This code runs ping, ping reply, TTL, and Flooding, i now need to implement Neighbor Discovery but am unsure how to begin.

#include

#include "includes/command.h"

#include "includes/packet.h"

#include "includes/CommandMsg.h"

#include "includes/sendInfo.h"

#include "includes/channels.h"

module Node{

uses interface Boot;

uses interface SplitControl as AMControl;

uses interface Receive;

uses interface SimpleSend as Sender;

uses interface CommandHandler;

uses interface List as PackageList;

uses interface List as NeighborList;

}

implementation{

uint16_t sequenceCounter = 0;

pack sendPackage;

// Prototypes

void makePack(pack *Package, uint16_t src, uint16_t dest, uint16_t TTL, uint16_t Protocol, uint16_t seq, uint8_t *payload, uint8_t length);

bool compPack(pack *Package);

void shovePack(pack Package);

event void Boot.booted(){

call AMControl.start();

dbg(GENERAL_CHANNEL, "Booted ");

}

event void AMControl.startDone(error_t err){

if(err == SUCCESS){

dbg(GENERAL_CHANNEL, "Radio On ");

}else{

//Retry until successful

call AMControl.start();

}

}

event void AMControl.stopDone(error_t err){}

event message_t* Receive.receive(message_t* msg, void* payload, uint8_t len){

dbg(GENERAL_CHANNEL, "Packet Received ");

if(len==sizeof(pack)){

pack* myMsg=(pack*) payload;

//dbg(GENERAL_CHANNEL, "Im in ");

if(compPack(myMsg) || (myMsg->TTL == 0)){

// DROP DA PACKAGE

}else if(myMsg->protocol == 0 && myMsg->dest == TOS_NODE_ID){ // PING

dbg(GENERAL_CHANNEL, "WOOHOO From %d! to %d! ", myMsg->src, myMsg->dest);

dbg(GENERAL_CHANNEL, "Package at destination. Payload: %s ", myMsg->payload);

makePack(&sendPackage, TOS_NODE_ID, myMsg->src, MAX_TTL, PROTOCOL_PINGREPLY, sequenceCounter, (uint8_t*)myMsg->payload, sizeof(myMsg->payload));

sequenceCounter++;

shovePack(sendPackage);

call Sender.send(sendPackage, AM_BROADCAST_ADDR);

}else if(myMsg->protocol == 1 && myMsg->dest == TOS_NODE_ID){ // PING REPLY

dbg(GENERAL_CHANNEL, "Recieved ping reply from Node: %d! ", myMsg->src);

}else{

makePack(&sendPackage, myMsg->src, myMsg->dest, myMsg->TTL-1, myMsg->protocol, myMsg->seq, (uint8_t*)myMsg->payload, sizeof(myMsg->payload));

dbg(GENERAL_CHANNEL, "Received package from %d going to %d, TTL: %d, Rebroad... ", myMsg->src, myMsg->dest, myMsg->TTL);

shovePack(sendPackage);

call Sender.send(sendPackage, AM_BROADCAST_ADDR);

}

return msg;

}

dbg(GENERAL_CHANNEL, "Unknown Packet Type %d ", len);

return msg;

}

event void CommandHandler.ping(uint16_t destination, uint8_t *payload){

dbg(GENERAL_CHANNEL, "PING EVENT!!! ");

makePack(&sendPackage, TOS_NODE_ID, destination, MAX_TTL, 0, 0, payload, PACKET_MAX_PAYLOAD_SIZE);

call Sender.send(sendPackage, AM_BROADCAST_ADDR);

}

event void CommandHandler.printNeighbors(){}

bool compPack(pack *Pack){

uint16_t j = 0;

uint16_t size = call PackageList.size();

pack finder; // temp package to compare to package list for similarities

for(j = 0; j < size; j++){

finder = call PackageList.get(j); //iterate through list and compare

if(finder.src == Pack->src && finder.seq == Pack->seq && finder.dest == Pack->dest){

return TRUE; // found same package at a node

}

}

return FALSE; // did not find package doppleganger

}

void makePack(pack *Package, uint16_t src, uint16_t dest, uint16_t TTL, uint16_t protocol, uint16_t seq, uint8_t* payload, uint8_t length){

Package->src = src;

Package->dest = dest;

Package->TTL = TTL;

Package->seq = seq;

Package->protocol = protocol;

memcpy(Package->payload, payload, length);

}

void shovePack(pack Package) {

if (call PackageList.isFull()) {

call PackageList.popfront();

}

call PackageList.pushback(Package);

}

}