Added relay role, and tweaked base to work with it
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@ -67,6 +67,41 @@ const node_info topology[] =
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};
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};
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const short num_nodes = sizeof(topology)/sizeof(node_info);
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const short num_nodes = sizeof(topology)/sizeof(node_info);
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/**
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* Find where to send a message to reach the target node
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*
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* Given the @p target_node, find the child or parent of
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* the @p current_node which will relay messages for the target.
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*
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* This is needed in a multi-hop system where the @p current_node
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* is not adjacent to the @p target_node in the topology
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*/
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uint8_t find_node( uint8_t current_node, uint8_t target_node )
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{
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uint8_t out_node = target_node;
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bool found_target = false;
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while ( ! found_target )
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{
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if ( topology[out_node].parent_node == current_node )
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{
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found_target = true;
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}
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else
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{
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out_node = topology[out_node].parent_node;
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// If we've made it all the way back to the base without finding
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// common lineage with the to_node, we will just send it to our parent
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if ( out_node == 0 || out_node == -1 )
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{
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out_node = topology[current_node].parent_node;
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found_target = true;
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}
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}
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}
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return out_node;
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}
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//
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//
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// Role management
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// Role management
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//
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//
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@ -189,24 +224,30 @@ void setup(void)
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// Open pipes to other nodes for communication
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// Open pipes to other nodes for communication
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//
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//
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// First listening pipe is #1
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uint8_t current_pipe = 1;
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// Each leaf node has a talking pipe that it will ping into, and a listening
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// Each leaf node has a talking pipe that it will ping into, and a listening
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// pipe that it will listen for the pong. Relay nodes also do this.
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// pipe that it will listen for the pong. Relay nodes also do this.
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if ( role == role_leaf || role == role_relay )
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if ( role == role_leaf || role == role_relay )
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{
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{
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// Write on our talking pipe
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// Write on our talking pipe
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radio.openWritingPipe(topology[node_address].talking_pipe);
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radio.openWritingPipe(topology[node_address].talking_pipe);
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}
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// Relay nodes have a special function. They open their listening pipe on pipe
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// #0. This will get over-written every time we open a writing pipe. So
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// Remember to re-open the reading pipe whenever we start to listen again.
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if ( role == role_relay )
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{
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// Listen on our listening pipe
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// Listen on our listening pipe
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radio.openReadingPipe(current_pipe++,topology[node_address].listening_pipe);
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radio.openReadingPipe(0,topology[node_address].listening_pipe);
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}
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}
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// The base and relay nodes listens on all their children node's talking pipes
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// The base and relay nodes listens on all their children node's talking pipes
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// and sends the pong back on the child node's specific listening pipe.
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// and sends the pong back on the child node's specific listening pipe.
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if ( role == role_base || role == role_relay )
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if ( role == role_base || role == role_relay )
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{
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{
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// First child listening pipe is #1
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uint8_t current_pipe = 1;
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// The topology table tells us who our children are
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// The topology table tells us who our children are
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int i = num_nodes;
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int i = num_nodes;
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while (i--)
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while (i--)
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@ -234,7 +275,7 @@ void setup(void)
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if ( role == role_invalid )
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if ( role == role_invalid )
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{
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{
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printf("\n\r*** NO NODE ADDRESS ASSIGNED *** Send 1 through 6 to assign an address\n\r");
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printf("\n\r*** NO NODE ADDRESS ASSIGNED *** Send 0 through 5 to assign an address\n\r");
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}
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}
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}
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}
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@ -313,11 +354,16 @@ void loop(void)
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// Construct the return payload (pong)
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// Construct the return payload (pong)
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payload_t pong(node_address,ping.from_node,ping.time);
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payload_t pong(node_address,ping.from_node,ping.time);
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// Find the correct pipe for writing. We can only talk on one of our
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// direct children's listening pipes. If the to_node is further out,
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// it will get relayed.
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uint8_t out_node = find_node(node_address,pong.to_node);
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// Open the correct pipe for writing
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// Open the correct pipe for writing
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radio.openWritingPipe(topology[pong.to_node].listening_pipe);
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radio.openWritingPipe(topology[out_node].listening_pipe);
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// Retain the low 2 bytes to identify the pipe for the spew
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// Retain the low 2 bytes to identify the pipe for the spew
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uint16_t pipe_id = topology[pong.to_node].listening_pipe & 0xffff;
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uint16_t pipe_id = topology[out_node].listening_pipe & 0xffff;
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// Send the final one back.
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// Send the final one back.
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radio.write( &pong, sizeof(payload_t) );
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radio.write( &pong, sizeof(payload_t) );
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@ -329,6 +375,76 @@ void loop(void)
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}
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}
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}
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}
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//
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// Relay role. Forward packets to the appropriate destination
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//
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if ( role == role_relay )
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{
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// if there is data ready
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uint8_t pipe_num;
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if ( radio.available(&pipe_num) )
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{
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// Dump the payloads until we've gotten everything
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payload_t payload;
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boolean done = false;
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while (!done)
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{
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// Fetch the payload, and see if this was the last one.
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done = radio.read( &payload, sizeof(payload_t) );
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// Is this for us?
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if ( payload.to_node == node_address )
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{
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// Treat it as a PONG
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payload_printf(" ...PONG",payload);
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printf(" Round-trip delay: %lu\n\r",millis()-payload.time);
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}
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else
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{
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// Relay it
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// Spew it
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payload_printf("RELAY IN",payload);
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printf(" on pipe %u. ",pipe_num);
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// Which pipe should we use to get the message to the "to_node"?
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// We need to find a node who is OUR CHILD that either IS the to_node
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// or has the to_node as one of ITS children. Failing that, we'll just
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// send it back to the parent to deal with.
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uint8_t out_node = find_node(node_address,payload.to_node);
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// First, stop listening so we can talk
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radio.stopListening();
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// If this node is our child, we talk on it's listening pipe.
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uint64_t out_pipe;
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if ( topology[out_node].parent_node == node_address )
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out_pipe = topology[out_node].listening_pipe;
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// Otherwise, it's our parent so we talk on OUR talking pipe
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else
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out_pipe = topology[node_address].talking_pipe;
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// Open the correct pipe for writing.
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radio.openWritingPipe(out_pipe);
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// Send the payload back out
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radio.write( &payload, sizeof(payload_t) );
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// Debug spew
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uint16_t pipe_id = out_pipe & 0xffff;
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printf("OUT on pipe %04x.\n\r",pipe_id);
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}
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}
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// Now, resume listening so we catch the next packets.
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radio.openReadingPipe(0,topology[node_address].listening_pipe);
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radio.startListening();
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}
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}
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//
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//
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// Listen for serial input, which is how we set the address
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// Listen for serial input, which is how we set the address
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//
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//
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