @@
+#ifndef _RECIEVE_ROUTING_
+#define _RECIEVE_ROUTING_
+
+#include "data_models.h"
+
+void netRouting(Payload *payload);
+
+#endif
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 tcp_client.cpp
--- a/tcp_client.cpp	Sun Feb 19 06:21:50 2012 +0000
+++ b/tcp_client.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -1,10 +1,14 @@
+#include "types.h"
 #include "mbed.h"
 #include "config.h"
 #include "tcp_error.h"
 #include "tcp_client.h"
 
+#include "leds.h"
+
 extern IpAddr inCommingIp;
 
+
 Host server;
 TCPSocket sendSock;
 ConnectStatus clientStatus;
@@ -15,62 +19,73 @@
 int clientPort;
 
 void onSendEvent (TCPSocketEvent e) {
-    printf("... client event arrival!\n");
+    DBGF("... client event arrival!\r\n");
     switch(e)
     {
-        case TCPSOCKET_CONNECTED: // Ú‘±Š®—¹
+        case TCPSOCKET_CONNECTED:
         {
-            char str[]="connect!";
-            sendSock.send(str,strlen(str) ); // ‘—M
+            ledTcpConnect(true);
+            
+            char str[]="wellcome! server connected!";
+            
+            sendSock.send(str,strlen(str) );
+            
             clientStatus=connected;
-            printf("TCPSOCKET_CONNECTED!!\n");
+            DBGF("TCPSOCKET_CONNECTED!!\r\n");
             break;
          }
 
-        case TCPSOCKET_WRITEABLE: // ‘—M‰Â”\i‘—MŠ®—¹j
+        case TCPSOCKET_WRITEABLE:
         {
-            printf("TCPSOCKET_WRITEABLE!!\n");
+            DBGF("TCPSOCKET_WRITEABLE!!\r\n");
             clientStatus=connected;
+            ledTcpConnect(true);
             break;
         }
 
-        case TCPSOCKET_READABLE: // ŽóMƒf[ƒ^‚ ‚è
-        {   printf("TCPSOCKET_READABLE!!\n");
+        case TCPSOCKET_READABLE:
+        {   DBGF("TCPSOCKET_READABLE!!\r\n");
             clientStatus=connected;
+            ledTcpConnect(true);
             break;
         }
         case TCPSOCKET_CONTIMEOUT:
         {
-            printf("TCPSOCKET_CONTIMEOUT!!\n");
+            DBGF("TCPSOCKET_CONTIMEOUT!!\r\n");
             socketClose();
+            ledTcpConnect(false);
             break;
         }
         case TCPSOCKET_CONRST:
         {
-             printf("TCPSOCKET_CONRST!!\n");
+             DBGF("TCPSOCKET_CONRST!!\r\n");
              socketClose();
+             ledTcpConnect(false);
             break;
         }
         case TCPSOCKET_CONABRT:
         {
-             printf("TCPSOCKET_CONABRT!!\n");
+             DBGF("TCPSOCKET_CONABRT!!\r\n");
              socketClose();
+             ledTcpConnect(false);
             break;
         }
         case TCPSOCKET_ERROR:
-        {   printf("TCPSOCKET_ERROR\n");
+        {   DBGF("TCPSOCKET_ERROR\r\n");
             socketClose();
+            ledTcpConnect(false);
             break;
             
         }
          case TCPSOCKET_DISCONNECTED:
         {
-            printf("TCPSOCKET_DISCONNECTED...\n");
+            DBGF("TCPSOCKET_DISCONNECTED...\r\n");
             socketClose();
+            ledTcpConnect(false);
             break;
         }
     }
-    printf("...client event out\n");
+    DBGF("...client event out\r\n");
 }
 
 void clientInit(void){
@@ -81,11 +96,11 @@
 int clientConnect(IpAddr ip , int port)
 {
     if(clientStatus == connecting){
-        printf("socket already connecting..\n");
+        DBGF("socket already connecting..\r\n");
         return 0;
     }
     else if(clientStatus == connected){
-        printf("socket already connected..\n");
+        DBGF("socket already connected..\r\n");
         return 0;
     }
 
@@ -93,7 +108,7 @@
     
     TCPSocketErr err= sendSock.connect(server);
     if (err != TCPSOCKET_OK) {
-        printf("connect Error. ");
+        DBGF("connect Error. ");
         dispTcpError(err);
         clientStatus=close;
         return -1;
@@ -103,8 +118,11 @@
 }
 
 int tcpSend(char *data,int length){
- 
-    return sendSock.send(data, length);
+
+    ledEther();
+    int ret = sendSock.send(data, length);
+
+    return ret;
     
 }
 
@@ -127,7 +145,17 @@
 {
     clientIp=ip;
     clientPort=port;
-    clientCheck.attach(&checkConnect,3);
-    
+    clientCheck.attach(&checkConnect,3);   
 }
 
+int tcpSendPayload(Payload *_payload)
+{
+    uint8_t tmp[_payload->size];
+    
+    memcpy(tmp,(uint8_t*)_payload,_payload->size);
+    
+    payloadToNetwork((Payload *)tmp);
+    
+    return tcpSend((char*)tmp,_payload->size);
+}
+

diff -r 432b571e11a3 -r 6e61ee662fd3 tcp_client.h
--- a/tcp_client.h	Sun Feb 19 06:21:50 2012 +0000
+++ b/tcp_client.h	Thu Feb 23 02:38:05 2012 +0000
@@ -3,7 +3,7 @@
 
 #include "EthernetNetIf.h"
 #include "TCPSocket.h"
-
+#include "data_models.h"
 
 
 void clientInit(void);
@@ -13,6 +13,7 @@
 void connectCheckStart(IpAddr ip , int port);
 
 int tcpSend(char *data,int length);
+int tcpSendPayload(Payload *_payload);
 
 void checkConnect(void);
 void socketClose(void);

diff -r 432b571e11a3 -r 6e61ee662fd3 tcp_error.cpp
--- a/tcp_error.cpp	Sun Feb 19 06:21:50 2012 +0000
+++ b/tcp_error.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -3,16 +3,16 @@
 #include "TCPSocket.h"
 
 char tcpErrMes[8][100]={
-    "TCPSOCKET_SETUP TCPSocket not properly configured.\n",
-    "TCPSOCKET_TIMEOUT Connection timed out.\n",
-    "TCPSOCKET_IF Interface has problems, does not exist or is not initialized.\n",
-    "TCPSOCKET_MEM Not enough mem.\n",
-    "TCPSOCKET_INUSE Interface / Port is in use.\n",
-    "TCPSOCKET_EMPTY Connections queue is empty.\n",
-    "TCPSOCKET_RST Connection was reset by remote host.\n",
-    "TCPSOCKET_OK Success.\n"
+    "TCPSOCKET_SETUP TCPSocket not properly configured.\r\n",
+    "TCPSOCKET_TIMEOUT Connection timed out.\r\n",
+    "TCPSOCKET_IF Interface has problems, does not exist or is not initialized.\r\n",
+    "TCPSOCKET_MEM Not enough mem.\r\n",
+    "TCPSOCKET_INUSE Interface / Port is in use.\r\n",
+    "TCPSOCKET_EMPTY Connections queue is empty.\r\n",
+    "TCPSOCKET_RST Connection was reset by remote host.\r\n",
+    "TCPSOCKET_OK Success.\r\n"
 };
 
 void dispTcpError(TCPSocketErr err){
-     printf("%s\n",tcpErrMes[err]) ;
+     printf("%s\r\n",tcpErrMes[err]) ;
 }
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 tcp_server.cpp
--- a/tcp_server.cpp	Sun Feb 19 06:21:50 2012 +0000
+++ b/tcp_server.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -1,29 +1,38 @@
+#include "types.h"
 #include "mbed.h"
 #include "config.h"
 #include "tcp_server.h"
 #include "tcp_client.h"
 
+#include "data_models.h"
+#include "xbee_lib.h"
+#include "net_routing.h"
+
+#include "leds.h"
+
 TCPSocket listenSock;
 TCPSocket* recieveSock;
 Host client;
 IpAddr inCommingIp;
 
+
+
 extern bool isHostConnected;
 int serverInit(void)
 {
     listenSock.setOnEvent(&onServerListnerEvent) ;
     
-    printf("Bindding...\r\n") ;
+    DBGF("Bindding...\r\n") ;
 
     if ( listenSock.bind(Host(IpAddr(), kServerPort)) != ETH_OK ){
-        printf("Bindding Error.\r\n") ;
+        DBGF("Bindding Error.\r\n") ;
         return -1 ;
     }
     
     printf("Listen...\r\n");
     
     if ( listenSock.listen() != ETH_OK ){
-        printf("Listen Error.\r\n") ;
+        DBGF("Listen Error.\r\n") ;
         return -1 ;
     }
     return 0;
@@ -32,13 +41,13 @@
 //Listner Event
 void onServerListnerEvent(TCPSocketEvent e)
 {
-    printf("server ---IN TCPSocketEvent ---\r\n");
+    DBGF("server ---IN TCPSocketEvent ---\r\n");
     
     if ( e == TCPSOCKET_ACCEPT ){
-        printf("Listening: TCP Socket Accepted\r\n");
+        DBGF("Listening: TCP Socket Accepted\r\n");
         
         if ( listenSock.accept(&client, &recieveSock) != TCPSOCKET_OK ) {
-            printf("onTcpSocketEvent Error \r\n");
+            DBGF("onTcpSocketEvent Error \r\n");
             return; 
         }
 
@@ -46,75 +55,85 @@
         
         //Get Client Side IP Address
         inCommingIp = client.getIp();
-        printf("Controler IP Address is [%d.%d.%d.%d].\r\n", inCommingIp[0], inCommingIp[1], inCommingIp[2], inCommingIp[3]);
+        DBGV("Controler IP Address is [%d.%d.%d.%d].\r\n", inCommingIp[0], inCommingIp[1], inCommingIp[2], inCommingIp[3]);
     }
 
-    printf("server --- OUT TCPSocketEvent ---\r\n\r\n") ;
+    DBGF("server --- OUT TCPSocketEvent ---\r\n\r\n") ;
  }
 
 void onServerRecievetEvent(TCPSocketEvent e)
 {
-    printf("server --- IN ConnectEvent ---\r\n");
+    DBGF("server --- IN ConnectEvent ---\r\n");
     
     
     switch(e)
     {
         case TCPSOCKET_CONNECTED:
-            printf("Connected to host.\r\n") ;
+            DBGF("Connected to host.\r\n") ;
             break;
             
         case TCPSOCKET_WRITEABLE:
-            printf("Can write data to buf.\r\n");
+            DBGF("Can write data to buf.\r\n");
             break;
             
         case TCPSOCKET_READABLE:
-            printf("Data in buf.\r\n");            
-            char buf[128] ;
-            while ( int len = recieveSock->recv(buf,sizeof(buf)) ) {
+            DBGF("Data in buf.\r\n");  
+                      
+            ledEther();
+            
+            Payload pl;
+            initPayload(&pl);
+            
+            while ( int len = recieveSock->recv((char*)&pl,256) ) {
                 
-                int err =tcpSend(buf, len);
-
-                recieveDump(buf,len);
+                //raw data dump
+               // dumpPayload(&payload); 
+                
+                networkToPayload(&pl);
+                 
+                netRouting(&pl);
+                
             }
+            ;
             break;
             
         case TCPSOCKET_CONTIMEOUT:
-            printf("Connection timed out.\r\n");
+            DBGF("Connection timed out.\r\n");
             break ;
             
         case TCPSOCKET_CONRST:
-            printf("Connection was reset by remote host.\r\n");
+            DBGF("Connection was reset by remote host.\r\n");
             break ;
             
         case TCPSOCKET_CONABRT:
-            printf("Connection was aborted.\r\n") ; 
+            DBGF("Connection was aborted.\r\n") ; 
             break ;
             
         case TCPSOCKET_ERROR:
-            printf("Unknown error.\r\n") ;
+            DBGF("Unknown error.\r\n") ;
             break ;
             
          case TCPSOCKET_DISCONNECTED:
-            printf("Tcp Socket Disconnected\r\n") ;
+            DBGF("Tcp Socket Disconnected\r\n") ;
             recieveSock->close() ;
             break;   
     }
-    printf("--- OUT ConnectEvent ---\r\n\r\n");
+    DBGF("--- OUT ConnectEvent ---\r\n\r\n");
 }
 
 void recieveDump(char *data , int length){
-     printf("size = %d\n -- -id\n",length);
+     DBGV("size = %d\n -- -id\n",length);
      
      for(int i=0;i<16;i++) printf("%d:%0x ",i,data[i]);
-     printf("\n--- data\n");
+     DBGF("\n--- data\n");
      
      int count=0;
      for(int i=0;i<(length-16);i++){
-      printf("%02d:%02x ",i,data[16+i]);
+      DBGV("%02d:%02x ",i,data[16+i]);
       if( count==15 ) {count=0; printf("\n");}
       else count++;
      }
      
-     printf("\n---frame end\n");
+     DBGF("\n---frame end\n");
 }
 

diff -r 432b571e11a3 -r 6e61ee662fd3 types.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/types.h	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* File Information                                                           */
+/*----------------------------------------------------------------------------*/
+/* Name       : types.h                                                       */
+/* Type       : C Programming Language Header                                 */
+/*----------------------------------------------------------------------------*/
+/*----------------------------------------------------------------------------*/
+
+#ifndef __TYPES_H__
+#define __TYPES_H__
+
+#include "stdint.h"
+/*
+typedef char                    int8_t;
+typedef unsigned    char        uint8_t;
+typedef signed      short       int16_t;
+typedef unsigned    short       uint16_t;
+typedef signed      int         int32_t;
+typedef unsigned    int         uint32_t;
+typedef signed      long long   int64_t;
+typedef unsigned    long long   uint64_t;
+*/
+//typedef bool                bool_t;
+typedef enum{TRUE, FALSE} bool_t;
+
+//=========================================================================
+//    byte bit access
+//=========================================================================
+typedef union{                    //    BYTE/NIBBLE/BIT access
+    uint8_t byte;                //    Byte access
+    struct{                        //    Nibble access
+        uint8_t lo : 4;        //        lower(Bit0 - 3)
+        uint8_t hi : 4;        //        upper(Bit4 - 7)
+    }nibble;
+    struct{                        //    Bit access
+        uint8_t b0 : 1;        //        Bit0
+        uint8_t b1 : 1;        //        Bit1
+        uint8_t b2 : 1;        //        Bit2
+        uint8_t b3 : 1;        //        Bit3
+        uint8_t b4 : 1;        //        Bit4
+        uint8_t b5 : 1;        //        Bit5
+        uint8_t b6 : 1;        //        Bit6
+        uint8_t b7 : 1;        //        Bit7
+    }bits;
+}byte_t;
+
+//=========================================================================
+//    word bit access
+//=========================================================================
+typedef union{                    //    WORD/BYTE/NIBBLE/BIT access
+    uint16_t word;                //    Word access
+    struct{                        //    Byte access
+        uint8_t b0;            //        upper byte
+        uint8_t b1;            //        lower byte
+    }byte;
+    struct    {                    //    Nibble access
+        uint8_t n0 : 4;        //        lower byte low(Bit 0 -  3)
+        uint8_t n1 : 4;        //        lower byte up (Bit 4 -  7)
+        uint8_t n2 : 4;        //        upper byte low(Bit 8 - 11)
+        uint8_t n3 : 4;        //        upper byte up (Bit12 - 15)
+    }nibble;
+    struct{                        //    Bit acces
+        uint8_t b0 : 1;        //        Bit0
+        uint8_t b1 : 1;        //        Bit1
+        uint8_t b2 : 1;        //        Bit2
+        uint8_t b3 : 1;        //        Bit3
+        uint8_t b4 : 1;        //        Bit4
+        uint8_t b5 : 1;        //        Bit5
+        uint8_t b6 : 1;        //        Bit6
+        uint8_t b7 : 1;        //        Bit7
+        uint8_t b8 : 1;        //        Bit8
+        uint8_t b9 : 1;        //        Bit9
+        uint8_t b10: 1;        //        Bit10
+        uint8_t b11: 1;        //        Bit11
+        uint8_t b12: 1;        //        Bit12
+        uint8_t b13: 1;        //        Bit13
+        uint8_t b14: 1;        //        Bit14
+        uint8_t b15: 1;        //        Bit15
+    }bits;
+}word_t;
+
+
+//=========================================================================
+//    ascii code
+//=========================================================================
+#define Z_NUL (0x00)
+#define Z_SOH (0x01)
+#define Z_STX (0x02)
+#define Z_ETX (0x03)
+#define Z_EOT (0x04)
+#define Z_ENQ (0x05)
+#define Z_ACK (0x06)
+#define Z_BEL (0x07)
+
+#define Z_BS  (0x08)
+#define Z_HT  (0x09)
+#define Z_LF  (0x0A)
+#define Z_HM  (0x0B)
+#define Z_FF  (0x0C)
+#define Z_CR  (0x0D)
+#define Z_SO  (0x0E)
+#define Z_SI  (0x0F)
+
+#define Z_DLE (0x10)
+#define Z_DC1 (0x11)
+#define Z_DC2 (0x12)
+#define Z_DC3 (0x13)
+#define Z_DC4 (0x14)
+#define Z_NAK (0x15)
+#define Z_SYN (0x16)
+#define Z_ETB (0x17)
+
+
+#endif    /* __TYPES_H__*/
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 util.cpp

diff -r 432b571e11a3 -r 6e61ee662fd3 xbee_lib.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbee_lib.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "types.h"
+#include "config.h"
+#include "XBee.h"
+#include "xbee_lib.h"
+
+#include "leds.h"
+
+XBee xbee(p13, p14);
+ZBRxResponse zbRx = ZBRxResponse();
+
+void xbeeInit(void)
+{
+    xbee.begin(9800);
+}
+
+void xbeeSend(uint32_t addr , Payload *_payload)
+{
+    ledXBee();
+    
+    XBeeAddress64 deviceAdr = XBeeAddress64(0x0013a200, addr);
+    
+    uint16_t length = sizeof(Payload);
+    _payload->size = length;
+    uint8_t tmp[length];
+    
+    memcpy(tmp , (uint8_t*)_payload , length);
+    
+    payloadToNetwork((Payload*)tmp);
+    ZBTxRequest zbTx = ZBTxRequest(deviceAdr , tmp , length );
+    
+    xbee.send(zbTx);
+    DBGF("+++++ xbee send!!\r\n");
+    
+ 
+}
+
+void xbeeReadPacket(void)
+{
+    xbee.readPacket();
+}
+bool isXbeeAvaiable(void)
+{
+   return xbee.getResponse().isAvailable();
+}
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 xbee_lib.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbee_lib.h	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,13 @@
+#ifndef _XBEE_LIB_
+#define _XBEE_LIB_
+
+#include "types.h"
+#include "data_models.h"
+
+void xbeeInit(void);
+void xbeeSend( uint32_t addr , Payload *_payload );
+
+void xbeeReadPacket(void);
+bool isXbeeAvaiable(void);
+
+#endif
\ No newline at end of file

diff -r 432b571e11a3 -r 6e61ee662fd3 xbee_rec_route.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbee_rec_route.cpp	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,96 @@
+#include "xbee_rec_route.h"
+#include "config.h"
+#include "XBee.h"
+
+#include "types.h"
+
+#include "xbee_lib.h"
+#include "tcp_client.h"
+#include "leds.h"
+
+extern XBee xbee;
+extern ZBRxResponse zbRx;
+
+
+void xbeeRecieveRouting(void)
+{
+
+     xbeeReadPacket();
+    
+   
+        if (isXbeeAvaiable()) {
+            
+            
+    
+            DBGF("xbee aviable!\r\n");
+        
+            if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
+                
+                ledXBee();
+                
+                xbee.getResponse().getZBRxResponse(zbRx);
+                
+                Payload payload;
+
+                uint16_t length = (unsigned char)zbRx.getData()[0];
+                length =(length<<8) + (unsigned char)zbRx.getData()[1];
+                
+                DBGV("length=%04X\r\n",length);
+                
+                memcpy(&payload, (unsigned char *)zbRx.getData(), length);
+
+                networkToPayload(&payload);
+               
+                routing(&payload);
+                /*
+                printf("xbee recieve!! size:%d\r\n",length);
+                
+                printf("---------dump end\r\n");
+                */
+                
+                
+           
+            }
+        //    printf("\r\n");
+        }
+    
+    
+}
+
+void routing(Payload *_payload)
+{
+//     dumpPayload(_payload);
+    switch(_payload->message.command)
+    {
+        case SEND:
+        {
+            _payload->message.command=ACK;
+        //    xbeeSend(0x4086B0D5,_payload);
+            DBGF("*******  send!  *******\r\n");
+        }
+        break;
+        
+         case RECIEVE:
+        {
+            DBGF("******  recieve!  *******\r\n");
+        }
+        break;
+        
+         case PING:
+        {   
+            _payload->message.command=ACK;
+       //     xbeeSend(0x4086B0D5,_payload);
+            tcpSendPayload(_payload);
+            DBGF("*******  ping!  **************\r\n");
+        }
+        break;
+        
+         case ACK:
+        {   
+            tcpSendPayload(_payload);
+            DBGF("*******  ACK!  **************\r\n");
+        }
+        break;
+    }
+
+}

diff -r 432b571e11a3 -r 6e61ee662fd3 xbee_rec_route.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbee_rec_route.h	Thu Feb 23 02:38:05 2012 +0000
@@ -0,0 +1,8 @@
+#ifndef _XBEE_ROUTING_
+#define _XBEE_ROUTING_
+#include "data_models.h"
+
+void xbeeRecieveRouting(void); 
+void routing(Payload *_payload);
+
+#endif
\ No newline at end of file