void
init_dtls(session_t *dst) {
  PRINTF("DTLS client started\n");

  print_local_addresses();

  dst->size = sizeof(dst->addr) + sizeof(dst->port);
  dst->port = UIP_HTONS(20220);

  set_connection_address(&dst->addr);
  client_conn = udp_new(&dst->addr, 0, NULL);
  udp_bind(client_conn, dst->port);

  PRINTF("set connection address to ");
  PRINT6ADDR(&dst->addr);
  PRINTF(":%d\n", uip_ntohs(dst->port));

  set_log_level(LOG_DEBUG);

  dtls_context = dtls_new_context(client_conn);
  if (dtls_context) {
    dtls_set_psk(dtls_context, (unsigned char *)"secretPSK", 9,
		 (unsigned char *)"Client_identity", 15);
		 
    dtls_set_cb(dtls_context, read_from_peer, read);
    dtls_set_cb(dtls_context, send_to_peer, write);
  }
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
  static struct etimer timer;


  PROCESS_BEGIN();
  PRINTF("UDP server started\n");

  // wait 3 second, in order to have the IP addresses well configured
  etimer_set(&timer, CLOCK_CONF_SECOND*5);

  // wait until the timer has expired
  PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_TIMER);

  print_local_addresses();

  server_conn = udp_new(NULL, UIP_HTONS(0), NULL);
  udp_bind(server_conn, UIP_HTONS(3000));

  PRINTF("Server listening on UDP port %u\n", UIP_HTONS(server_conn->lport));

  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
#if UIP_CONF_ROUTER
  uip_ipaddr_t ipaddr;
#endif /* UIP_CONF_ROUTER */

  PROCESS_BEGIN();
  PRINTF("UDP server started\n");

#if UIP_CONF_ROUTER
  uip_ip6addr(&ipaddr, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0, 0, 0);
  uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
  uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
#endif /* UIP_CONF_ROUTER */

  print_local_addresses();

  server_conn = udp_new(NULL, UIP_HTONS(3001), NULL);
  udp_bind(server_conn, UIP_HTONS(3000));

  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
#if UIP_CONF_ROUTER
  uip_ipaddr_t ipaddr;
#endif /* UIP_CONF_ROUTER */

  PROCESS_BEGIN();
  PRINTF("UDP server started\n");

#if RESOLV_CONF_SUPPORTS_MDNS
  resolv_set_hostname("contiki-udp-server");
#endif

#if UIP_CONF_ROUTER
  uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
  uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
  uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
#endif /* UIP_CONF_ROUTER */

  print_local_addresses();

  server_conn = udp_new(NULL, UIP_HTONS(3001), NULL);
  udp_bind(server_conn, UIP_HTONS(3000));

  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    }
  }

  PROCESS_END();
}

void
init_dtls(session_t *dst) {
  static dtls_handler_t cb = {
    .write = send_to_peer,
    .read  = read_from_peer,
    .event = NULL,
    .get_key = get_key
  };
  PRINTF("DTLS client started\n");

  print_local_addresses();

  dst->size = sizeof(dst->addr) + sizeof(dst->port);
  dst->port = UIP_HTONS(20220);

  set_connection_address(&dst->addr);
  client_conn = udp_new(&dst->addr, 0, NULL);
  udp_bind(client_conn, dst->port);

  PRINTF("set connection address to ");
  PRINT6ADDR(&dst->addr);
  PRINTF(":%d\n", uip_ntohs(dst->port));

  set_log_level(LOG_DEBUG);

  dtls_context = dtls_new_context(client_conn);
  if (dtls_context)
    dtls_set_handler(dtls_context, &cb);
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  static struct etimer et;
  uip_ipaddr_t ipaddr;

  PROCESS_BEGIN();
  PRINTF("UDP client process started\n");

  print_local_addresses();

  set_connection_address(&ipaddr);

  /* new connection with remote host */
  client_conn = udp_new(&ipaddr, UIP_HTONS(3000), NULL);
  udp_bind(client_conn, UIP_HTONS(3001));

  PRINTF("Created a connection with the server ");
  PRINT6ADDR(&client_conn->ripaddr);
  PRINTF(" local/remote port %u/%u\n",
	UIP_HTONS(client_conn->lport), UIP_HTONS(client_conn->rport));

  etimer_set(&et, SEND_INTERVAL);
  while(1) {
    PROCESS_YIELD();
    if(etimer_expired(&et)) {
      timeout_handler();
      etimer_restart(&et);
    } else if(ev == tcpip_event) {
      tcpip_handler();
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  static struct etimer periodic;
  static struct ctimer backoff_timer;
#if WITH_COMPOWER
  static int print = 0;
#endif

  PROCESS_BEGIN();

  PROCESS_PAUSE();

  set_global_address();
  
  PRINTF("UDP client process started\n");

  print_local_addresses();

  /* new connection with remote host */
  client_conn = udp_new(NULL, UIP_HTONS(UDP_SERVER_PORT), NULL); 
  if(client_conn == NULL) {
    PRINTF("No UDP connection available, exiting the process!\n");
    PROCESS_EXIT();
  }
  udp_bind(client_conn, UIP_HTONS(UDP_CLIENT_PORT)); 

  PRINTF("Created a connection with the server ");
  PRINT6ADDR(&client_conn->ripaddr);
  PRINTF(" local/remote port %u/%u\n",
	UIP_HTONS(client_conn->lport), UIP_HTONS(client_conn->rport));

#if WITH_COMPOWER
  powertrace_sniff(POWERTRACE_ON);
#endif

  etimer_set(&periodic, SEND_INTERVAL);
  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    }
    
    if(etimer_expired(&periodic)) {
      etimer_reset(&periodic);
      ctimer_set(&backoff_timer, SEND_TIME, send_packet, NULL);

#if WITH_COMPOWER
      if (print == 0) {
	powertrace_print("#P");
      }
      if (++print == 3) {
	print = 0;
      }
#endif

    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(border_router_process, ev, data)
{
  static struct etimer et;

  PROCESS_BEGIN();
  PUTSTRING("Border Router started\n");
  prefix_set = 0;

  leds_on(LEDS_GREEN);

  /* Request prefix until it has been received */
  while(!prefix_set) {
    leds_on(LEDS_RED);
    PUTSTRING("Prefix request.\n");
    etimer_set(&et, CLOCK_SECOND);
    request_prefix();
    leds_off(LEDS_RED);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
  }
  /* We have created a new DODAG when we reach here */
  PUTSTRING("On Channel ");
  PUTDEC(cc2530_rf_channel_get());
  PUTCHAR('\n');

  print_local_addresses();

  leds_off(LEDS_GREEN);

  PROCESS_EXIT();

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(sensortag_process, ev, data)
{

  static struct etimer et;
  uip_ipaddr_t ipaddr;

  etimer_set(&et, CLOCK_CONF_SECOND*20);
  PROCESS_BEGIN();

  PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_TIMER);
  if(uip_ds6_get_global(ADDR_PREFERRED) == NULL) {
    printf("NO IP \n\r");
  }
  else{
    printf("Good \n\r");
  }
  print_local_addresses();
  if(uiplib_ipaddrconv("2001:0db8:0002:0000:0000:0000:0000:0002", &ipaddr)){
    printf("Get server IP! \n\r");
  }
  /* new connection with remote host */
  client_conn = udp_new(&ipaddr, UIP_HTONS(10001), NULL);
  udp_bind(client_conn, UIP_HTONS(10002));
  printf("Connect! \n\r");

  init_hdc_reading(NULL);
  while(1) {
    PROCESS_YIELD();
    if(ev == sensors_event && data == &hdc_1000_sensor) {
      get_hdc_reading();
    }
  }

  PROCESS_END();
}

PROCESS_THREAD(server_process, ev, data)
{
  PROCESS_BEGIN();

  set_global_address();
  leds_init();
  print_local_addresses();
  printf("Starting TCP server on port=%d\n", PORT);
  tcp_listen(UIP_HTONS(PORT));

  while(1) {
    PROCESS_WAIT_EVENT_UNTIL(ev == tcpip_event);

    if(uip_aborted() )
	printf("TCP aborted\n");
    if(uip_timedout() )
	printf("TCP timeoutn\n");
    if(uip_closed() )
	printf("TCP closed\n");

    if(uip_connected()) {
      printf("TCP Connected\n\r");
      PSOCK_INIT(&ps, buf, sizeof(buf));

      while(!(uip_aborted() || uip_closed() || uip_timedout())) {
	PROCESS_WAIT_EVENT_UNTIL(ev == tcpip_event);
	handle_connection(&ps);
      }
    }
  }
  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{

  PROCESS_BEGIN();
  PRINTF("UDP server started\n");

#if UIP_CONF_ROUTER
  uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
  uip_netif_addr_add(&ipaddr, 64, 0, AUTOCONF);
#endif /* UIP_CONF_ROUTER */

  print_local_addresses();

  server_conn = udp_new(NULL, HTONS(61617), NULL);
  udp_bind(server_conn, HTONS(61616));

  PRINTF("Created a server connection with remote address ");
  PRINT6ADDR(&server_conn->ripaddr);
  PRINTF("local/remote port %u/%u\n", HTONS(server_conn->lport),
         HTONS(server_conn->rport));

  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
  PROCESS_BEGIN();

  dtls_init();
  init_dtls();

  print_local_addresses();

  if (!dtls_context) {
    dtls_emerg("cannot create context\n");
    PROCESS_EXIT();
  }

#ifdef ENABLE_POWERTRACE
  powertrace_start(CLOCK_SECOND * 2); 
#endif

  while(1) {
    PROCESS_WAIT_EVENT();
    if(ev == tcpip_event) {
      dtls_handle_read(dtls_context);
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(border_router_process, ev, data)
{
  static struct etimer et;

  PROCESS_BEGIN();
  PRINTF("Border Router started\n");
  prefix_set = 0;

  leds_on(LEDS_RED);

  /* Request prefix until it has been received */
  while(!prefix_set) {
    leds_on(LEDS_GREEN);
    PRINTF("Prefix request.\n");
    etimer_set(&et, CLOCK_SECOND);
    request_prefix();
    leds_off(LEDS_GREEN);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
  }

  /* We have created a new DODAG when we reach here */
  PRINTF("On Channel %u\n", (uint8_t)((FREQCTRL + 44) / 5));

  print_local_addresses();

  leds_off(LEDS_RED);

  PROCESS_EXIT();

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
  PROCESS_BEGIN();

  print_local_addresses();

  dtls_init();
  init_dtls();

  if (!dtls_context) {
    dsrv_log(LOG_EMERG, "cannot create context\n");
    PROCESS_EXIT();
  }

  while(1) {
    PROCESS_WAIT_EVENT();
    if(ev == tcpip_event) {
      dtls_handle_read(dtls_context);
    }
#if 0
    if (bytes_read > 0) {
      /* dtls_handle_message(dtls_context, &the_session, readbuf, bytes_read); */
      read_from_peer(dtls_context, &the_session, readbuf, bytes_read);
    }
    dtls_handle_message(ctx, &session, uip_appdata, bytes_read);
#endif
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  PROCESS_BEGIN();

  PROCESS_PAUSE();

  set_global_address();

  PRINTF("UDP client process started\n");

  print_local_addresses();

  /* new connection with remote host */
  client_conn = udp_new(NULL, UIP_HTONS(UDP_SERVER_PORT), NULL);
  udp_bind(client_conn, UIP_HTONS(UDP_CLIENT_PORT));

  PRINTF("Created a connection with the server ");
  PRINT6ADDR(&client_conn->ripaddr);
  PRINTF(" local/remote port %u/%u\n",
        UIP_HTONS(client_conn->lport), UIP_HTONS(client_conn->rport));

  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(border_router_process, ev, data)
{
  static struct etimer et;
  rpl_dag_t *dag;

  PROCESS_BEGIN();
  prefix_set = 0;

  PROCESS_PAUSE();

  PRINTF("RPL-Border router started\n");

  slip_config_handle_arguments(contiki_argc, contiki_argv);

  /* tun init is also responsible for setting up the SLIP connection */
  tun_init();

  while(!mac_set) {
    etimer_set(&et, CLOCK_SECOND);
    request_mac();
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
  }

  if(slip_config_ipaddr != NULL) {
    uip_ipaddr_t prefix;

    if(uiplib_ipaddrconv((const char *)slip_config_ipaddr, &prefix)) {
      PRINTF("Setting prefix ");
      PRINT6ADDR(&prefix);
      PRINTF("\n");
      set_prefix_64(&prefix);
    } else {
      PRINTF("Parse error: %s\n", slip_config_ipaddr);
      exit(0);
    }
  }

  dag = rpl_set_root(RPL_DEFAULT_INSTANCE,(uip_ip6addr_t *)dag_id);
  if(dag != NULL) {
    rpl_set_prefix(dag, &prefix, 64);
    PRINTF("created a new RPL dag\n");
  }

#if DEBUG
  print_local_addresses();
#endif

  /* The border router runs with a 100% duty cycle in order to ensure high
     packet reception rates. */
  NETSTACK_MAC.off(1);

  while(1) {
    etimer_set(&et, CLOCK_SECOND * 2);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
    /* do anything here??? */
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(borderest_process, ev, data)
{
  static struct etimer et;

  PROCESS_BEGIN();

/* While waiting for the prefix to be sent through the SLIP connection, the future
 * border router can join an existing DAG as a parent or child, or acquire a default
 * router that will later take precedence over the SLIP fallback interface.
 * Prevent that by turning the radio off until we are initialized as a DAG root.
 */
  prefix_set = 0;
  NETSTACK_MAC.off(0);

  PROCESS_PAUSE();

  SENSORS_ACTIVATE(button_sensor);

  PRINTF("RPL-Border router started\n");
#if 0
   /* The border router runs with a 100% duty cycle in order to ensure high
     packet reception rates.
     Note if the MAC RDC is not turned off now, aggressive power management of the
     cpu will interfere with establishing the SLIP connection */
  NETSTACK_MAC.off(1);
#endif

  /* Request prefix until it has been received */
  while(!prefix_set) {
    etimer_set(&et, CLOCK_SECOND);
    request_prefix();
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
  }

  /* Now turn the radio on, but disable radio duty cycling.
   * Since we are the DAG root, reception delays would constrain mesh throughbut.
   */
  NETSTACK_MAC.off(1);

#if DEBUG || 1
  print_local_addresses();
#endif

  rest_init_engine();
  activate_coap_resources();

  leds_init();
  while(1) {
    PROCESS_YIELD();
    if (ev == sensors_event && data == &button_sensor) {
      PRINTF("Initiating global repair\n");
      rpl_repair_root(RPL_DEFAULT_INSTANCE);
      leds_toggle(LEDS_ALL);
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(border_router_process, ev, data)
{
#ifdef PREFIX_DISC
  static struct etimer et;
#endif
  rpl_dag_t *dag;

  PROCESS_BEGIN();

  prefix_set = 0;

  PROCESS_PAUSE();

  SENSORS_ACTIVATE(button_sensor);

  PRINTF("RPL-Border router started\n");

   /* The border router runs with a 100% duty cycle in order to ensure high
     packet reception rates.
     Note if the MAC RDC is not turned off now, aggressive power management of the
     cpu will interfere with establishing the SLIP connection */
  NETSTACK_MAC.off(1);
 
#ifndef PREFIX_DISC
  if (!uiplib_ipaddrconv("aaaa::", &prefix))
      goto err;
#else
  /* Request prefix until it has been received */
  while(!prefix_set) {
    etimer_set(&et, CLOCK_SECOND);
    request_prefix();
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
  }
#endif

  dag = rpl_set_root(RPL_DEFAULT_INSTANCE,(uip_ip6addr_t *)dag_id);
  if(dag != NULL) {
    rpl_set_prefix(dag, &prefix, 64);
    PRINTF("created a new RPL dag\n");
  }

#if DEBUG || 1
  print_local_addresses();
#endif

  while(1) {
    PROCESS_YIELD();
    if (ev == sensors_event && data == &button_sensor) {
      PRINTF("Initiating global repair\n");
      rpl_repair_root(RPL_DEFAULT_INSTANCE);
    }
  }

err:
  PRINTF("Shutting down\n");
  PROCESS_END();
}

/*--------------------------------------------------------*/
void udp_client_process(void){
     
/******************** lock the Scheduler ************************/
      cyg_scheduler_lock();
/****************************************************************/
        static struct ctimer backoff_timer;
 
	 PRINTF("UDP client started\n");
	 
         set_global_address();   
	 
	 
	 print_local_addresses();
	 
	  

     client_conn = udp_new(NULL, UIP_HTONS(UDP_SERVER_PORT), NULL);
 

     udp_bind(client_conn, UIP_HTONS(UDP_CLIENT_PORT));
     PRINTF("Created a connection with the server ");
     PRINT6ADDR(&client_conn->ripaddr);
     PRINTF(" local/remote port %u/%u\n",
	UIP_HTONS(client_conn->lport), UIP_HTONS(client_conn->rport));

     ctimer_set(&backoff_timer,SEND_TIME,send_packet,NULL);
	 
//      PRINTF(" local/remote port %u/%u\n", client_conn->lport, client_conn->rport);
	 
	        void* message = NULL;
                
                 
/******************** unlock the Scheduler ************************/
        cyg_scheduler_unlock();
/****************************************************************/
          while(1){
                    // cyg_thread_yield();

		     message = cyg_mbox_tryget (mbox_out_tcpip_handle);
		     MyEvent_t* msg_local = message ;
			 if (  message != NULL){ 
                              cyg_handle_t* event_handlePtr;
                              event_handlePtr = (cyg_handle_t*) msg_local-> dataPtr;

                              if( cyg_thread_self() == *event_handlePtr){
			 
			                            tcpip_handler();
			                    }
 
 
		
		
                             }
                          cyg_thread_yield();
                     }
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
    uip_ipaddr_t ipaddr;
    struct uip_ds6_addr *root_if;

    PROCESS_BEGIN();

    PROCESS_PAUSE();

    SENSORS_ACTIVATE(button_sensor);

    PRINTF("UDP server started\n");

#if UIP_CONF_ROUTER
    uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 1);
    /* uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr); */
    uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL);
    root_if = uip_ds6_addr_lookup(&ipaddr);
    if(root_if != NULL) {
        rpl_dag_t *dag;
        rpl_set_root((uip_ip6addr_t *)&ipaddr);
        dag = rpl_get_dag(RPL_ANY_INSTANCE);
        uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
        rpl_set_prefix(dag, &ipaddr, 64);
        PRINTF("created a new RPL dag\n");
    } else {
        PRINTF("failed to create a new RPL DAG\n");
    }
#endif /* UIP_CONF_ROUTER */

    print_local_addresses();

    /* The data sink runs with a 100% duty cycle in order to ensure high
       packet reception rates. */
    NETSTACK_RDC.off(1);

    server_conn = udp_new(NULL, UIP_HTONS(UDP_CLIENT_PORT), NULL);
    udp_bind(server_conn, UIP_HTONS(UDP_SERVER_PORT));

    PRINTF("Created a server connection with remote address ");
    PRINT6ADDR(&server_conn->ripaddr);
    PRINTF(" local/remote port %u/%u\n", UIP_HTONS(server_conn->lport),
           UIP_HTONS(server_conn->rport));

    while(1) {
        PROCESS_YIELD();
        if(ev == tcpip_event) {
            tcpip_handler();
        } else if (ev == sensors_event && data == &button_sensor) {
            PRINTF("Initiaing global repair\n");
            rpl_repair_dag(rpl_get_dag(RPL_ANY_INSTANCE));
        }
    }

    PROCESS_END();
}