make node routine#0 to be non-blocking before each MESSAGE_TIMEOUT | add node routine#1 to print and propagate/ignore discover requests and messages data

node/main/main.ino

@@ -3,6 +3,8 @@
 #include "packet.h"       // Packet
 #include "xbee_wrapper.h" // WBeeWrapper
 
+#define SEND_TIMEOUT 10000
+
 // Peripherals
 LCDWrapper screen = LCDWrapper(0x20, 16, 2);
 XBeeWrapper xbee = XBeeWrapper();
@@ -10,6 +12,7 @@ XBeeWrapper xbee = XBeeWrapper();
 // ACTUAL DATA
 uint8_t wave_id     = 255; // last wave
 uint8_t dist        = 255; // actual distance
+unsigned long time;
 Packet recv, send;
 
 void setup() {
@@ -21,20 +24,57 @@ void setup() {
 
 	xbee.begin(38400);
 
+	time = millis();
 }
 
 void loop() {
 
-	// 1. ignore if no received data
+	/* [1] If SEND_TIMEOUT reached -> send data */
+	if( millis() - time >= SEND_TIMEOUT ){
+		time = millis();
+		send_data();
+	}
+
+
+	/* [2] Listen for incoming data */
 	if( xbee.receive(recv) != XBWRECV_OK )
 		return;
 
-
 	uint8_t opcode = recv.getOpcode();
 
-	// DISCOVER REQUEST
+	// 1. manage discover request
-	if( opcode == 0 ) {
+	if( opcode == 0 )
+		return manage_discover();
 
+	// 2. manage message data
+	else if( opcode == 1 )
+		return manage_message();
+
+
+}
+
+void send_data(){
+	// 1. prepare message
+	send.setOpcode(1);
+	send.setDist(dist);
+	send.setTTL(MESSAGE_TTL);
+	uint8_t data[19] = {0};
+	memcpy(data, "https://git.xdrm.io", 19);
+	send.setData(data, 19);
+	send.setSender(SENDERID);
+
+	// 2. debug
+	screen.clear();
+	screen.printfn(0, "msg[%3d/%3d] %3d", send.getDist(), send.getTTL(), send.getSize());
+	screen.printfn_overflow(1, "%s", send.getData());
+
+	// 3. send
+	xbee.broadcast(send);
+	screen.printfn(1, "sent            ");
+}
+
+
+void manage_discover(){
 	// security
 	if( recv.getDist() == 0 && recv.getSender() != 255 )
 		return;
@@ -55,14 +95,13 @@ void loop() {
 	send.setOpcode(0);
 	send.setWave(wave_id);
 	send.setDist(dist);
-		send.setSender(42);
+	send.setSender(SENDERID);
 
 	screen.printfn(1, "dsc[%3d] %3d / %3d", send.getSender(), send.getDist(), send.getWave());
 	xbee.broadcast(send);
+}
 
-	// MESSAGE DATA
+void manage_message(){
-	} else {
-
 	screen.clear();
 	screen.printfn(0, "msg[%3d/%3d] %3d", recv.getDist(), recv.getTTL(), recv.getSize());
 	delay(500);
@@ -82,7 +121,4 @@ void loop() {
 
 	screen.printfn(1, "msg[%3d/%3d] %3d", send.getDist(), send.getTTL(), send.getSize());
 	xbee.broadcast(send);
-
-	}
-
 }

protocol.h

@@ -3,7 +3,9 @@
 
 	#include <Wire.h>
 
-	#define DISCOVER_TTL     10000
+	#define DISCOVER_TTL     5000
+	#define SENDERID         42
+	#define MESSAGE_TTL      10
 
 	// discover request (c.f. class node)
 	#define DISCOVER_SIZE    sizeof(uint8_t)*4

well/main/main.ino

@@ -3,8 +3,6 @@
 #include "xbee_wrapper.h"
 #include "packet.h"
 
-#define WAVE_TIMEOUT 5000
-
 // Peripherals
 LCDWrapper screen(0x20, 16, 2);
 XBeeWrapper xbee = XBeeWrapper();
@@ -28,15 +26,15 @@ void setup() {
 
 void loop() {
 
-	/* [1] if WAVE_TIMEOUT reached */
+	/* [1] if DISCOVER_TTL reached -> send discover request */
-	if( millis() - time >= WAVE_TIMEOUT ){
+	if( millis() - time >= DISCOVER_TTL ){
 		time = millis();
 
 		// increment wave id (will overflow from 255 to 0)
 		send.setOpcode(0);
 		send.setWave(++wave_id);
 		send.setDist(0);
-		send.setSender(42);
+		send.setSender(SENDERID);
 
 		screen.clear();
 		screen.printfn(1, "dsc[%3d] %3d / %3d", send.getSender(), send.getDist(), send.getWave());