#include "../layers/physical/serial_connect.h"#include "../debug/debug.h"#include "../layers/network/packet.h"#include <stdio.h>   /* Standard input/output definitions */#include <string.h>  /* String function definitions */#include <unistd.h>  /* UNIX standard function definitions */#include <fcntl.h>   /* File control definitions */#include <errno.h>   /* Error number definitions */#include <termios.h> /* POSIX terminal control definitions */#include <sys/types.h>#include <sys/socket.h>#include <netinet/in.h>#include <netdb.h>#include <pthread.h>/******************************************************************* * To run this program, I use argv[1] as the serial port, so you should run  * this program like: *   ptest /dev/tts/2 *******************************************************************/#define MICA1_BAUDRATE B19200		/* MICA1 baudrate */#define MICA2_BAUDRATE B57600		/* MICA2 baudrate */#define DEFAULT_BAUDRATE B57600		/* Default is MICA2 */char *serial_port;int sfd,flag=0;char mote = 2;int sockfd, portno;struct sockaddr_in serv_addr;struct hostent *server;/* Open serial channel to mote */ void open_serial() {  struct termios tio;  sfd = open(serial_port, O_RDWR|O_NOCTTY);  if (sfd < 0) {    fprintf(stderr,"Cannot open serial device %s\n", serial_port);    exit(-1);  }  /* Serial port setting */  bzero(&tio, sizeof(tio));  tio.c_iflag &= ~(IGNPAR | BRKINT | PARMRK | ISTRIP                    | INLCR | IGNCR | ICRNL | IXON);    tio.c_cflag &= ~(CSIZE | PARENB);  if (mote == 1)    tio.c_cflag |= MICA1_BAUDRATE | CS8 | CLOCAL | CREAD;  else if (mote == 2)    tio.c_cflag |= MICA2_BAUDRATE | CS8 | CLOCAL | CREAD;  else    tio.c_cflag |= DEFAULT_BAUDRATE | CS8 | CLOCAL | CREAD;  /* Raw output_file */  tio.c_oflag &= ~OPOST;  tio.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN);    /* Flush buffer; parameters take effect immediately */  tcflush(sfd, TCIFLUSH);  tcsetattr(sfd, TCSANOW, &tio);  /* Enable non-blocking IO */  fcntl(sfd, F_SETFL, O_NONBLOCK);}/* Display error messages */void error(char *msg){    perror(msg);    exit(0);}/* The server thread which listen to any packet recieved by WiFi card *//* The server IP Address is assumed to be : 10.1.1.3                  *//* The server port number is : 8888                                   */void *server_thread(void *t){     int sockfd, newsockfd, portno, clilen;     struct sockaddr_in serv_addr, cli_addr;     int n,i;     networkPkt p,p1;          sockfd = socket(AF_INET, SOCK_STREAM, 0);     if (sockfd < 0)         error("ERROR opening socket");     bzero((char *) &serv_addr, sizeof(serv_addr));     portno = 8888;     serv_addr.sin_family = AF_INET;     serv_addr.sin_addr.s_addr = INADDR_ANY;     serv_addr.sin_port = htons(portno);     if (bind(sockfd, (struct sockaddr *) &serv_addr,              sizeof(serv_addr)) < 0)               error("ERROR on binding");     listen(sockfd,5);     clilen = sizeof(cli_addr);     newsockfd = accept(sockfd,                  (struct sockaddr *) &cli_addr,                  &clilen);     if (newsockfd < 0)           error("ERROR on accept");     while(1)       {     n = read(newsockfd,&p,sizeof(p));     if (n < 0) error("ERROR reading from socket");     else if(n > 0)       {     p1.hdr.address = 0xffff;     p1.hdr.port = 0x0a;     p1.hdr.group = 0x7d;     p1.hdr.length = 9;     p1.data[0] = p.data[0];     p1.data[1] = p.data[1];     p1.data[2] = p.data[2];     p1.data[3] = p.data[3];     p1.data[4] = p.data[4];     p1.data[5] = p.data[5];     p1.data[6] = p.data[6];     p1.data[7] = p.data[7];     p1.data[8] = p.data[8];     if (writeNetworkPkt(sfd, &p1) != SUCCESS) {    }    else {       }       }     }    pthread_exit(NULL);}/* The client will send a packet to the server in other stargate with IP Address: 10.1.1.2 *//*void client(networkPkt *p){  int n;  networkPkt p1;     p1.hdr.address = 0xffff;     p1.hdr.port = 0x0a;     p1.hdr.group = 0x7d;     p1.hdr.length = 9;     p1.data[0] = p->data[0];     p1.data[1] = p->data[1];     p1.data[2] = p->data[2];     p1.data[3] = p->data[3];     p1.data[4] = p->data[4];     p1.data[5] = p->data[5];     p1.data[6] = p->data[6];     p1.data[7] = 9;     p1.data[8] = p->data[8];    if(flag == 0)      {	flag = 1;    portno = 8888;    sockfd = socket(AF_INET, SOCK_STREAM, 0);    if (sockfd < 0)         error("ERROR opening socket");    server = gethostbyname("10.1.1.2");    if (server == NULL) {        fprintf(stderr,"ERROR, no such host\n");        exit(0);    }    bzero((char *) &serv_addr, sizeof(serv_addr));    serv_addr.sin_family = AF_INET;    bcopy((char *)server->h_addr,          (char *)&serv_addr.sin_addr.s_addr,         server->h_length);    serv_addr.sin_port = htons(portno);    if (connect(sockfd,&serv_addr,sizeof(serv_addr)) < 0)         error("ERROR connecting");      }    n = write(sockfd,&p1,sizeof(p1));    if (n < 0)          error("ERROR writing to socket");}*/int main(int argc, char *argv[]) {  //int sfd;  networkPkt p;  frame f;  int insync = 0;  char temp = '\0';  int i;  int rc,t=0;  pthread_t threads;    setupDebug(DBG_ALL, CRITICAL);  serial_port=argv[1];  open_serial();// run the server thread   rc = pthread_create(&threads, NULL, server_thread, (void *)t);  if (rc){           printf("ERROR; return code from pthread_create() is %d\n", rc);           exit(-1);  	 }  while(1)  // wait for any packet recieved by the serial port via the radio channel of mote  {      if (readNetworkPkt(sfd, &p) != SUCCESS)      {       printf("COULD NOT READ PACKET!!!!\n");     }     else      {/*       if((p.data[7] != 9)&&(p.data[6] == 1)&&(p.data[2] == 4))  // if the packet is not from mote in stargate										    // and the packet is RREP 										    // and the packet is recieved from the original destination 	  {            client(&p);	  }       else if(p.data[6] == 5)  // if the packet is the routing table	 {           printf("===============================================\n");	   printf("| The Routing Table is:                       |\n");           printf("===============================================\n");           printf("| Destination | Next Hop | Hop Count          |\n");           printf("|---------------------------------------------|\n");*/           printPacket(DBG_USR, CRITICAL, stdout, &p);//           printf("===============================================\n");//	 }     }  }     closeSerialPort(sfd);  return 0;}