/* *  *   Threaded block read.  *   A seperate thread is started doing block reading, so that main program is not block waiting for data. *    *   Author: Y Cheng  * */#include <stdio.h>#include <stdlib.h>#include <sys/types.h>#include <sys/stat.h>#include <sys/ioctl.h>#include <fcntl.h>#include <pthread.h>#include "tosmac.h"//Structure of arguments to pass to client thread struct ThreadArgs{    int dev;                     };void tosmsg_init(TOS_Msg* pMsg){   pMsg->length = 0;   pMsg->fcfhi = 0;   pMsg->fcflo = 0;   pMsg->dsn = 0;   pMsg->destpan = 0;   pMsg->addr = 0;   pMsg->type = 0;   pMsg->group = 0;   memset(pMsg->data, '\0', TOSH_DATA_LENGTH);   pMsg->strength = 0;   pMsg->lqi = 0;   pMsg->crc = 0;   pMsg->ack = 0;   pMsg->time = 0;}int cc2420_init(){	int ret,tosmac_dev;	// open as blocking mode	tosmac_dev = open(TOSMAC_DEVICE, O_RDWR);	if (tosmac_dev < 0)	{		fprintf(stderr, "Open error: %s\n", TOSMAC_DEVICE);		return 1;	}	//set freq   2405 to 2480	if(ioctl(tosmac_dev, TOSMAC_IOSETFREQ, 2405) < 0)	{		fprintf (stderr, "IOCTL set TOSMAC freq error: %s\n", TOSMAC_DEVICE);		close (tosmac_dev);		return 1;	}	//get frequency	ret = ioctl(tosmac_dev, TOSMAC_IOGETFREQ);	printf("freq is %d\n",ret);	//set channel  11 to 26	if(ioctl(tosmac_dev, TOSMAC_IOSETCHAN, 11) < 0)	{		fprintf (stderr, "IOCTL set TOSMAC channel error: %s\n", TOSMAC_DEVICE);		close (tosmac_dev);		return 1;	}	//set local address	if(ioctl(tosmac_dev, TOSMAC_IOSETADDR, 40) < 0)	{		fprintf (stderr, "IOCTL set TOSMAC address error: %s\n", TOSMAC_DEVICE);		close (tosmac_dev);		return 1;	}	// enable auto ack	ret = ioctl(tosmac_dev, TOSMAC_IODISAUTOACK);	if(ret < 0)	{		fprintf (stderr, "IOCTL enable TOSMAC AutoAck error: %s\n", TOSMAC_DEVICE);		close (tosmac_dev);		return 1;	}	//change max payload size (max value can be set is 116 bytes, change in "tosmacapi.h")	if(ioctl(tosmac_dev, TOSMAC_IOSETMAXDATASIZE, 100) < 0)	{		fprintf (stderr, "IOCTL set TOSMAC max payload size error: %s\n", TOSMAC_DEVICE);		close (tosmac_dev);		return 1;	}	// close device	close (tosmac_dev);	return 0;}void *thread_tosreceive (void * threadArgs){	int nresult,i;		int tos;	TOS_Msg recv_pkt;        pthread_detach(pthread_self());         // Extract file descriptor from argument     	tos = ((struct ThreadArgs *) threadArgs) -> dev;	// Deallocate memory for argument    		free(threadArgs); 	    	while(1){						nresult = read(tos, &recv_pkt, TOSH_DATA_LENGTH);		if(nresult<0)printf("receive error!\n");		else{						printf("Data:--------------------------------------: \n");			for(i = 0; i < recv_pkt.length; i++)			printf("%x ", (unsigned char) recv_pkt.data[i]);			printf("\n");		}	}}int main(){	int nresult;		int tosmac_dev;	pthread_t pt_tosreceive;	TOS_Msg send_pkt;	struct ThreadArgs *threadArgs;   // Pointer to argument structure for thread 	int i = 0,j=0;        unsigned char buf[TOSH_DATA_LENGTH];		cc2420_init();	        tosmac_dev = open(TOSMAC_DEVICE, O_RDWR);	if (tosmac_dev < 0)	{		printf("Open error: \n");		return 1;	}		threadArgs = (struct ThreadArgs *) malloc(sizeof(struct ThreadArgs));	if ( threadArgs== NULL)	printf("malloc() failed\n");	threadArgs -> dev = tosmac_dev;	if(pthread_create(&pt_tosreceive,NULL,thread_tosreceive,(void *) threadArgs)!=0) //create read thread with default parameters	        printf("pthread_create() failed\n");        for(i=0;i<5;i++)buf[i] = i;	tosmsg_init(&send_pkt);	send_pkt.addr = 40;	memcpy(send_pkt.data,buf,5);			send_pkt.length = 5;	while(1)	{		nresult = write(tosmac_dev, (TOS_Msg*)&send_pkt, send_pkt.length);		printf("write out: %d\n",nresult);					usleep(100000);  	}	 	close( tosmac_dev);	return 0;}   // end of main