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Fixed relay writing pipe. Added id to payload. Made Ping timing a consistent gap

This commit is contained in:
maniacbug 2011-05-13 15:09:37 -07:00
parent 2e7ea67093
commit 52ab9e0081
1 changed files with 103 additions and 42 deletions
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145
examples/starping_relay/starping_relay.pde
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@ -143,16 +143,29 @@ struct payload_t
{
uint8_t from_node;
uint8_t to_node;
uint16_t id;
unsigned long time;
static uint16_t next_id;
payload_t(void) {}
payload_t(uint8_t _from, uint8_t _to, const unsigned long& _time): from_node(_from), to_node(_to), time(_time) {}
payload_t(uint8_t _from, uint8_t _to, const unsigned long& _time): from_node(_from), to_node(_to), id(next_id++), time(_time) {}
};
uint16_t payload_t::next_id;
void payload_printf(const char* name, const payload_t& pl)
{
printf("%s Payload from:%u to:%u time:%lu",name,pl.from_node,pl.to_node,pl.time);
printf("%s Payload from:%u to:%u id:%u time:%lu",name,pl.from_node,pl.to_node,pl.id,pl.time);
}
//
// Setup/loop shared statics
//
static unsigned long last_ping_time;
const unsigned long ping_delay = 2000;
void setup(void)
{
//
@ -230,6 +243,9 @@ void setup(void)
{
// Write on our talking pipe
radio.openWritingPipe(topology[node_address].talking_pipe);
// Listen on our listening pipe
radio.openReadingPipe(1,topology[node_address].listening_pipe);
}
// Relay nodes have a special function. They open their listening pipe on pipe
@ -287,43 +303,52 @@ void loop(void)
if ( role == role_leaf )
{
// First, stop listening so we can talk.
radio.stopListening();
// Take the time, and send it to the base. This will block until complete
payload_t ping(node_address,0,millis());
// Is it time to ping again?
unsigned long now = millis();
if ( now - last_ping_time >= ping_delay )
{
last_ping_time = now;
payload_printf("PING",ping);
radio.write( &ping, sizeof(payload_t) );
// First, stop listening so we can talk.
radio.stopListening();
// Take the time, and send it to the base. This will block until complete
payload_t ping(node_address,0,millis());
printf("%lu ",millis());
payload_printf("PING",ping);
bool ok = radio.write( &ping, sizeof(payload_t) );
if (ok)
printf(" ok ");
else
printf(" failed ");
// Now, continue listening
radio.startListening();
// Wait here until we get a response, or timeout (250ms)
unsigned long started_waiting_at = millis();
bool timeout = false;
while ( ! radio.available() && ! timeout )
if (millis() - started_waiting_at > 250 )
timeout = true;
// Describe the results
if ( timeout )
{
printf("Failed, response timed out.\n\r");
}
else
{
// Grab the response, compare, and send to debugging spew
payload_t pong;
radio.read( &pong, sizeof(payload_t) );
// Now, continue listening
radio.startListening();
// Wait here until we get a response, or timeout (250ms)
unsigned long started_waiting_at = millis();
bool timeout = false;
while ( ! radio.available() && ! timeout )
if (millis() - started_waiting_at > 250 )
timeout = true;
// Describe the results
if ( timeout )
{
printf("Failed, response timed out.\n\r");
// Spew it
payload_printf(" ...PONG",pong);
printf(" Round-trip delay: %lu\n\r",millis()-pong.time);
}
}
else
{
// Grab the response, compare, and send to debugging spew
payload_t pong;
radio.read( &pong, sizeof(payload_t) );
// Spew it
payload_printf(" ...PONG",pong);
printf(" Round-trip delay: %lu\n\r",millis()-pong.time);
}
// Try again 1s later
delay(1000);
}
//
@ -345,7 +370,9 @@ void loop(void)
done = radio.read( &ping, sizeof(payload_t) );
// Spew it
printf("%lu ",millis());
payload_printf("PING",ping);
printf(" on pipe %u. ",pipe_num);
}
// First, stop listening so we can talk
@ -366,9 +393,9 @@ void loop(void)
uint16_t pipe_id = topology[out_node].listening_pipe & 0xffff;
// Send the final one back.
radio.write( &pong, sizeof(payload_t) );
bool ok = radio.write( &pong, sizeof(payload_t) );
payload_printf(" ...PONG",pong);
printf(" on pipe %04x.\n\r",pipe_id);
printf(" on pipe %04x %s.\n\r",pipe_id,ok?"ok":"failed");
// Now, resume listening so we catch the next packets.
radio.startListening();
@ -381,6 +408,38 @@ void loop(void)
if ( role == role_relay )
{
#if 1
// Relay role is ALSO a ping sender!!
// Is it time to ping again?
unsigned long now = millis();
if ( now - last_ping_time >= ping_delay )
{
last_ping_time = now;
// First, stop listening so we can talk.
radio.stopListening();
// Write on our talking pipe. The relay has to do this every time, because
// we ALSO use pipe 0 as a listening pipe.
radio.openWritingPipe(topology[node_address].talking_pipe);
// Take the time, and send it to the base. This will block until complete
payload_t ping(node_address,0,millis());
printf("%lu ",millis());
payload_printf(">PING",ping);
bool ok = radio.write( &ping, sizeof(payload_t) );
if (ok)
printf(" ok.\n\r");
else
printf(" failed.\n\r");
// Now, continue listening
radio.openReadingPipe(0,topology[node_address].listening_pipe);
radio.startListening();
}
#endif
// if there is data ready
uint8_t pipe_num;
if ( radio.available(&pipe_num) )
@ -397,7 +456,8 @@ void loop(void)
if ( payload.to_node == node_address )
{
// Treat it as a PONG
payload_printf(" ...PONG",payload);
printf("%lu ",millis());
payload_printf(">PONG",payload);
printf(" Round-trip delay: %lu\n\r",millis()-payload.time);
}
else
@ -405,7 +465,8 @@ void loop(void)
// Relay it
// Spew it
payload_printf("RELAY IN",payload);
printf("%lu ",millis());
payload_printf("RELAY",payload);
printf(" on pipe %u. ",pipe_num);
// Which pipe should we use to get the message to the "to_node"?
@ -430,11 +491,11 @@ void loop(void)
radio.openWritingPipe(out_pipe);
// Send the payload back out
radio.write( &payload, sizeof(payload_t) );
bool ok = radio.write( &payload, sizeof(payload_t) );
// Debug spew
uint16_t pipe_id = out_pipe & 0xffff;
printf("OUT on pipe %04x.\n\r",pipe_id);
printf("OUT on pipe %04x %s.\n\r",pipe_id,ok?"ok":"failed");
}
}