/*-----------------------------------------------------------------------------------*/
PROCESS_THREAD(program_handler_process, ev, data)
{
#ifdef WITH_LOADER_ARCH
  unsigned char err;
  struct dsc *dsc;
#endif /* WITH_LOADER_ARCH */
  unsigned char i;
  struct dsc **dscp;

  PROCESS_BEGIN();
  
  /* Create the menus */
  ctk_menu_add(&contikimenu);
#if WITH_LOADER_ARCH
  runmenuitem = ctk_menuitem_add(&contikimenu, "Run program...");
  
  make_windows();
#endif /* WITH_LOADER_ARCH */
#if QUIT_MENU
  quitmenuitem = ctk_menuitem_add(&contikimenu, "Quit");
#endif /* QUIT_MENU */
  
  displayname = NULL;
  
#if CTK_CONF_SCREENSAVER
  program_handler_screensaver[0] = 0;
#endif /* CTK_CONF_SCREENSAVER */

  while(1) {
    PROCESS_WAIT_EVENT();
    if(ev == ctk_signal_button_activate) {
#ifdef WITH_LOADER_ARCH
      if(data == (process_data_t)&loadbutton) {
	ctk_window_close(&runwindow);
	program_handler_load(name, NULL);
      } else if(data == (process_data_t)&errorokbutton) {
	ctk_dialog_close();
      }
#endif /* WITH_LOADER_ARCH */
#if QUIT_MENU
      if(data == (process_data_t)&quityesbutton) {
	ctk_draw_init();
	exit(EXIT_SUCCESS);
      } else if(data == (process_data_t)&quitnobutton) {
	ctk_dialog_close();
      }
#endif /* QUIT_MENU */
      dscp = &contikidsc[0];
      for(i = 0; i < CTK_MAXMENUITEMS; ++i) {    
	if(*dscp != NULL
#if CTK_CONF_ICONS
	  && data == (process_data_t)(*dscp)->icon
#endif /* CTK_CONF_ICONS */
	  ) {
	  RUN((*dscp)->prgname, (*dscp)->process, NULL);
	  break;
	}
	++dscp;
      }
    } else if(ev == ctk_signal_menu_activate) {
      if((struct ctk_menu *)data == &contikimenu) {
#if WITH_LOADER_ARCH
	dsc = contikidsc[contikimenu.active];
	if(dsc != NULL) {
	  RUN(dsc->prgname, dsc->process, NULL);
	} else if(contikimenu.active == runmenuitem) {
	  make_windows();
	  ctk_window_close(&runwindow);
	  ctk_window_open(&runwindow);
	  CTK_WIDGET_FOCUS(&runwindow, &nameentry);
	}
#else /* WITH_LOADER_ARCH */
	if(contikidsc[contikimenu.active] != NULL) {
	  RUN(contikidsc[contikimenu.active]->prgname,
	      contikidsc[contikimenu.active]->process,
	      NULL);
	}
#endif /* WITH_LOADER_ARCH */
#if QUIT_MENU
	if(contikimenu.active == quitmenuitem) {
	  ctk_dialog_new(&quitdialog, 24, 5);
	  CTK_WIDGET_ADD(&quitdialog, &quitdialoglabel);
	  CTK_WIDGET_ADD(&quitdialog, &quityesbutton);
	  CTK_WIDGET_ADD(&quitdialog, &quitnobutton);
	  CTK_WIDGET_FOCUS(&quitdialog, &quitnobutton);
	  ctk_dialog_open(&quitdialog);      
	}
#endif /* QUIT_MENU */
      }
#if CTK_CONF_SCREENSAVER
    } else if(ev == ctk_signal_screensaver_start) {
#if WITH_LOADER_ARCH
      if(program_handler_screensaver[0] != 0) {
	program_handler_load(program_handler_screensaver, NULL);
      }
#endif /* WITH_LOADER_ARCH */
#endif /* CTK_CONF_SCREENSAVER */
    } else if(ev == LOADER_EVENT_DISPLAY_NAME) {
#if WITH_LOADER_ARCH
//.........这里部分代码省略.........

/* A periodic process to send TSCH Enhanced Beacons (EB) */
PROCESS_THREAD(tsch_send_eb_process, ev, data)
{
  static struct etimer eb_timer;

  PROCESS_BEGIN();

  /* Wait until association */
  etimer_set(&eb_timer, CLOCK_SECOND / 10);
  while(!tsch_is_associated) {
    PROCESS_WAIT_UNTIL(etimer_expired(&eb_timer));
    etimer_reset(&eb_timer);
  }

  /* Set an initial delay except for coordinator, which should send an EB asap */
  if(!tsch_is_coordinator) {
    etimer_set(&eb_timer, random_rand() % TSCH_EB_PERIOD);
    PROCESS_WAIT_UNTIL(etimer_expired(&eb_timer));
  }

  while(1) {
    unsigned long delay;

    if(tsch_is_associated && tsch_current_eb_period > 0) {
      /* Enqueue EB only if there isn't already one in queue */
      if(tsch_queue_packet_count(&tsch_eb_address) == 0) {
        int eb_len;
        uint8_t hdr_len = 0;
        uint8_t tsch_sync_ie_offset;
        /* Prepare the EB packet and schedule it to be sent */
        packetbuf_clear();
        /* We don't use seqno 0 */
        if(++tsch_packet_seqno == 0) {
          tsch_packet_seqno++;
        }
        packetbuf_set_attr(PACKETBUF_ATTR_FRAME_TYPE, FRAME802154_BEACONFRAME);
        packetbuf_set_attr(PACKETBUF_ATTR_MAC_SEQNO, tsch_packet_seqno);
#if LLSEC802154_ENABLED
        if(tsch_is_pan_secured) {
          /* Set security level, key id and index */
          packetbuf_set_attr(PACKETBUF_ATTR_SECURITY_LEVEL, TSCH_SECURITY_KEY_SEC_LEVEL_EB);
          packetbuf_set_attr(PACKETBUF_ATTR_KEY_ID_MODE, FRAME802154_1_BYTE_KEY_ID_MODE); /* Use 1-byte key index */
          packetbuf_set_attr(PACKETBUF_ATTR_KEY_INDEX, TSCH_SECURITY_KEY_INDEX_EB);
        }
#endif /* LLSEC802154_ENABLED */
        eb_len = tsch_packet_create_eb(packetbuf_dataptr(), PACKETBUF_SIZE,
            tsch_packet_seqno, &hdr_len, &tsch_sync_ie_offset);
        if(eb_len != 0) {
          struct tsch_packet *p;
          packetbuf_set_datalen(eb_len);
          /* Enqueue EB packet */
          if(!(p = tsch_queue_add_packet(&tsch_eb_address, NULL, NULL))) {
            PRINTF("TSCH:! could not enqueue EB packet\n");
          } else {
            PRINTF("TSCH: enqueue EB packet %u %u\n", eb_len, hdr_len);
            p->tsch_sync_ie_offset = tsch_sync_ie_offset;
            p->header_len = hdr_len;
          }
        }
      }
    }
    if(tsch_current_eb_period > 0) {
      /* Next EB transmission with a random delay
       * within [tsch_current_eb_period*0.75, tsch_current_eb_period[ */
      delay = (tsch_current_eb_period - tsch_current_eb_period / 4)
        + random_rand() % (tsch_current_eb_period / 4);
    } else {
      delay = TSCH_EB_PERIOD;
    }
    etimer_set(&eb_timer, delay);
    PROCESS_WAIT_UNTIL(etimer_expired(&eb_timer));
  }
  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(cc2538_demo_process, ev, data)
{

  PROCESS_EXITHANDLER(broadcast_close(&bc))

  PROCESS_BEGIN();

  counter = 0;
  broadcast_open(&bc, BROADCAST_CHANNEL, &bc_rx);
  printf("temp:%u.%u\nhumidity:%u.%u\n",(int)tc,((int)(tc*10))%10 , (int)hc,((int)(hc*10))%10);
  while(1) {
    etimer_set(&et, CLOCK_SECOND*10);

    //ivanm
    // Configure ADC, Internal reference, 512 decimation rate (12bit)
    //
    SOCADCSingleConfigure(SOCADC_12_BIT, SOCADC_REF_INTERNAL);
    //
    // Trigger single conversion on AIN6 (connected to LV_ALS_OUT).
    //
    SOCADCSingleStart(SOCADC_VDD);
    //
    // Wait until conversion is completed
    //
    while(!SOCADCEndOfCOnversionGet())
    {
    }
    //
    // Get data and shift down based on decimation rate
    //
    ui1Dummy = SOCADCDataGet() >> SOCADC_12_BIT_RSHIFT;
    printf("konverzija(ADC) = 0x%08x\n",ui1Dummy);
    PROCESS_YIELD();

    if(ev == PROCESS_EVENT_TIMER) {
      leds_on(LEDS_PERIODIC);
      printf("Counter = 0x%08x\n", counter);
      err = s_measure(&temperature, checksum, TEMP);

             	  			if (err == 0)
             	  			{
             	  				//printf("Temperature (ADC value) = 0x%4x\n", temperature);

             	  				err = s_measure(&humidity, checksum, HUMI);

             	  				if (err == 0)
             	  				{
             	  					//printf("Humidity (ADC value) = 0x%4x\n", humidity);

             	  					//tc=sht11_TemperatureC(temperature);
             	  					//hc=sht11_Humidity(temperature,humidity);
             	  					tc=0;
             	  					hc=0;
             	  					printf("temp:%u.%u\nhumidity:%u.%u\n",(int)tc,((int)(tc*10))%10 , (int)hc,((int)(hc*10))%10);
             	  				}
             	  				else
             	  					printf("SHT11 error - could not read humidity!\n");
             	  			}
             	  			else
             	  				printf("SHT11 error - could not read temperature!\n");

      etimer_set(&et, CLOCK_SECOND);
      rtimer_set(&rt, RTIMER_NOW() + LEDS_OFF_HYSTERISIS, 1,
                 rt_callback, NULL);
    } else if(ev == sensors_event) {
      if(data == &button_select_sensor) {
    	  if (swt==0)
    	  {
    		packetbuf_copyfrom(&temperature, sizeof(temperature));
    	  	broadcast_send(&bc);
        	swt=1;
    	  }
          else
          {
        	packetbuf_copyfrom(&humidity, sizeof(humidity));
    	  	broadcast_send(&bc);
        	swt=0;
          }

      } else if(data == &button_left_sensor || data == &button_right_sensor) {
        leds_toggle(LEDS_BUTTON);
      } else if(data == &button_down_sensor) {
        cpu_cpsid();
        leds_on(LEDS_REBOOT);
        watchdog_reboot();
      } else if(data == &button_up_sensor) {
        sys_ctrl_reset();
      }
    } else if(ev == serial_line_event_message) {
      leds_toggle(LEDS_SERIAL_IN);
    }
    counter++;
    /* put measaruement sht11 here*/

  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  static struct etimer periodic, set_tx_timer;
  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));



  //---------------------- Set Tx ----------

  etimer_set(&set_tx_timer, 30 * CLOCK_SECOND);
  set_tx_flag();
set_tx();
  PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&set_tx_timer));
 clear_tx_flag();
  //--------------------------------------

#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(etimer_process, ev, data)
{
  struct etimer *t, *u;
	
  PROCESS_BEGIN();

  timerlist = NULL;
  
  while(1) {
    PROCESS_YIELD();

    if(ev == PROCESS_EVENT_EXITED) {
      struct process *p = data;

      while(timerlist != NULL && timerlist->p == p) {
	timerlist = timerlist->next;
      }

      if(timerlist != NULL) {
	t = timerlist;
	while(t->next != NULL) {
	  if(t->next->p == p) {
	    t->next = t->next->next;
	  } else
	    t = t->next;
	}
      }
      continue;
    } else if(ev != PROCESS_EVENT_POLL) {
      continue;
    }

  again:
    
    u = NULL;
    
    for(t = timerlist; t != NULL; t = t->next) {
      if(timer_expired(&t->timer)) {
	if(process_post(t->p, PROCESS_EVENT_TIMER, t) == PROCESS_ERR_OK) {
	  
	  /* Reset the process ID of the event timer, to signal that the
	     etimer has expired. This is later checked in the
	     etimer_expired() function. */
	  t->p = PROCESS_NONE;
	  if(u != NULL) {
	    u->next = t->next;
	  } else {
	    timerlist = t->next;
	  }
	  t->next = NULL;
	  update_time();
	  goto again;
	} else {
	  etimer_request_poll();
	}
      }
      u = t;
    }
    
  }
  
  PROCESS_END();
}

PROCESS_THREAD(sbk_in_process, ev, data)
{

	PROCESS_BEGIN();
	
	while (1)
	{
		PROCESS_WAIT_UNTIL(sbk_in_track!=0);
		
		DBG("Einfahrt auf Gleis ");
		DBG('0' + sbk_in_track);
		DBG("\r\n");
		
		switch (sbk_in_track)
		{
			case 1:
				shiftreg |= (1<<RELAIS_G1_IN);
				break;
			case 2:
				shiftreg |= (1<<RELAIS_G2_IN);
				break;
			case 3:
				shiftreg |= (1<<RELAIS_G3_IN);
				break;
			case 4:
				shiftreg |= (1<<RELAIS_G4_IN);
				break;
			case 5:
				shiftreg |= (1<<RELAIS_G5_IN);
				break;
			case 6:
				shiftreg |= (1<<RELAIS_G6_IN);
				break;
			default:
				break;
		}
		
		shiftreg_out16(shiftreg,1);
		
#if 0
		// First: wait until track is free (allows proper functioning of the cleaning mode)
		PROCESS_WAIT_UNTIL((gbm_register_filt_filt&(1<<sbk_in_track))==0);
		
		// Second: wait until track is occupied again
		PROCESS_WAIT_UNTIL((gbm_register_filt_filt&(1<<sbk_in_track))!=0);
#else
		while ((gbm_register_filt_filt&(1<<sbk_in_track))!=0)
		{
			PROCESS_PAUSE();
		}
		
		while ((gbm_register_filt_filt&(1<<sbk_in_track))==0)
		{
			PROCESS_PAUSE();
		}

#endif		
		if ((sbk_in_track!=sbk_out_track) && (sbk_mode==SBK_MODE_FSS))
		{
			// --> FSS aktivieren via LN --> 120612: nicht nötig, da ständig aktiv
			shiftreg |= (1<<RELAIS_FSS);
			shiftreg_out16(shiftreg,1);
			etimer_set(&sbk_in_timer, 3*CLOCK_SECOND);
			PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&sbk_in_timer));
		}
		
		//PT_WAIT_UNTIL(pt, (TickGet()-sbk_in_timer) >= 3*TICKS_PER_SECOND);
		
		shiftreg &= ~((1<<RELAIS_G1_IN)
					|(1<<RELAIS_G2_IN)
					|(1<<RELAIS_G3_IN)
					|(1<<RELAIS_G4_IN)
					|(1<<RELAIS_G5_IN)
					|(1<<RELAIS_G6_IN)
					|(1<<RELAIS_FSS));
		
		// FSS deaktivieren (oder automatisch nach Ablauf von Timeout)
		shiftreg_out16(shiftreg,1);
		
		sbk_in_track = 0;
		process_poll(&sbk_out_process);
	}
	
	PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  static struct etimer periodic;
  static struct ctimer backoff_timer;
 static struct etimer wait;
//static int tx[] = { 31, 27, 23, 19, 15, 11, 7, 3};
static int i ;
#if WITH_COMPOWER
  static int print = 0;
#endif

  PROCESS_BEGIN();

  //powertrace_start(CLOCK_SECOND * 2); //elnaz

  cc2420_set_txpower(19);

  printf(" Tx=%d\n", cc2420_get_txpower());

  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);

//for(i = 0 ; i<8 ; i++)
//{


  while(seq<100)
     {
    	PROCESS_YIELD();
    	if(ev == tcpip_event)
    	{
     	 tcpip_handler();
    	}

    	if(etimer_expired(&periodic))
    	{
	      	etimer_reset(&periodic);
	     	 ctimer_set(&backoff_timer, SEND_TIME, send_packet, NULL);
        }  //end etimer_expired

     }
  	 seq = 0;
     etimer_stop(&periodic);

     etimer_set(&wait, WAIT_INTERVAL);

     PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_TIMER);
  etimer_set(&periodic, SEND_INTERVAL);

//  } // end loop on Tx

  PROCESS_END();
}

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

	PROCESS_PAUSE()
	;

	set_global_address();

	//	senderStartTime = get_time_ms();
	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));
	// Initial value of nodeInf

	// Initial values
	nodeInf.sinkMinTX = 65535;
	stopCond = 0;

	static struct etimer et;

	//etimer_set(&et, CLOCK_SECOND * 1 + random_rand() % (CLOCK_SECOND * 1));

	static struct etimer periodic;
	//etimer_set(&et, 2 * CLOCK_SECOND);

	int i;
	while (1) {
//		PROCESS_YIELD();

		PROCESS_WAIT_EVENT()
		;

		/* Send a packet every 30 seconds. */
		if (etimer_expired(&periodic)) {
			i = 0;
			etimer_set(&periodic, CLOCK_SECOND * 2);
			etimer_set(&et, random_rand() % (CLOCK_SECOND * 2));
		}

		if (stopCond == 1) {
			break;
		}

		//

		if (ev == tcpip_event) {
			tcpip_handler();
		} else if (etimer_expired(&et)) {

			client_send();
		}
	}

PROCESS_END();
}

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

  PROCESS_PAUSE();

  PRINTF("Starting Erbium Example Server\n");

#ifdef RF_CHANNEL
  PRINTF("RF channel: %u\n", RF_CHANNEL);
#endif
#ifdef IEEE802154_PANID
  PRINTF("PAN ID: 0x%04X\n", IEEE802154_PANID);
#endif

  PRINTF("uIP buffer: %u\n", UIP_BUFSIZE);
  PRINTF("LL header: %u\n", UIP_LLH_LEN);
  PRINTF("IP+UDP header: %u\n", UIP_IPUDPH_LEN);
  PRINTF("REST max chunk: %u\n", REST_MAX_CHUNK_SIZE);

  /* Initialize the REST engine. */
  rest_init_engine();

  /*
   * Bind the resources to their Uri-Path.
   * WARNING: Activating twice only means alternate path, not two instances!
   * All static variables are the same for each URI path.
   */
  rest_activate_resource(&res_hello, "test/hello");
/*  rest_activate_resource(&res_mirror, "debug/mirror"); */
/*  rest_activate_resource(&res_chunks, "test/chunks"); */
/*  rest_activate_resource(&res_separate, "test/separate"); */
  rest_activate_resource(&res_push, "test/push");
/*  rest_activate_resource(&res_event, "test/serial"); */
/*  rest_activate_resource(&res_sub, "test/sub"); */
/*  rest_activate_resource(&res_b1_sep_b2, "test/b1sepb2"); */
#if PLATFORM_HAS_LEDS
/*  rest_activate_resource(&res_leds, "actuators/leds"); */
  rest_activate_resource(&res_toggle, "actuators/toggle");
#endif
#if PLATFORM_HAS_LIGHT
  rest_activate_resource(&res_light, "sensors/light"); 
  SENSORS_ACTIVATE(light_sensor);  
#endif
#if PLATFORM_HAS_BATTERY
  rest_activate_resource(&res_battery, "sensors/battery");  
  SENSORS_ACTIVATE(battery_sensor);  
#endif
#if PLATFORM_HAS_TEMPERATURE
  rest_activate_resource(&res_temperature, "sensors/temperature");  
  SENSORS_ACTIVATE(temperature_sensor);  
#endif
/*
#if PLATFORM_HAS_RADIO
  rest_activate_resource(&res_radio, "sensors/radio");  
  SENSORS_ACTIVATE(radio_sensor);  
#endif
#if PLATFORM_HAS_SHT11
  rest_activate_resource(&res_sht11, "sensors/sht11");  
  SENSORS_ACTIVATE(sht11_sensor);  
#endif
*/
#if PLATFORM_HAS_PRESSURE
  rest_activate_resource(&res_pressure, "sensors/pressure");
  SENSORS_ACTIVATE(pressure_sensor);
#endif
#if PLATFORM_HAS_GYROSCOPE
  rest_activate_resource(&res_gyros, "sensors/gyros");
  SENSORS_ACTIVATE(gyr_sensor);
#endif
#if PLATFORM_HAS_ACCELEROMETER
  rest_activate_resource(&res_accel, "sensors/accel");
  SENSORS_ACTIVATE(acc_sensor);
#endif
#if PLATFORM_HAS_MAGNETOMETER
  rest_activate_resource(&res_magne, "sensors/magne");
  SENSORS_ACTIVATE(mag_sensor);
#endif

  /* Define application-specific events here. */
  while(1) {
    PROCESS_WAIT_EVENT();
    if(ev == serial_line_event_message) {
      res_serial_data = (char*)data;

      /* Call the event_handler for this application-specific event. */
      res_event.trigger();

      /* Also call the separate response example handler. */
      // res_separate.resume();
    }
  }                             /* while (1) */

  PROCESS_END();
}

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

  uint32_t                err_code;

  // Initialize the SoftDevice handler module.
  SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_XTAL_20_PPM, false);
  // Register with the SoftDevice handler module for BLE events.
  err_code = softdevice_ble_evt_handler_set(ble_evt_dispatch);
  APP_ERROR_CHECK(err_code);
  // Register with the SoftDevice handler module for BLE events.
  err_code = softdevice_sys_evt_handler_set(sys_evt_dispatch);
  APP_ERROR_CHECK(err_code);

  ble_gap_conn_sec_mode_t sec_mode;
  char name_buffer[9];
  sprintf(name_buffer, "%08X",(unsigned int) NRF_FICR->DEVICEID[0]);
  BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode);
  err_code = sd_ble_gap_device_name_set(&sec_mode,
                                        (const uint8_t *)name_buffer,
                                        strlen(name_buffer));
  APP_ERROR_CHECK(err_code);

  ble_advdata_t advdata;
  uint8_t       flags = BLE_GAP_ADV_FLAG_BR_EDR_NOT_SUPPORTED;
  ble_advdata_service_data_t service_data[2];
  uint8_t battery_data = 98;//battery_level_get();
  uint32_t temperature_data = 0xFE001213;
  service_data[0].service_uuid = BLE_UUID_BATTERY_SERVICE;
  service_data[0].data.size    = sizeof(battery_data);
  service_data[0].data.p_data  = &battery_data;
  service_data[1].service_uuid = BLE_UUID_HEALTH_THERMOMETER_SERVICE;
  service_data[1].data.size    = sizeof(temperature_data);
  service_data[1].data.p_data  = (uint8_t *) &temperature_data;
  // Build and set advertising data
  memset(&advdata, 0, sizeof(advdata));
  advdata.name_type            = BLE_ADVDATA_FULL_NAME;
  advdata.include_appearance   = false;
  advdata.flags.size           = sizeof(flags);
  advdata.flags.p_data         = &flags;
  advdata.service_data_count   = 2;
  advdata.p_service_data_array = service_data;
  err_code = ble_advdata_set(&advdata, NULL);
  APP_ERROR_CHECK(err_code);

  ble_gap_adv_params_t adv_params;
  // Start advertising
  memset(&adv_params, 0, sizeof(adv_params));
  adv_params.type        = BLE_GAP_ADV_TYPE_ADV_NONCONN_IND;
  adv_params.p_peer_addr = NULL;
  adv_params.fp          = BLE_GAP_ADV_FP_ANY;
  adv_params.interval    = ADV_INTERVAL;
  adv_params.timeout     = ADV_TIMEOUT_IN_SECONDS;
  err_code = sd_ble_gap_adv_start(&adv_params);
  APP_ERROR_CHECK(err_code);
  leds_off(LEDS_ALL);
  leds_on(LEDS_RED);

  PROCESS_PAUSE();
  etimer_set(&et_hello, CLOCK_SECOND/2);
  rand_val = 0;
  blinks = 0;

  while(1) {
    PROCESS_WAIT_EVENT();

    if(ev == PROCESS_EVENT_TIMER) {
    	sd_rand_application_vector_get(&blinks,1);
      printf("Sensor says #%X\n", (unsigned int) blinks);

      etimer_reset(&et_hello);
    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
	PROCESS_BEGIN();
	printf("Sine Wave Started\n");

	serial_shell_init();
	remote_shell_init();
	shell_reboot_init();
	shell_blink_init();
	shell_sky_init();
	

	app_conn_open(&nullApp_callback);
/*
	if (node_id != 0)
		etimer_set(&et,16);
	else
		etimer_set(&et,200);
*/
	if (node_id != 0)
	{
		ctimer_set(&ct,10,sample_fun,(void*)NULL);
/*
		while(1)
		{
			PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
			etimer_reset(&et);
			uint8_t i;
			for(i = 0; i < 6; i++)
			{
				data_buf[i] = sinI(counter);
				counter++;
			}
			app_conn_send((uint8_t *)data_buf,6*sizeof(int8_t));
		}
*/
	}
/*
	else
	{
		while(1)
		{
			PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
			etimer_reset(&et);
		}
		
	}
*/



/*
	int8_t data_buf[6] = {0};
	static struct etimer et;
	//static uint16_t counter = 0;
	uint8_t i;

	etimer_set(&et,(unsigned long)102);

	if (node_id != 0)
	{
		while(1)
		{
			//etimer_set(&et,(unsigned long)102);
			//printf("here 1\n");
			printf("1timer start %lu interval %lu process %s\n",et.timer.start,et.timer.interval,et.p->name);
			PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));

			printf("if expired %u\n",etimer_expired(&et));

			etimer_reset(&et);

			printf("2timer start %lu interval %lu process %s\n",et.timer.start,et.timer.interval,et.p->name);
			printf("next timer start %lu interval %lu process %s\n",et.next->timer.start,et.next->timer.interval,et.next->p->name);


			for(i = 0; i < 6; i++)
			{
				data_buf[i] = sinI(counter);
				counter++;
			}


			printf("here 3\n");
			app_conn_send((uint8_t *)data_buf,6*sizeof(int8_t));
			printf("here 4\n");
		}
	}
*/
	PROCESS_END();
}

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

  PROCESS_BEGIN();

  etimer_set(&et, 2 * CLOCK_SECOND);

  PROCESS_YIELD();

#if TEST_CLOCK_DELAY_USEC
  printf("clock_delay_usec test, (10,000 x i) usec:\n");
  i = 1;
  while(i < 7) {
    start_count = RTIMER_NOW();
    clock_delay_usec(10000 * i);
    end_count = RTIMER_NOW();
    diff = end_count - start_count;
    printf("Requested: %u usec, Real: %u rtimer ticks = ~%u us\n",
           10000 * i, diff, diff * 64);
    i++;
  }
#endif

#if TEST_RTIMER
  printf("Rtimer Test, 1 sec (%u rtimer ticks):\n", RTIMER_SECOND);
  i = 0;
  while(i < 5) {
    etimer_set(&et, 2 * CLOCK_SECOND);
    printf("=======================\n");
    ct = clock_time();
    rt_now = RTIMER_NOW();
    rt_for = rt_now + RTIMER_SECOND;
    printf("Now=%u (clock = %u) - For=%u\n", rt_now, ct, rt_for);
    if(rtimer_set(&rt, rt_for, 1, (rtimer_callback_t) rt_callback, NULL) !=
       RTIMER_OK) {
      printf("Error setting\n");
    }

    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
    i++;
  }
#endif

#if TEST_ETIMER
  printf("Clock tick and etimer test, 1 sec (%u clock ticks):\n",
         CLOCK_SECOND);
  i = 0;
  while(i < 10) {
    etimer_set(&et, CLOCK_SECOND);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
    etimer_reset(&et);

    count = clock_time();
    printf("%u ticks\n", count);

    leds_toggle(LEDS_RED);
    i++;
  }
#endif

#if TEST_CLOCK_SECONDS
  printf("Clock seconds test (5s):\n");
  i = 0;
  while(i < 10) {
    etimer_set(&et, 5 * CLOCK_SECOND);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
    etimer_reset(&et);

    sec = clock_seconds();
    printf("%lu seconds\n", sec);

    leds_toggle(LEDS_GREEN);
    i++;
  }
#endif

  printf("Done!\n");

  PROCESS_END();
}

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

  uint8_t aux;

  /* Use Contiki's sensor macro to enable the sensor */
  SENSORS_ACTIVATE(grove_gyro);

  /* The sensor itself is in low-power mode, to power on just the sensor and not
   * the 3 gyroscope axis use GROVE_GYRO_SENSOR.  Alternatively the value
   * GROVE_GYRO_ALL could also be used to power everything at once
   */
  grove_gyro.configure(GROVE_GYRO_POWER_ON, GROVE_GYRO_SENSOR);  

  /* Read back the configured sensor I2C address to check if the sensor is
   * working OK, this is the only case in which the value() returns a value
   */
  aux = grove_gyro.value(GROVE_GYRO_ADDR);
  if(aux == GROVE_GYRO_EXPECTED_ADDR) {
    printf("Gyro sensor started with addr 0x%02X\n", GROVE_GYRO_EXPECTED_ADDR);
  } else {
    printf("Gyro sensor with unrecognized address 0x%02X\n", aux);
    PROCESS_EXIT();
  }

  /* Register the interrupt handler */
  GROVE_GYRO_REGISTER_INT(gyro_interrupt_callback);

  /* The gyroscope sensor should be on now but the three gyroscope axis should
   * be off, to enable a single axis or any combination of the 3 you can use as
   * argument either GROVE_GYRO_X, GROVE_GYRO_Y, GROVE_GYRO_Z.  To enable or
   * disable the three axis alternatively use GROVE_GYRO_XYZ
   */
  grove_gyro.configure(GROVE_GYRO_POWER_ON, GROVE_GYRO_XYZ);

  /* Calibrate the sensor taking 200 samples every 5ms for the zero-point offset
   * value, this has to be done manually and is up to the user
   */
  grove_gyro.configure(GROVE_GYRO_CALIBRATE_ZERO, 1);

  /* Enabling the data interrupt will feed data directly to the extern data
   * structure and notify us about it, depending on the sampling rate and
   * divisor this could generate many interrupts/second.  A zero argument would
   * disable the interrupts
   */
  grove_gyro.configure(GROVE_GYRO_DATA_INTERRUPT, 1);

  /* And periodically poll the sensor, values are in º/s */

  while(1) {
    etimer_set(&et, SENSOR_READ_INTERVAL);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));

    /* This sensor has a different operation from others using Contiki's sensor
     * API, to make data acquisition we write the readings directly to the
     * extern data structure, allowing to write more than 1 value at the same 
     * operation, and also allowing upon a data interrupt event to immediatly 
     * access the data.  The return value of the value() call is then the status 
     * result of the read operation
     */
    if(grove_gyro.value(GROVE_GYRO_XYZ) == GROVE_GYRO_SUCCESS) {

      /* Converted values with a 2-digit precision */
      printf("Gyro: X: %u.%u, Y: %u.%u, Z: %u.%u\n", gyro_values.x / 100,
                                                     gyro_values.x % 100,
                                                     gyro_values.y / 100,
                                                     gyro_values.y % 100,
                                                     gyro_values.z / 100,
                                                     gyro_values.z % 100);
    } else {
      printf("Error, enable the DEBUG flag in the grove-gyro driver for info,");
      printf(" or check if the sensor is properly connected\n");
      PROCESS_EXIT();
    }

    if(grove_gyro.value(GROVE_GYRO_TEMP) == GROVE_GYRO_SUCCESS) {
      printf("Gyro: temperature %d.%02u C\n", gyro_values.temp / 100,
                                             gyro_values.temp % 100);
    } else {
      printf("Error, enable the DEBUG flag in the grove-gyro driver for info,");
      printf(" or check if the sensor is properly connected\n");
      PROCESS_EXIT();
    }
  }
  PROCESS_END();
}

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

  leds_off(LEDS_ALL);

	// Set the RTC time to be 12:34:56 on 30/1/15
	//
	struct RTC_time t = {
		0,		// hundredths
		0,		// tenths
		56,		// seconds
		34,		// minutes
		12,		// hours
		30,		// day
		01,		// month
		15		// year
	};

	struct RTC_alarm q = {
		10,		// seconds
		35,		// minutes
		12,		// hours
		30,		// day
		01		// month
	};


	RTC_setTime(&t);

  // Alarm can be set with a callback
  // (or this can be NULL)
	RTC_setAlarm(&q, alarmCallback, RPT_MINUTE);

  int i = 0;

  while(1) {
  	printf("GOING TO SLEEP\n");
		clock_delay_msec(50);

		/* ------------
		 * Go to sleep
     * ------------
		 */

  	*CRM_SLEEP_CNTL = 0x71; 				// hibernate, keep all RAM pages, retain state, don't power GPIO, approx. 2kHz = 16.1uA 

    while((*CRM_STATUS & 0x1) == 0)	// wait for the sleep cycle to complete
    { continue; }
  
    *CRM_STATUS = 1;								// write 1 to sleep_sync --- this clears the bit (it's a r1wc bit) and powers down

		/* ------------
		 * Wake up again
     * ------------
		 */
  	printf("AWAKE AGAIN\n");
	  for (i = 0; i < 2; i++)
			FLASH_LED(LEDS_ALL);

		PROCESS_YIELD();

		RTC_getTime(&t);
		printf("%02d/%02d/%02d %02d:%02d:%02d.%d%d\n", t.day, t.month, t.year, t.hours, t.minutes, t.seconds, t.tenths, t.hundredths);

  }

  PROCESS_END();
}

/*-----------------------------------------------------------------------------------*/
PROCESS_THREAD(simpletelnet_process, ev, data)
{
  struct ctk_widget *w;
  int sendlen;

  PROCESS_BEGIN();
  
  ctk_window_new(&telnetwindow, TELNET_WINDOW_WIDTH, TELNET_WINDOW_HEIGHT, "Simple telnet");
  
  strcpy(telnetport, "23");
  
  CTK_WIDGET_ADD(&telnetwindow, &telnethostlabel);
  CTK_WIDGET_ADD(&telnetwindow, &telnetportlabel);
  CTK_WIDGET_ADD(&telnetwindow, &telnethosttextentry);
  CTK_WIDGET_ADD(&telnetwindow, &telnetporttextentry);
  CTK_WIDGET_ADD(&telnetwindow, &telnetconnectbutton);
  CTK_WIDGET_ADD(&telnetwindow, &telnetdisconnectbutton);
  CTK_WIDGET_ADD(&telnetwindow, &telnetlinetextentry);
  CTK_WIDGET_ADD(&telnetwindow, &telnetsendbutton);
  
  CTK_WIDGET_ADD(&telnetwindow, &telnetsep1);
  CTK_WIDGET_ADD(&telnetwindow, &telnettextarea);
  
  CTK_WIDGET_ADD(&telnetwindow, &telnetsep2);
  CTK_WIDGET_ADD(&telnetwindow, &telnetstatus);
  
  CTK_WIDGET_FOCUS(&telnetwindow, &telnethosttextentry);
  
  ctk_window_open(&telnetwindow);

  while(1) {
    PROCESS_WAIT_EVENT();
    if(ev == ctk_signal_button_activate) {
      
      w = (struct ctk_widget *)data;
      if(w == (struct ctk_widget *)&telnetsendbutton) {
	strcpy(sendline, telnetline);
	sendlen = (int)strlen(sendline);
	petsciiconv_toascii(sendline, sendlen);
	sendline[sendlen++] = ISO_CR;
	sendline[sendlen++] = ISO_NL;
	if(telnet_send(&ts_appstate, sendline, sendlen)) {
	  /* Could not send. */
	  ctk_label_set_text(&telnetstatus, "Could not send");
	  ctk_window_redraw(&telnetwindow);
	  /*      } else {*/
	  /* Could send */
	}
      } else if(w == (struct ctk_widget *)&telnetdisconnectbutton) {
	telnet_close(&ts_appstate);
	show("Closing...");
      } else if(w == (struct ctk_widget *)&telnetconnectbutton) {
	connect();
	ctk_window_redraw(&telnetwindow);
      }
#if UIP_UDP
    } else if(ev == resolv_event_found) {
      if(strcmp(data, telnethost) == 0) {
	if(resolv_lookup(telnethost) != NULL) {
	  connect();
	} else {
	  show("Host not found");
	}
      }
#endif /* UIP_UDP */
    } else if(
#if CTK_CONF_WINDOWCLOSE
	      ev == ctk_signal_window_close ||
#endif /* CTK_CONF_WINDOWCLOSE */
	      ev == PROCESS_EVENT_EXIT) {
      process_exit(&simpletelnet_process);
      ctk_window_close(&telnetwindow);
      LOADER_UNLOAD();
    } else if(ev == tcpip_event) {
      telnet_app(data);
    }
  }
  PROCESS_END();
}

PROCESS_THREAD(felicia_main, ev, data)
{
  static struct etimer timer;

  PROCESS_BEGIN();

  /* Initialize the CoAP server and activate resources */
  rest_init_engine();
#if PLATFORM_HAS_LEDS
#ifdef RESOURCE_LED0_CONF_LED
  rest_activate_resource(&resource_led, (char *)"led");
  rest_activate_resource(&resource_led0, (char *)"led/0");
#endif
#ifdef RESOURCE_LED1_CONF_LED
  rest_activate_resource(&resource_led1, (char *)"led/1");
#endif
#endif
  rest_activate_resource(&resource_ipv6_neighbors, (char *)"ipv6/neighbors");
  rest_activate_resource(&resource_rpl_info, (char *)"rpl-info");
  rest_activate_resource(&resource_rpl_parent, (char *)"rpl-info/parent");
  rest_activate_resource(&resource_rpl_rank, (char *)"rpl-info/rank");
  rest_activate_resource(&resource_rpl_link_metric, (char *)"rpl-info/link-metric");

#if PLATFORM_HAS_SLIDE_SWITCH
  SENSORS_ACTIVATE(slide_switch_sensor);
#endif

#if PLATFORM_HAS_BUTTON
  SENSORS_ACTIVATE(button_sensor);
  rest_activate_resource(&resource_push_button_event, (char *)"push-button");
#endif

#if PLATFORM_HAS_SENSORS
  rest_activate_resource(&resource_temperature, (char *)"temperature");
#endif

  PROCESS_PAUSE();

#if WITH_WEBSERVER
  process_start(&node_webserver_simple_process, NULL);
#endif

#if WITH_IPSO
  /* Initialize the OMA LWM2M engine */
  lwm2m_engine_init();

  /* Register default LWM2M objects */
  lwm2m_engine_register_default_objects();

  /* Register default IPSO objects */
  ipso_objects_init();

  setup_lwm2m_servers();
#endif

  while(1) {
    etimer_set(&timer, CLOCK_SECOND * 5);
    PROCESS_WAIT_EVENT();

#if PLATFORM_HAS_BUTTON
    if(ev == sensors_event && data == &button_sensor) {
      resource_push_button_event.trigger();
      PRINTF("Button pressed!\n");
    }
#endif

#if PLATFORM_HAS_SLIDE_SWITCH
    if(ev == sensors_event && data == &slide_switch_sensor) {
      PRINTF("Sliding switch is %s\n",
             slide_switch_sensor.value(0) ? "on" : "off");
    }
#endif
  }

  PROCESS_END();
}

PROCESS_THREAD(spirit_radio_process, ev, data)
{
  PROCESS_BEGIN();
  PRINTF("Spirit1: process started\n");
  
  while(1) {
    int len;

    PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL);    
    PRINTF("Spirit1: polled\n");

    packetbuf_clear();
    len = spirit_radio_read(packetbuf_dataptr(), PACKETBUF_SIZE);

    if(len > 0) {

#if NULLRDC_CONF_802154_AUTOACK
      /* Check if the packet has an ACK request */
      frame802154_t info154;
      if(len > ACK_LEN &&
          frame802154_parse((char*)packetbuf_dataptr(), len, &info154) != 0) {
        if(info154.fcf.frame_type == FRAME802154_DATAFRAME &&
            info154.fcf.ack_required != 0 &&
            rimeaddr_cmp((rimeaddr_t *)&info154.dest_addr,
                         &rimeaddr_node_addr)) {

          /* Send an ACK packet */
          uint8_t ack_frame[ACK_LEN] = {
              FRAME802154_ACKFRAME,
              0x00,
              info154.seq
          };

          spirit1_strobe(SPIRIT1_STROBE_FTX);
          SpiritPktBasicSetPayloadLength((uint16_t) ACK_LEN);
          SpiritSpiWriteLinearFifo((uint16_t) ACK_LEN, (uint8_t *) ack_frame);

          SpiritSetReadyState();
          spirit1_strobe(SPIRIT1_STROBE_TX);
          BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_TX, 1 * RTIMER_SECOND/1000);
          BUSYWAIT_UNTIL(SPIRIT1_STATUS() != SPIRIT1_STATE_TX, 1 * RTIMER_SECOND/1000);

          ACKPRINTF("debug_ack: sent ack %d\n", ack_frame[2]);
        }
      }
#endif /* NULLRDC_CONF_802154_AUTOACK */

      packetbuf_set_datalen(len);   
      NETSTACK_RDC.input();
    }
    if(!IS_RXBUF_EMPTY()){
      process_poll(&spirit_radio_process);
    }

    if(interrupt_callback_wants_poll) {
      spirit1_interrupt_callback();

      if(SPIRIT1_STATUS() == SPIRIT1_STATE_READY) {
        spirit1_strobe(SPIRIT1_STROBE_RX);
        BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, 1 * RTIMER_SECOND/1000);
      }

    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  static str