RF22
RF22Mesh.h
00001 // RF22Mesh.h
00002 //
00003 // Author: Mike McCauley (mikem@open.com.au)
00004 // Copyright (C) 2011 Mike McCauley
00005 // $Id: RF22Mesh.h,v 1.3 2011/02/15 04:51:59 mikem Exp $
00006 
00007 #ifndef RF22Mesh_h
00008 #define RF22Mesh_h
00009 
00010 #include <RF22Router.h>
00011 
00012 // Types of RF22Mesh message, used to set msgType in the RF22MeshHeader
00013 #define RF22_MESH_MESSAGE_TYPE_APPLICATION                    0
00014 #define RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST        1
00015 #define RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE       2
00016 #define RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE                  3
00017 
00018 /////////////////////////////////////////////////////////////////////
00019 /// \class RF22Mesh RF22Mesh.h <RF22Mesh.h>
00020 /// \brief RF22 subclass for sending addressed, optionally acknowledged datagrams
00021 /// multi-hop routed across a network, with automatic route discovery
00022 ///
00023 /// Extends RF22Router to add automatic route discovery within a mesh of adjacent nodes, 
00024 /// and route signalling.
00025 ///
00026 /// Unlike RF22Router, RF22Mesh can be used in networks where the network topology is fluid, or unknown, 
00027 /// or if nodes can mode around or go in or out of service. When a node wants to send a 
00028 /// message to another node, it will automcatically discover a route to the destaintion node and use it. 
00029 /// If the route becomes unavailable, a new route will be discovered.
00030 ///
00031 /// \par Route Discovery
00032 ///
00033 /// When a RF22Mesh mesh node is initialised, it doe not know any routes to any other nodes 
00034 /// (see RF22Router for details on route and the routing table).
00035 /// When you attempt to send a message with sendtoWait, will first check to see if there is a route to the 
00036 /// destinastion node in the routing tabl;e. If not, it wil initialite 'Route Discovery'.
00037 /// When a node needs to discover a route to another node, it broadcasts MeshRouteDiscoveryMessage 
00038 /// with a message type of RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST. 
00039 /// Any node that receives such a request checks to see if it is a request for a route to itself
00040 /// (in which case it makes a unicast reply to the originating node with a 
00041 /// MeshRouteDiscoveryMessage 
00042 /// with a message type of RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE) 
00043 /// otherwise it rebroadcasts the request, after adding itself to the list of nodes visited so 
00044 /// far by the request.
00045 ///
00046 /// If a node receives a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST that already has itself 
00047 /// listed in the visited nodes, it knows it has already seen and rebroadcast this request, 
00048 /// and threfore ignores it. This prevents broadcast storms.
00049 /// When a node receives a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST it can use the list of 
00050 /// nodes aready visited to deduce routes back towards the originating (requesting node). 
00051 /// This also means that when the destination node of the request is reached, it (and all 
00052 /// the previous nodes the request visited) will have a route back to the originating node. 
00053 /// This means the unicast RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE 
00054 /// reply will be routed successfully back to the original route requester.
00055 ///
00056 /// The RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE sent back by the destination node contains 
00057 /// the full list of nodes that were visited on the way to the destination.
00058 /// Therefore, intermediate nodes that route the reply back towards the originating node can use the 
00059 /// node list in the reply to deduce routes to all the nodes between it and the destination node.
00060 ///
00061 /// Therefore, RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST and 
00062 /// RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE together ensure the original requester and all 
00063 /// the intermediate nodes know how to route to the source and destination nodes and every node along the path.
00064 ///
00065 /// Note that there is a race condition here that can effect routing on multipath routes. For example, 
00066 /// if the route to the destination can traverse several paths, last reply from the destination 
00067 /// will be the one used.
00068 ///
00069 /// \par Route Failure
00070 ///
00071 /// RF22Router (and therefore RF22Mesh) use reliable hop-to-hop delivery of messages using 
00072 /// hop-to-hop acknowledgements, but not end-to-end acknowledgements. When sendtoWait() returns, 
00073 /// you know that the message has been delivered to the next hop, but not if it is (or even if it can be) 
00074 /// delivered to the destination node. If during the course of hop-to-hop routing of a message, 
00075 /// one of the intermediate RF22Mesh nodes finds it cannot deliver to the next hop 
00076 /// (say due to a lost route or no acknwledgement from the next hop), it replies to the 
00077 /// originator with a unicast MeshRouteFailureMessage RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE message. 
00078 /// Intermediate nodes (on the way beack to the originator)
00079 /// and the originating node use this message to delete the route to the destination 
00080 /// node of the original message. This means that if a route to a destination becomes unusable 
00081 /// (either because an intermediate node is off the air, or has moved out of range) a new route 
00082 /// will be established the next time a message is to be sent.
00083 ///
00084 /// \par Message Format
00085 ///
00086 /// RF22Mesh uses a number of message formats layered on top of RF22Router:
00087 /// - MeshApplicationMessage (message type RF22_MESH_MESSAGE_TYPE_APPLICATION). 
00088 ///   Carries an application layer message for the caller of RF22Mesh
00089 /// - MeshRouteDiscoveryMessage (message types RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST 
00090 ///   and RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE). Carries Route Discovery messages 
00091 ///   (broadcast) and replies (unicast).
00092 /// - MeshRouteFailureMessage (message type RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE) Informs nodes of 
00093 ///   route failures.
00094 ///
00095 /// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers 
00096 /// (see http://www.hoperf.com)
00097 class RF22Mesh : public RF22Router
00098 {
00099 public:
00100 
00101     /// The maximum length permitted for the application payload data in a RF22Mesh message
00102     #define RF22_MESH_MAX_MESSAGE_LEN (RF22_ROUTER_MAX_MESSAGE_LEN - sizeof(RF22Mesh::MeshMessageHeader))
00103 
00104     /// Structure of the basic RF22Mesh header.
00105     typedef struct
00106     {
00107         uint8_t             msgType;  ///< Type of RF22Mesh message, one of RF22_MESH_MESSAGE_TYPE_*
00108     } MeshMessageHeader;
00109 
00110     /// Signals an application layer message for the caller of RF22Mesh
00111     typedef struct
00112     {
00113         MeshMessageHeader   header; ///< msgType = RF22_MESH_MESSAGE_TYPE_APPLICATION 
00114         uint8_t             data[RF22_MESH_MAX_MESSAGE_LEN]; ///< Applicaiotn layer payload data
00115     } MeshApplicationMessage;
00116 
00117     /// Signals a route discovery request or reply
00118     /// At present only supports physical dest addresses of length 1 octet
00119     typedef struct
00120     {
00121         MeshMessageHeader   header; ///< msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_*
00122         uint8_t             destlen; ///< Reserved. Must be 1.g
00123         uint8_t             dest;   ///< The address of the destination node whose route is being sought
00124         uint8_t             route[RF22_MESH_MAX_MESSAGE_LEN - 1]; ///< List of node addresses visited so far. Length is implcit
00125     } MeshRouteDiscoveryMessage;
00126 
00127     /// Signals a route failure
00128     typedef struct
00129     {
00130         MeshMessageHeader   header; ///< msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE
00131         uint8_t             dest; ///< The address of the destination towards which the route failed
00132     } MeshRouteFailureMessage;
00133 
00134     /// Constructor. 
00135     /// \param[in] thisAddress The address to assign to this node. Defaults to 0
00136     /// \param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before
00137     /// accessing it. Defaults to the normal SS pin for your Arduino (D10 for Diecimila, Uno etc, D53 for Mega)
00138     /// \param[in] interrupt The interrupt number to use. Default is interrupt 0 (Arduino input pin 2)
00139     RF22Mesh(uint8_t thisAddress = 0, uint8_t slaveSelectPin = SS, uint8_t interrupt = 0);
00140 
00141     /// Sends a message to the destination node. Initialises the RF22Router message header 
00142     /// (the SOURCE address is set to the address of this node, HOPS to 0) and calls 
00143     /// route() which looks up in the routing table the next hop to deliver to.
00144     /// If no route is known, initiates route discovery and waits for a reply.
00145     /// Then sends the message to the next hop
00146     /// Then waits for an acknowledgement from the next hop 
00147     /// (but not from the destination node (if that is different).
00148     /// \param [in] buf The application message data
00149     /// \param [in] len Number of octets in the application message data. 0 is permitted
00150     /// \param [in] dest The destination node address
00151     /// \return The result code:
00152     ///         - RF22_ROUTER_ERROR_NONE Message was routed and deliverd to the next hop 
00153     ///           (not necessarily to the final dest address)
00154     ///         - RF22_ROUTER_ERROR_NO_ROUTE There was no route for dest in the local routing table
00155     ///         - RF22_ROUTER_ERROR_UNABLE_TO_DELIVER Noyt able to deliver to the next hop 
00156     ///           (usually because it dod not acknowledge due to being off the air or out of range
00157     uint8_t sendtoWait(uint8_t* buf, uint8_t len, uint8_t dest);
00158 
00159     /// Starts the receiver if it is not running already.
00160     /// If there is a valid application layer message available for this node (or RF22_BROADCAST_ADDRESS), 
00161     /// send an acknowledgement to the last hop
00162     /// address (blocking until this is complete), then copy the application message payload data
00163     /// to buf and return true
00164     /// else return false. 
00165     /// If a message is copied, *len is set to the length..
00166     /// If from is not NULL, the originator SOURCE address is placed in *source.
00167     /// If to is not NULL, the DEST address is placed in *dest. This might be this nodes address or 
00168     /// RF22_BROADCAST_ADDRESS. 
00169     /// This is the preferred function for getting messages addressed to this node.
00170     /// If the message is not a broadcast, acknowledge to the sender before returning.
00171     /// \param[in] buf Location to copy the received message
00172     /// \param[in,out] len Available space in buf. Set to the actual number of octets copied.
00173     /// \param[in] source If present and not NULL, the referenced uint8_t will be set to the SOURCE address
00174     /// \param[in] dest If present and not NULL, the referenced uint8_t will be set to the DEST address
00175     /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID
00176     /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS
00177     /// (not just those addressed to this node).
00178     /// \return true if a valid message was recvived for this node and copied to buf
00179     boolean recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* source = NULL, uint8_t* dest = NULL, uint8_t* id = NULL, uint8_t* flags = NULL);
00180 
00181     /// Starts the receiver if it is not running already.
00182     /// Similar to recvfromAck(), this will block until either a valid application layer 
00183     /// message available for this node
00184     /// or the timeout expires. 
00185     /// \param[in] buf Location to copy the received message
00186     /// \param[in,out] len Available space in buf. Set to the actual number of octets copied.
00187     /// \param[in] timeout Maximum time to wait in milliseconds
00188     /// \param[in] source If present and not NULL, the referenced uint8_t will be set to the SOURCE address
00189     /// \param[in] dest If present and not NULL, the referenced uint8_t will be set to the DEST address
00190     /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID
00191     /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS
00192     /// (not just those addressed to this node).
00193     /// \return true if a valid message was copied to buf
00194     boolean recvfromAckTimeout(uint8_t* buf, uint8_t* len,  uint16_t timeout, uint8_t* source = NULL, uint8_t* dest = NULL, uint8_t* id = NULL, uint8_t* flags = NULL);
00195 
00196 protected:
00197 
00198     /// Internal function that inspects messages being received and adjusts the routing table if necessary.
00199     /// Called by recvfromAck() immediately after it gets the message from RF22ReliableDatagram
00200     /// \param [in] message Pointer to the RF22Router message that was received.
00201     /// \param [in] messageLen Length of message in octets
00202     virtual void peekAtMessage(RoutedMessage* message, uint8_t messageLen);
00203 
00204     /// Internal function that inspects messages being received and adjusts the routing table if necessary.
00205     /// This is virtual, which lets subclasses override or intercept the route() function.
00206     /// Called by sendtoWait after the message header has been filled in.
00207     /// \param [in] message Pointer to the RF22Router message to be sent.
00208     /// \param [in] messageLen Length of message in octets
00209     virtual uint8_t route(RoutedMessage* message, uint8_t messageLen);
00210 
00211     /// Try to resolve a route for the given address. Blocks while discovering the route
00212     /// which may take up to 4000 msec.
00213     /// Virtual so subclasses can override.
00214     /// \param [in] address The physical addres to resolve
00215     /// \return true if the address was resolved and added to the local routing table
00216     virtual boolean doArp(uint8_t address);
00217 
00218     /// Tests if the given address of length addresslen is indentical to the
00219     /// physical addres of this node.
00220     /// RF22Mesh always ikmplements p[hysical addresses as the 1 octet address of the node
00221     /// given by _thisAddress
00222     /// Called by recvfromAck() to test whether a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST
00223     /// is for this node.
00224     /// Subclasses may want to override to implemnt mode complicated or longer physical addresses
00225     /// \param [in] address Address of the pyysical addres being tested
00226     /// \param [in] addresslen Lengthof the address in bytes
00227     /// \return true if the physical address of this node is identical to address
00228     virtual boolean isPhysicalAddress(uint8_t* address, uint8_t addresslen);
00229 
00230 private:
00231     /// Temporary mesage buffer
00232     static uint8_t _tmpMessage[RF22_ROUTER_MAX_MESSAGE_LEN];
00233 
00234 };
00235 
00236 #endif
00237