added avrora-micaz node emulation

tools/cooja/apps/avrora/build.xml

@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+
+<project name="Avrora COOJA support" default="jar" basedir=".">
+  <property name="src" location="src"/>
+  <property name="build" location="build"/>
+  <property name="lib" location="lib"/>
+  <property name="javadoc" location="javadoc"/>
+	<property name="cooja" location="../.."/>
+
+	<property name="cooja_jar" value="${cooja}/dist/cooja.jar"/>
+  <property name="avrora_jar" value="${lib}/avrora.jar"/>
+  <property name="cooja_avrora_jar" value="${lib}/cooja_avrora.jar"/>
+
+  <target name="init">
+    <tstamp/>
+    <mkdir dir="${build}"/>
+    <mkdir dir="${lib}"/>
+  </target>
+
+  <target name="clean">
+    <delete dir="${build}"/>
+    <delete dir="${lib}"/>
+  </target>
+
+  <target name="compile" depends="init">
+    <javac srcdir="${src}" destdir="${build}" debug="on">
+      <classpath>
+        <pathelement location="${avrora_jar}"/>
+        <pathelement location="${cooja_jar}"/>
+      </classpath>
+    </javac>
+  </target>
+
+  <target name="javadoc" depends="compile">
+    <delete dir="${javadoc}" quiet="true"/>
+    <mkdir dir="${javadoc}/"/>
+    <javadoc destdir="${javadoc}">
+      <fileset dir="${src}/" includes="**/*.java"/>
+      <classpath>
+        <pathelement location="${avrora_jar}"/>
+        <pathelement location="${cooja_jar}"/>
+      </classpath>
+    </javadoc>
+  </target>
+
+  <target name="jar" depends="init, compile">
+    <jar destfile="${cooja_avrora_jar}" basedir="${build}">
+      <manifest>
+        <attribute name="Class-Path" value="."/>
+      </manifest>
+    </jar>
+  </target>
+
+</project>

tools/cooja/apps/avrora/cooja.config

@@ -0,0 +1,2 @@
+se.sics.cooja.GUI.MOTETYPES = + se.sics.cooja.avrmote.MicaZMoteType
+se.sics.cooja.GUI.JARFILES = + cooja_avrora.jar avrora.jar

tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMote.java

@@ -0,0 +1,312 @@
+/*
+ * Copyright (c) 2007, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * $Id: MicaZMote.java,v 1.1 2009/02/22 16:45:01 joxe Exp $
+ */
+
+package se.sics.cooja.avrmote;
+import java.io.File;
+import java.io.IOException;
+import java.io.PrintStream;
+import java.net.URL;
+import java.util.Collection;
+import java.util.Observable;
+import java.util.Observer;
+import java.util.Random;
+import java.util.Vector;
+import org.apache.log4j.Logger;
+import org.jdom.Element;
+import se.sics.cooja.GUI;
+import se.sics.cooja.Mote;
+import se.sics.cooja.MoteInterface;
+import se.sics.cooja.MoteInterfaceHandler;
+import se.sics.cooja.MoteMemory;
+import se.sics.cooja.MoteType;
+import se.sics.cooja.Simulation;
+import se.sics.cooja.avrmote.interfaces.MicaZLED;
+import se.sics.cooja.interfaces.Position;
+import avrora.sim.*;
+import avrora.sim.platform.*;
+import avrora.sim.mcu.*;
+import avrora.core.*;
+import avrora.sim.radio.*;
+import avrora.sim.util.SimUtil;
+
+
+/**
+ * @author Joakim Eriksson
+ */
+public class MicaZMote implements Mote {
+  private static Logger logger = Logger.getLogger(MicaZMote.class);
+
+  /* 8 MHz according to Contiki config */
+  public static long NR_CYCLES_PER_MSEC = 8000;
+
+  /* Cycle counter */
+  public long cycleCounter = 0;
+  public long cycleDrift = 0;
+
+  private Simulation mySimulation = null;
+  private Microcontroller myCpu = null;
+  private MicaZ micaZ = null;
+  private LoadableProgram program = null;
+  private Interpreter interpreter = null;
+
+  private MicaZMoteType myMoteType = null;
+
+  /* Stack monitoring variables */
+  private boolean stopNextInstruction = false;
+
+  private MoteInterfaceHandler myMoteInterfaceHandler;
+
+  /**
+   * Abort current tick immediately.
+   * May for example be called by a breakpoint handler.
+   */
+  public void stopNextInstruction() {
+    stopNextInstruction = true;
+  }
+
+  public MicaZMote() {
+    mySimulation = null;
+    myCpu = null;
+    myMoteInterfaceHandler = null;
+  }
+
+  public MicaZMote(Simulation simulation, MicaZMoteType type) {
+    mySimulation = simulation;
+    myMoteType = type;
+  }
+
+  protected void initMote() {
+    if (myMoteType != null) {
+      initEmulator(myMoteType.getELFFile());
+      myMoteInterfaceHandler = createMoteInterfaceHandler();
+    }
+  }
+
+  protected boolean initEmulator(String fileELF) {
+    try {
+      prepareMote(fileELF);
+    } catch (Exception e) {
+      logger.fatal("Error when creating MicaZ mote:", e);
+      return false;
+    }
+    return true;
+  }
+
+  
+  public Simulation getSimulation() {
+    return mySimulation;
+  }
+
+  public void setSimulation(Simulation simulation) {
+    mySimulation = simulation;
+  }
+
+  /**
+   * Prepares CPU, memory and ELF module.
+   *
+   * @param fileELF ELF file
+   * @param cpu MSP430 cpu
+   * @throws Exception 
+   */
+  protected void prepareMote(String file) throws Exception {
+    program = new LoadableProgram(file);
+    program.load();
+    PlatformFactory factory = new MicaZ.Factory();
+    micaZ = (MicaZ) factory.newPlatform(1, program.getProgram());
+    myCpu = micaZ.getMicrocontroller();
+    Simulator sim = myCpu.getSimulator();
+    interpreter = sim.getInterpreter();
+//     State state = interpreter.getState();
+  }
+
+  public void setState(State newState) {
+    logger.warn("MicaZ motes can't change state");
+  }
+
+  public State getState() {
+    return Mote.State.ACTIVE;
+  }
+
+  /* called when moteID is updated */
+  public void idUpdated(int newID) {
+  }
+
+  public MoteType getType() {
+    return myMoteType;
+  }
+
+  public void setType(MoteType type) {
+    //myMoteType = (MspMoteType) type;
+  }
+
+  public void addStateObserver(Observer newObserver) {
+  }
+
+  public void deleteStateObserver(Observer newObserver) {
+  }
+
+  public MoteInterfaceHandler getInterfaces() {
+    return myMoteInterfaceHandler;
+  }
+
+  public void setInterfaces(MoteInterfaceHandler moteInterfaceHandler) {
+    myMoteInterfaceHandler = moteInterfaceHandler;
+  }
+
+  /* return false when done - e.g. true means more work to do before finished with this tick */
+
+  private boolean firstTick = true;
+  private long cyclesExecuted = 0;
+  public boolean tick(long simTime) {
+    if (stopNextInstruction) {
+      stopNextInstruction = false;
+      throw new RuntimeException("MSPSim requested simulation stop");
+    }
+
+    /* Nodes may be added in an ongoing simulation:
+     * Update cycle drift to current simulation time */
+    if (firstTick) {
+      firstTick = false;
+      cycleDrift += (-NR_CYCLES_PER_MSEC*simTime);
+    }
+
+    long maxSimTimeCycles = NR_CYCLES_PER_MSEC * (simTime + 1) + cycleDrift;
+
+    if (maxSimTimeCycles <= cycleCounter) {
+      return false;
+    }
+
+    // Leave control to emulated CPU
+    cycleCounter += 1;
+
+    if (cyclesExecuted > cycleCounter) {
+      /* CPU already ticked too far - just wait it out */
+      return true;
+    }
+    //    myMoteInterfaceHandler.doActiveActionsBeforeTick();
+
+    cyclesExecuted += interpreter.step();
+
+    //cpu.step(cycleCounter);
+
+    /* Check if radio has pending incoming bytes */
+//     if (myRadio != null && myRadio.hasPendingBytes()) {
+//       myRadio.tryDeliverNextByte(cpu.cycles);
+//     }
+
+    return true;
+  }
+
+  public boolean setConfigXML(Simulation simulation, Collection<Element> configXML, boolean visAvailable) {
+    for (Element element: configXML) {
+      String name = element.getName();
+
+      if (name.equals("motetype_identifier")) {
+
+        setSimulation(simulation);
+        myMoteType = (MicaZMoteType) simulation.getMoteType(element.getText());
+        getType().setIdentifier(element.getText());
+
+        try {
+          prepareMote(myMoteType.getELFFile());
+        } catch (Exception e) {
+          // TODO Auto-generated catch block
+          e.printStackTrace();
+        }
+        myMoteInterfaceHandler = createMoteInterfaceHandler();
+
+      } else if (name.equals("interface_config")) {
+        Class<? extends MoteInterface> moteInterfaceClass = simulation.getGUI().tryLoadClass(
+              this, MoteInterface.class, element.getText().trim());
+
+        if (moteInterfaceClass == null) {
+          logger.fatal("Could not load mote interface class: " + element.getText().trim());
+          return false;
+        }
+
+        MoteInterface moteInterface = getInterfaces().getInterfaceOfType(moteInterfaceClass);
+        moteInterface.setConfigXML(element.getChildren(), visAvailable);
+      }
+    }
+
+    return true;
+  }
+
+  private MoteInterfaceHandler createMoteInterfaceHandler() {
+    System.out.println("Creating mote interface handler....");
+    MoteInterfaceHandler moteInterfaceHandler = new MoteInterfaceHandler();
+
+      // Add position interface
+      Position motePosition = new Position(this);
+      Random random = new Random(); /* Do not use main random generator for positioning */
+      motePosition.setCoordinates(random.nextDouble()*100, random.nextDouble()*100, random.nextDouble()*100);
+      moteInterfaceHandler.addInterface(motePosition);
+      
+      // Add LED interface
+      MicaZLED moteLED = new MicaZLED(micaZ);
+      moteInterfaceHandler.addInterface(moteLED);
+      
+      return moteInterfaceHandler;
+  }
+
+  public Collection<Element> getConfigXML() {
+    Vector<Element> config = new Vector<Element>();
+
+    Element element;
+
+    // Mote type identifier
+    element = new Element("motetype_identifier");
+    element.setText(getType().getIdentifier());
+    config.add(element);
+
+    // Mote interfaces
+    for (MoteInterface moteInterface: getInterfaces().getInterfaces()) {
+      element = new Element("interface_config");
+      element.setText(moteInterface.getClass().getName());
+
+      Collection<Element> interfaceXML = moteInterface.getConfigXML();
+      if (interfaceXML != null) {
+        element.addContent(interfaceXML);
+        config.add(element);
+      }
+    }
+
+    return config;
+  }
+
+  public MoteMemory getMemory() {
+    return null;
+  }
+
+  public void setMemory(MoteMemory memory) {
+  }
+
+}

tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/interfaces/MicaZLED.java

@@ -0,0 +1,195 @@
+/*
+ * Copyright (c) 2007, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * $Id: MicaZLED.java,v 1.1 2009/02/22 16:45:01 joxe Exp $
+ */
+
+package se.sics.cooja.avrmote.interfaces;
+
+import java.awt.*;
+import java.util.*;
+import javax.swing.*;
+import org.apache.log4j.Logger;
+import org.jdom.Element;
+
+import avrora.sim.FiniteStateMachine;
+import avrora.sim.platform.MicaZ;
+import se.sics.cooja.*;
+import se.sics.cooja.interfaces.LED;
+
+/**
+ * @author Joakim Eriksson
+ */
+@ClassDescription("MicaZ LED")
+public class MicaZLED extends LED {
+  private static Logger logger = Logger.getLogger(MicaZLED.class);
+
+  private boolean blueOn = false;
+  private boolean greenOn = false;
+  private boolean redOn = false;
+
+  private static final Color DARK_BLUE = new Color(0, 0, 100);
+  private static final Color DARK_GREEN = new Color(0, 100, 0);
+  private static final Color DARK_RED = new Color(100, 0, 0);
+  private static final Color BLUE = new Color(0, 0, 255);
+  private static final Color GREEN = new Color(0, 255, 0);
+  private static final Color RED = new Color(255, 0, 0);
+
+  public MicaZLED(MicaZ micaZ) {
+    avrora.sim.platform.LED.LEDGroup leds =
+      (avrora.sim.platform.LED.LEDGroup) micaZ.getDevice("leds");
+    leds.leds[0].getFSM().insertProbe(new FiniteStateMachine.Probe() {
+      public void fireAfterTransition(int old, int newstate) {
+        redOn = newstate > 0;
+        setChanged();
+        notifyObservers();
+      }
+      public void fireBeforeTransition(int arg0, int arg1) {
+      }
+    });
+    leds.leds[1].getFSM().insertProbe(new FiniteStateMachine.Probe() {
+      public void fireAfterTransition(int old, int newstate) {
+        blueOn = newstate > 0;
+        setChanged();
+        notifyObservers();
+      }
+      public void fireBeforeTransition(int arg0, int arg1) {
+      }
+    });
+    leds.leds[2].getFSM().insertProbe(new FiniteStateMachine.Probe() {
+      public void fireAfterTransition(int old, int newstate) {
+        greenOn = newstate > 0;
+        setChanged();
+        notifyObservers();
+      }
+      public void fireBeforeTransition(int arg0, int arg1) {
+      }
+    });    
+  }
+
+  public boolean isAnyOn() {
+    return blueOn || greenOn || redOn;
+  }
+
+  public boolean isGreenOn() {
+    return greenOn;
+  }
+
+  public boolean isYellowOn()  {
+    return blueOn; /* Returning blue */
+  }
+
+  public boolean isRedOn() {
+    return redOn;
+  }
+
+  public double energyConsumption() {
+    return 0;
+  }
+
+  public JPanel getInterfaceVisualizer() {
+    final JPanel panel = new JPanel() {
+      public void paintComponent(Graphics g) {
+        super.paintComponent(g);
+
+        int x = 20;
+        int y = 25;
+        int d = 25;
+
+        if (isGreenOn()) {
+          g.setColor(GREEN);
+          g.fillOval(x, y, d, d);
+          g.setColor(Color.BLACK);
+          g.drawOval(x, y, d, d);
+        } else {
+          g.setColor(DARK_GREEN);
+          g.fillOval(x + 5, y + 5, d-10, d-10);
+        }
+
+        x += 40;
+
+        if (isRedOn()) {
+          g.setColor(RED);
+          g.fillOval(x, y, d, d);
+          g.setColor(Color.BLACK);
+          g.drawOval(x, y, d, d);
+        } else {
+          g.setColor(DARK_RED);
+          g.fillOval(x + 5, y + 5, d-10, d-10);
+        }
+
+        x += 40;
+
+        if (isYellowOn()) {
+          g.setColor(BLUE);
+          g.fillOval(x, y, d, d);
+          g.setColor(Color.BLACK);
+          g.drawOval(x, y, d, d);
+        } else {
+          g.setColor(DARK_BLUE);
+          g.fillOval(x + 5, y + 5, d-10, d-10);
+        }
+      }
+    };
+
+    Observer observer;
+    this.addObserver(observer = new Observer() {
+      public void update(Observable obs, Object obj) {
+        panel.repaint();
+      }
+    });
+
+    // Saving observer reference for releaseInterfaceVisualizer
+    panel.putClientProperty("intf_obs", observer);
+
+    panel.setMinimumSize(new Dimension(140, 60));
+    panel.setPreferredSize(new Dimension(140, 60));
+
+    return panel;
+  }
+
+  public void releaseInterfaceVisualizer(JPanel panel) {
+    Observer observer = (Observer) panel.getClientProperty("intf_obs");
+    if (observer == null) {
+      logger.fatal("Error when releasing panel, observer is null");
+      return;
+    }
+
+    this.deleteObserver(observer);
+  }
+
+
+  public Collection<Element> getConfigXML() {
+    return null;
+  }
+
+  public void setConfigXML(Collection<Element> configXML, boolean visAvailable) {
+  }
+
+}
+

tools/cooja/config/external_tools_win32.config

@@ -22,7 +22,7 @@ CONTIKI_STANDARD_PROCESSES = sensors_process;etimer_process
 CONTIKI_MAIN_TEMPLATE_FILENAME = contiki_template.c
 CORECOMM_TEMPLATE_FILENAME = corecomm_template.java
 PATH_JAVAC = javac
-DEFAULT_PROJECTDIRS = ../apps/mrm;../apps/mspsim
+DEFAULT_PROJECTDIRS = ../apps/mrm;../apps/mspsim;../apps/avrora
 
 PARSE_WITH_COMMAND = true
 PARSE_COMMAND=nm -C $(LIBFILE)