/*									
 *  PLANT_BASE.c
 *
 *
 *	Author:		Waylon Brunette
 *	Date:		created 8/13/01
 *
 * 	Modified from AM_ROUTE.c
 *
 *=================================================================
 * Header from AM_ROUTE.c
 *=================================================================
 * "Copyright (c) 2000 and The Regents of the University 
 * of California.  All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose, without fee, and without written agreement is
 * hereby granted, provided that the above copyright notice and the following
 * two paragraphs appear in all copies of this software.
 * 
 * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR
 * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
 * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF
 * CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
 *
 * Authors:		Jason Hill
 *
 *================================================================
 *
 *
 *
 */


// this components takes the packets of sensor readings and transfers to the UART.
// it also sends out route update packets

#include "tos.h"
#include "PLANT_BASE.h"

#define MAX_READINGS_IN_PACKET 35         // specifies the size of the arrays that will hold the readings in the data packet

extern const char TOS_LOCAL_ADDRESS;

typedef struct{
  unsigned char reading;
  unsigned char frequency;
} sens_reading;

typedef struct{
  char original_mote_address;
  char send_number;
  char seq_num;
  sens_reading sens_data[MAX_READINGS_IN_PACKET];
} data_msg;

typedef struct{
  char acked_mote_address;
  char msg_type;
  char seq_num;
} ack_msg;

#define TOS_FRAME_TYPE PLANT_BASE_frame
TOS_FRAME_BEGIN(PLANT_BASE_frame) {

  TOS_Msg data;
  TOS_Msg route_buf;		
  TOS_MsgPtr msg;
  char route_pending; // set to 1 if a route packet is pending
  char data_pending;  // set ot 1 if a data packet is pending
}
TOS_FRAME_END(PLANT_BASE_frame);


char TOS_COMMAND(PLANT_BASE_INIT)(){

   //initialize sub components
   TOS_CALL_COMMAND(PLANT_BASE_SUB_INIT)();       // initialize the RFM
   TOS_CALL_COMMAND(PLANT_BASE_SUB_LED_INIT)();
   VAR(msg) = &VAR(route_buf);
   VAR(route_pending) = 0;
   VAR(data_pending) = 0;

   //set beacon rate for route updates to be sent
   TOS_COMMAND(PLANT_BASE_SUB_CLOCK_INIT)(255, 7);
   
   return 1;
}

char TOS_COMMAND(PLANT_BASE_START)(){
  return 1;
}


TOS_MsgPtr TOS_MSG_EVENT(ACK_PACKET)(TOS_MsgPtr msg){
    return msg;
}

// Forward the data packet recieved
TOS_MsgPtr TOS_MSG_EVENT(ROBOT_PACKET)(TOS_MsgPtr msg){
  TOS_MsgPtr tmp;
       
  //send the packet.
  if (VAR(route_pending) == 0){
    if(TOS_CALL_COMMAND(PLANT_BASE_SUB_SEND_MSG)(TOS_UART_ADDR, AM_MSG(ROBOT_PACKET), msg)){
      TOS_CALL_COMMAND(PLANT_BASE_GREEN_TOGGLE)();
      VAR(route_pending) = 1;
      tmp = VAR(msg);
      VAR(msg) = msg;
      return tmp;
    }
  }

  return msg;
}

// Forward the data packet recieved
TOS_MsgPtr TOS_MSG_EVENT(DISTRESS_PACKET)(TOS_MsgPtr msg){
  TOS_MsgPtr tmp;
  
  //send the packet.
  if (VAR(route_pending) == 0){
    if(TOS_CALL_COMMAND(PLANT_BASE_SUB_SEND_MSG)(TOS_UART_ADDR, AM_MSG(DISTRESS_PACKET), msg)){
      TOS_CALL_COMMAND(PLANT_BASE_GREEN_TOGGLE)();
      VAR(route_pending) = 1;
      tmp = VAR(msg);
      VAR(msg) = msg;
      return tmp;
    }
  }

  return msg;
}

TOS_MsgPtr TOS_MSG_EVENT(DATA_PACKET)(TOS_MsgPtr msg){
  TOS_MsgPtr tmp;
  
  //send the packet.
  if (VAR(route_pending) == 0){
    if(TOS_CALL_COMMAND(PLANT_BASE_SUB_SEND_MSG)(TOS_UART_ADDR, AM_MSG(DATA_PACKET), msg)){
      TOS_CALL_COMMAND(PLANT_BASE_GREEN_TOGGLE)();
      VAR(route_pending) = 1;
      tmp = VAR(msg);
      VAR(msg) = msg;
      return tmp;
    }
  }
  
  return msg;
}


// Forward the data packet recieved 
TOS_MsgPtr TOS_MSG_EVENT(PRIORITY_PACKET)(TOS_MsgPtr msg){
  TOS_MsgPtr tmp;      
  
  //send the packet.
  if (VAR(route_pending) == 0){
    if(TOS_CALL_COMMAND(PLANT_BASE_SUB_SEND_MSG)(TOS_UART_ADDR, AM_MSG(PRIORITY_PACKET), msg)){
      TOS_CALL_COMMAND(PLANT_BASE_GREEN_TOGGLE)();
      VAR(route_pending) = 1;
      tmp = VAR(msg);
      VAR(msg) = msg;
      return tmp;
    }
  }
  return msg;
}

// CLOCK EVENT: just around to see if it crashed
void TOS_EVENT(PLANT_BASE_SUB_CLOCK)(){
  
  TOS_CALL_COMMAND(PLANT_BASE_YELLOW_TOGGLE)();
  
}

// after message sent, clear locks
char TOS_EVENT(PLANT_BASE_SEND_DONE)(TOS_MsgPtr data) 
{
  data_msg* packet = (data_msg *) data->data;
  ack_msg* ack = (ack_msg *) VAR(data).data;
  
  if(data == VAR(msg)) 
    {
      VAR(route_pending) = 0;
      
      ack->acked_mote_address = packet->original_mote_address;
      ack->msg_type = data->type;
      ack->seq_num = packet->seq_num;
      
      // send out ACK.
      if (VAR(data_pending) == 0)
	{
	  if(TOS_CALL_COMMAND(PLANT_BASE_SUB_SEND_MSG)(TOS_BCAST_ADDR, AM_MSG(ACK_PACKET), &VAR(data)))
	    {
	      TOS_CALL_COMMAND(PLANT_BASE_RED_TOGGLE)();
	      VAR(data_pending) = 1;
	    }
	}
    }
  else if(data == &VAR(data))
    { 
      VAR(data_pending) = 0;
    }	
  return 1;
}