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The while loops waiting ACK_WAIT_TIME and AFTER_ACK_DETECTED_WAIT_TIME cause infinite loop under the cooja-ip64 platform. This is because RTIMER_NOW(), rtimer_arch_now(), has been changed not to call cooja_mt_yield() in it since rtimer was reimplemented as a higher resolution timer. In order to avoid the infinite loop, cooja_mt_yield() needs to be called inside the while loops under the platform as well as the cooja platform.
The Contiki Operating System
Contiki is an open source operating system that runs on tiny low-power microcontrollers and makes it possible to develop applications that make efficient use of the hardware while providing standardized low-power wireless communication for a range of hardware platforms.
Contiki is used in numerous commercial and non-commercial systems, such as city sound monitoring, street lights, networked electrical power meters, industrial monitoring, radiation monitoring, construction site monitoring, alarm systems, remote house monitoring, and so on.
For more information, see the Contiki website: