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Merge pull request #1661 from yatch/pr-tsch-cooja-mote

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TSCH on Cooja mote
This commit is contained in:
Simon Duquennoy 2016-11-23 11:59:29 +01:00 committed by GitHub
parent efde9132a8 30ddd97124
commit ecd1d57eec
17 changed files with 514 additions and 104 deletions
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22
core/net/mac/nullrdc.c
View file

@ -46,10 +46,10 @@
#include "net/rime/rimestats.h" #include "net/rime/rimestats.h"
#include <string.h> #include <string.h>
#if CONTIKI_TARGET_COOJA #if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
#include "lib/simEnvChange.h" #include "lib/simEnvChange.h"
#include "sys/cooja_mt.h" #include "sys/cooja_mt.h"
#endif /* CONTIKI_TARGET_COOJA */ #endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
#define DEBUG 0 #define DEBUG 0
#if DEBUG #if DEBUG
@ -158,10 +158,10 @@ send_one_packet(mac_callback_t sent, void *ptr)
wt = RTIMER_NOW(); wt = RTIMER_NOW();
watchdog_periodic(); watchdog_periodic();
while(RTIMER_CLOCK_LT(RTIMER_NOW(), wt + ACK_WAIT_TIME)) { while(RTIMER_CLOCK_LT(RTIMER_NOW(), wt + ACK_WAIT_TIME)) {
#if CONTIKI_TARGET_COOJA #if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
simProcessRunValue = 1; simProcessRunValue = 1;
cooja_mt_yield(); cooja_mt_yield();
#endif /* CONTIKI_TARGET_COOJA */ #endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
} }
ret = MAC_TX_NOACK; ret = MAC_TX_NOACK;
@ -176,10 +176,10 @@ send_one_packet(mac_callback_t sent, void *ptr)
watchdog_periodic(); watchdog_periodic();
while(RTIMER_CLOCK_LT(RTIMER_NOW(), while(RTIMER_CLOCK_LT(RTIMER_NOW(),
wt + AFTER_ACK_DETECTED_WAIT_TIME)) { wt + AFTER_ACK_DETECTED_WAIT_TIME)) {
#if CONTIKI_TARGET_COOJA #if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
simProcessRunValue = 1; simProcessRunValue = 1;
cooja_mt_yield(); cooja_mt_yield();
#endif /* CONTIKI_TARGET_COOJA */ #endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
} }
} }
@ -195,8 +195,8 @@ send_one_packet(mac_callback_t sent, void *ptr)
} }
} }
} else { } else {
PRINTF("nullrdc tx noack\n"); PRINTF("nullrdc tx noack\n");
} }
} }
break; break;
case RADIO_TX_COLLISION: case RADIO_TX_COLLISION:
@ -303,7 +303,7 @@ packet_input(void)
} }
#endif /* RDC_WITH_DUPLICATE_DETECTION */ #endif /* RDC_WITH_DUPLICATE_DETECTION */
#endif /* NULLRDC_802154_AUTOACK */ #endif /* NULLRDC_802154_AUTOACK */
#if NULLRDC_SEND_802154_ACK #if NULLRDC_SEND_802154_ACK
{ {
frame802154_t info154; frame802154_t info154;

13
core/net/mac/tsch/tsch-private.h
View file

@ -48,6 +48,10 @@
#include "net/linkaddr.h" #include "net/linkaddr.h"
#include "net/mac/tsch/tsch-asn.h" #include "net/mac/tsch/tsch-asn.h"
#include "net/mac/tsch/tsch-conf.h" #include "net/mac/tsch/tsch-conf.h"
#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
#include "lib/simEnvChange.h"
#include "sys/cooja_mt.h"
#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
/************ Types ***********/ /************ Types ***********/
@ -109,7 +113,14 @@ void tsch_disassociate(void);
#define TSCH_CLOCK_TO_SLOTS(c, timeslot_length) (TSCH_CLOCK_TO_TICKS(c) / timeslot_length) #define TSCH_CLOCK_TO_SLOTS(c, timeslot_length) (TSCH_CLOCK_TO_TICKS(c) / timeslot_length)
/* Wait for a condition with timeout t0+offset. */ /* Wait for a condition with timeout t0+offset. */
#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
#define BUSYWAIT_UNTIL_ABS(cond, t0, offset) \
while(!(cond) && RTIMER_CLOCK_LT(RTIMER_NOW(), (t0) + (offset))) { \
simProcessRunValue = 1; \
cooja_mt_yield(); \
};
#else
#define BUSYWAIT_UNTIL_ABS(cond, t0, offset) \ #define BUSYWAIT_UNTIL_ABS(cond, t0, offset) \
while(!(cond) && RTIMER_CLOCK_LT(RTIMER_NOW(), (t0) + (offset))) ; while(!(cond) && RTIMER_CLOCK_LT(RTIMER_NOW(), (t0) + (offset))) ;
#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
#endif /* __TSCH_PRIVATE_H__ */ #endif /* __TSCH_PRIVATE_H__ */

16
core/net/mac/tsch/tsch-slot-operation.c
View file

@ -54,6 +54,10 @@
#include "net/mac/tsch/tsch-packet.h" #include "net/mac/tsch/tsch-packet.h"
#include "net/mac/tsch/tsch-security.h" #include "net/mac/tsch/tsch-security.h"
#include "net/mac/tsch/tsch-adaptive-timesync.h" #include "net/mac/tsch/tsch-adaptive-timesync.h"
#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
#include "lib/simEnvChange.h"
#include "sys/cooja_mt.h"
#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
#if TSCH_LOG_LEVEL >= 1 #if TSCH_LOG_LEVEL >= 1
#define DEBUG DEBUG_PRINT #define DEBUG DEBUG_PRINT
@ -104,7 +108,10 @@
#if RTIMER_SECOND < (32 * 1024) #if RTIMER_SECOND < (32 * 1024)
#error "TSCH: RTIMER_SECOND < (32 * 1024)" #error "TSCH: RTIMER_SECOND < (32 * 1024)"
#endif #endif
#if RTIMER_SECOND >= 200000 #if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
/* Use 0 usec guard time for Cooja Mote with a 1 MHz Rtimer*/
#define RTIMER_GUARD 0u
#elif RTIMER_SECOND >= 200000
#define RTIMER_GUARD (RTIMER_SECOND / 100000) #define RTIMER_GUARD (RTIMER_SECOND / 100000)
#else #else
#define RTIMER_GUARD 2u #define RTIMER_GUARD 2u
@ -200,7 +207,12 @@ tsch_get_lock(void)
if(tsch_in_slot_operation) { if(tsch_in_slot_operation) {
busy_wait = 1; busy_wait = 1;
busy_wait_time = RTIMER_NOW(); busy_wait_time = RTIMER_NOW();
while(tsch_in_slot_operation); while(tsch_in_slot_operation) {
#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
simProcessRunValue = 1;
cooja_mt_yield();
#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
}
busy_wait_time = RTIMER_NOW() - busy_wait_time; busy_wait_time = RTIMER_NOW() - busy_wait_time;
} }
if(!tsch_locked) { if(!tsch_locked) {

4
examples/ipv6/rpl-tsch/project-conf.h
View file

@ -181,4 +181,8 @@
#endif /* CONTIKI_TARGET_CC2538DK || CONTIKI_TARGET_ZOUL \ #endif /* CONTIKI_TARGET_CC2538DK || CONTIKI_TARGET_ZOUL \
|| CONTIKI_TARGET_OPENMOTE_CC2538 */ || CONTIKI_TARGET_OPENMOTE_CC2538 */
#if CONTIKI_TARGET_COOJA
#define COOJA_CONF_SIMULATE_TURNAROUND 0
#endif /* CONTIKI_TARGET_COOJA */
#endif /* __PROJECT_CONF_H__ */ #endif /* __PROJECT_CONF_H__ */

279
examples/ipv6/rpl-tsch/rpl-tsch-cooja.csc Normal file
View file

@ -0,0 +1,279 @@
<?xml version="1.0" encoding="UTF-8"?>
<simconf>
<project EXPORT="discard">[APPS_DIR]/mrm</project>
<project EXPORT="discard">[APPS_DIR]/mspsim</project>
<project EXPORT="discard">[APPS_DIR]/avrora</project>
<project EXPORT="discard">[APPS_DIR]/serial_socket</project>
<project EXPORT="discard">[APPS_DIR]/collect-view</project>
<project EXPORT="discard">[APPS_DIR]/powertracker</project>
<project EXPORT="discard">[APPS_DIR]/radiologger-headless</project>
<simulation>
<title>RPL+TSCH</title>
<randomseed>123456</randomseed>
<motedelay_us>1000000</motedelay_us>
<radiomedium>
org.contikios.cooja.radiomediums.UDGM
<transmitting_range>50.0</transmitting_range>
<interference_range>100.0</interference_range>
<success_ratio_tx>1.0</success_ratio_tx>
<success_ratio_rx>1.0</success_ratio_rx>
</radiomedium>
<events>
<logoutput>40000</logoutput>
</events>
<motetype>
org.contikios.cooja.contikimote.ContikiMoteType
<identifier>mtype660</identifier>
<description>Cooja Mote Type #z11</description>
<source>[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
<commands>make TARGET=cooja clean
make TARGET=cooja node.cooja</commands>
<moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
<moteinterface>org.contikios.cooja.interfaces.Battery</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiVib</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiMoteID</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiRS232</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiBeeper</moteinterface>
<moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiIPAddress</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiRadio</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiButton</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiPIR</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiClock</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiLED</moteinterface>
<moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiCFS</moteinterface>
<moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
<moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
<symbols>false</symbols>
</motetype>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>-1.285769821276336</x>
<y>38.58045647334346</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>1</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>-19.324109516886306</x>
<y>76.23135780254927</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>2</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>5.815501305791592</x>
<y>76.77463755494317</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>3</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>31.920697784030082</x>
<y>50.5212265977149</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>4</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>47.21747673247198</x>
<y>30.217765340599726</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>5</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>10.622284947035123</x>
<y>109.81862399725188</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>6</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>52.41150716335335</x>
<y>109.93228340481916</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>7</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>70.18727461718498</x>
<y>70.06861701541145</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>8</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
<mote>
<interface_config>
org.contikios.cooja.interfaces.Position
<x>80.29870484201041</x>
<y>99.37351603835938</y>
<z>0.0</z>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiMoteID
<id>9</id>
</interface_config>
<interface_config>
org.contikios.cooja.contikimote.interfaces.ContikiRadio
<bitrate>250.0</bitrate>
</interface_config>
<motetype_identifier>mtype660</motetype_identifier>
</mote>
</simulation>
<plugin>
org.contikios.cooja.plugins.SimControl
<width>242</width>
<z>4</z>
<height>160</height>
<location_x>11</location_x>
<location_y>241</location_y>
</plugin>
<plugin>
org.contikios.cooja.plugins.Visualizer
<plugin_config>
<moterelations>true</moterelations>
<skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
<skin>org.contikios.cooja.plugins.skins.GridVisualizerSkin</skin>
<skin>org.contikios.cooja.plugins.skins.TrafficVisualizerSkin</skin>
<skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
<viewport>1.7405603810040515 0.0 0.0 1.7405603810040515 47.95980153208088 -42.576134155447555</viewport>
</plugin_config>
<width>236</width>
<z>3</z>
<height>230</height>
<location_x>1</location_x>
<location_y>1</location_y>
</plugin>
<plugin>
org.contikios.cooja.plugins.LogListener
<plugin_config>
<filter />
<formatted_time />
<coloring />
</plugin_config>
<width>1031</width>
<z>0</z>
<height>394</height>
<location_x>273</location_x>
<location_y>6</location_y>
</plugin>
<plugin>
org.contikios.cooja.plugins.TimeLine
<plugin_config>
<mote>0</mote>
<mote>1</mote>
<mote>2</mote>
<mote>3</mote>
<mote>4</mote>
<mote>5</mote>
<mote>6</mote>
<mote>7</mote>
<mote>8</mote>
<showRadioRXTX />
<showRadioHW />
<showLEDs />
<zoomfactor>16529.88882215865</zoomfactor>
</plugin_config>
<width>1304</width>
<z>2</z>
<height>311</height>
<location_x>0</location_x>
<location_y>412</location_y>
</plugin>
<plugin>
org.contikios.cooja.plugins.RadioLogger
<plugin_config>
<split>150</split>
<formatted_time />
<showdups>false</showdups>
<hidenodests>false</hidenodests>
<analyzers name="6lowpan-pcap" />
</plugin_config>
<width>500</width>
<z>1</z>
<height>300</height>
<location_x>30</location_x>
<location_y>442</location_y>
</plugin>
</simconf>

19
platform/cooja-ip64/contiki-cooja-ip64-main.c
View file

@ -376,9 +376,6 @@ Java_org_contikios_cooja_corecomm_CLASSNAME_setMemory(JNIEnv *env, jobject obj,
JNIEXPORT void JNICALL JNIEXPORT void JNICALL
Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj) Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
{ {
clock_time_t nextEtimer;
rtimer_clock_t nextRtimer;
simProcessRunValue = 0; simProcessRunValue = 0;
/* Let all simulation interfaces act first */ /* Let all simulation interfaces act first */
@ -403,21 +400,11 @@ Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
doActionsAfterTick(); doActionsAfterTick();
/* Do we have any pending timers */ /* Do we have any pending timers */
simEtimerPending = etimer_pending() || rtimer_arch_pending(); simEtimerPending = etimer_pending();
if(!simEtimerPending) {
return;
}
/* Save nearest expiration time */ /* Save nearest expiration time */
nextEtimer = etimer_next_expiration_time() - (clock_time_t) simCurrentTime; simEtimerNextExpirationTime = etimer_next_expiration_time();
nextRtimer = rtimer_arch_next() - (rtimer_clock_t) simCurrentTime;
if(etimer_pending() && rtimer_arch_pending()) {
simNextExpirationTime = MIN(nextEtimer, nextRtimer);
} else if(etimer_pending()) {
simNextExpirationTime = nextEtimer;
} else if(rtimer_arch_pending()) {
simNextExpirationTime = nextRtimer;
}
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
/** /**

8
platform/cooja/contiki-conf.h
View file

@ -200,8 +200,12 @@ typedef unsigned short uip_stats_t;
#define CLOCK_CONF_SECOND 1000L #define CLOCK_CONF_SECOND 1000L
typedef unsigned long clock_time_t; typedef unsigned long clock_time_t;
typedef unsigned long rtimer_clock_t; typedef uint64_t rtimer_clock_t;
#define RTIMER_CLOCK_DIFF(a,b) ((signed long)((a)-(b))) #define RTIMER_CLOCK_DIFF(a,b) ((int64_t)((a)-(b)))
#define RADIO_DELAY_BEFORE_TX 0
#define RADIO_DELAY_BEFORE_RX 0
#define RADIO_DELAY_BEFORE_DETECT 0
#define AODV_COMPLIANCE #define AODV_COMPLIANCE
#define AODV_NUM_RT_ENTRIES 32 #define AODV_NUM_RT_ENTRIES 32

19
platform/cooja/contiki-cooja-main.c
View file

@ -452,9 +452,6 @@ Java_org_contikios_cooja_corecomm_CLASSNAME_setMemory(JNIEnv *env, jobject obj,
JNIEXPORT void JNICALL JNIEXPORT void JNICALL
Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj) Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
{ {
clock_time_t nextEtimer;
rtimer_clock_t nextRtimer;
simProcessRunValue = 0; simProcessRunValue = 0;
/* Let all simulation interfaces act first */ /* Let all simulation interfaces act first */
@ -479,21 +476,11 @@ Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
doActionsAfterTick(); doActionsAfterTick();
/* Do we have any pending timers */ /* Do we have any pending timers */
simEtimerPending = etimer_pending() || rtimer_arch_pending(); simEtimerPending = etimer_pending();
if(!simEtimerPending) {
return;
}
/* Save nearest expiration time */ /* Save nearest expiration time */
nextEtimer = etimer_next_expiration_time() - (clock_time_t) simCurrentTime; simEtimerNextExpirationTime = etimer_next_expiration_time();
nextRtimer = rtimer_arch_next() - (rtimer_clock_t) simCurrentTime;
if(etimer_pending() && rtimer_arch_pending()) {
simNextExpirationTime = MIN(nextEtimer, nextRtimer);
} else if(etimer_pending()) {
simNextExpirationTime = nextEtimer;
} else if(rtimer_arch_pending()) {
simNextExpirationTime = nextRtimer;
}
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
/** /**

133
platform/cooja/dev/cooja-radio.c
View file

@ -46,15 +46,13 @@
#define COOJA_RADIO_BUFSIZE PACKETBUF_SIZE #define COOJA_RADIO_BUFSIZE PACKETBUF_SIZE
#define CCA_SS_THRESHOLD -95 #define CCA_SS_THRESHOLD -95
#define WITH_TURNAROUND 1
#define WITH_SEND_CCA 1
const struct simInterface radio_interface; const struct simInterface radio_interface;
/* COOJA */ /* COOJA */
char simReceiving = 0; char simReceiving = 0;
char simInDataBuffer[COOJA_RADIO_BUFSIZE]; char simInDataBuffer[COOJA_RADIO_BUFSIZE];
int simInSize = 0; int simInSize = 0;
rtimer_clock_t simLastPacketTimestamp = 0;
char simOutDataBuffer[COOJA_RADIO_BUFSIZE]; char simOutDataBuffer[COOJA_RADIO_BUFSIZE];
int simOutSize = 0; int simOutSize = 0;
char simRadioHWOn = 1; char simRadioHWOn = 1;
@ -66,8 +64,37 @@ int simLQI = 105;
static const void *pending_data; static const void *pending_data;
PROCESS(cooja_radio_process, "cooja radio process"); /* If we are in the polling mode, poll_mode is 1; otherwise 0 */
static int poll_mode = 0; /* default 0, disabled */
static int auto_ack = 0; /* AUTO_ACK is not supported; always 0 */
static int addr_filter = 0; /* ADDRESS_FILTER is not supported; always 0 */
static int send_on_cca = (COOJA_TRANSMIT_ON_CCA != 0);
PROCESS(cooja_radio_process, "cooja radio process");
/*---------------------------------------------------------------------------*/
static void
set_send_on_cca(uint8_t enable)
{
send_on_cca = enable;
}
/*---------------------------------------------------------------------------*/
static void
set_frame_filtering(int enable)
{
addr_filter = enable;
}
/*---------------------------------------------------------------------------*/
static void
set_auto_ack(int enable)
{
auto_ack = enable;
}
/*---------------------------------------------------------------------------*/
static void
set_poll_mode(int enable)
{
poll_mode = enable;
}
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
void void
radio_set_channel(int channel) radio_set_channel(int channel)
@ -97,7 +124,7 @@ radio_signal_strength_current(void)
int int
radio_LQI(void) radio_LQI(void)
{ {
return simLQI; return simLQI;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
static int static int
@ -152,8 +179,10 @@ radio_read(void *buf, unsigned short bufsize)
memcpy(buf, simInDataBuffer, simInSize); memcpy(buf, simInDataBuffer, simInSize);
simInSize = 0; simInSize = 0;
packetbuf_set_attr(PACKETBUF_ATTR_RSSI, simSignalStrength); if(!poll_mode) {
packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, simLQI); packetbuf_set_attr(PACKETBUF_ATTR_RSSI, simSignalStrength);
packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, simLQI);
}
return tmp; return tmp;
} }
@ -173,14 +202,14 @@ radio_send(const void *payload, unsigned short payload_len)
int radiostate = simRadioHWOn; int radiostate = simRadioHWOn;
/* Simulate turnaround time of 2ms for packets, 1ms for acks*/ /* Simulate turnaround time of 2ms for packets, 1ms for acks*/
#if WITH_TURNAROUND #if COOJA_SIMULATE_TURNAROUND
simProcessRunValue = 1; simProcessRunValue = 1;
cooja_mt_yield(); cooja_mt_yield();
if(payload_len > 3) { if(payload_len > 3) {
simProcessRunValue = 1; simProcessRunValue = 1;
cooja_mt_yield(); cooja_mt_yield();
} }
#endif /* WITH_TURNAROUND */ #endif /* COOJA_SIMULATE_TURNAROUND */
if(!simRadioHWOn) { if(!simRadioHWOn) {
/* Turn on radio temporarily */ /* Turn on radio temporarily */
@ -197,11 +226,11 @@ radio_send(const void *payload, unsigned short payload_len)
} }
/* Transmit on CCA */ /* Transmit on CCA */
#if WITH_SEND_CCA #if COOJA_TRANSMIT_ON_CCA
if(!channel_clear()) { if(send_on_cca && !channel_clear()) {
return RADIO_TX_COLLISION; return RADIO_TX_COLLISION;
} }
#endif /* WITH_SEND_CCA */ #endif /* COOJA_TRANSMIT_ON_CCA */
/* Copy packet data to temporary storage */ /* Copy packet data to temporary storage */
memcpy(simOutDataBuffer, payload, payload_len); memcpy(simOutDataBuffer, payload, payload_len);
@ -253,6 +282,9 @@ PROCESS_THREAD(cooja_radio_process, ev, data)
while(1) { while(1) {
PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL); PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL);
if(poll_mode) {
continue;
}
packetbuf_clear(); packetbuf_clear();
len = radio_read(packetbuf_dataptr(), PACKETBUF_SIZE); len = radio_read(packetbuf_dataptr(), PACKETBUF_SIZE);
@ -275,18 +307,87 @@ init(void)
static radio_result_t static radio_result_t
get_value(radio_param_t param, radio_value_t *value) get_value(radio_param_t param, radio_value_t *value)
{ {
return RADIO_RESULT_NOT_SUPPORTED; switch(param) {
case RADIO_PARAM_RX_MODE:
*value = 0;
if(addr_filter) {
*value |= RADIO_RX_MODE_ADDRESS_FILTER;
}
if(auto_ack) {
*value |= RADIO_RX_MODE_AUTOACK;
}
if(poll_mode) {
*value |= RADIO_RX_MODE_POLL_MODE;
}
return RADIO_RESULT_OK;
case RADIO_PARAM_TX_MODE:
*value = 0;
if(send_on_cca) {
*value |= RADIO_TX_MODE_SEND_ON_CCA;
}
return RADIO_RESULT_OK;
case RADIO_PARAM_LAST_RSSI:
*value = simSignalStrength;
return RADIO_RESULT_OK;
case RADIO_PARAM_LAST_LINK_QUALITY:
*value = simLQI;
return RADIO_RESULT_OK;
default:
return RADIO_RESULT_NOT_SUPPORTED;
}
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
static radio_result_t static radio_result_t
set_value(radio_param_t param, radio_value_t value) set_value(radio_param_t param, radio_value_t value)
{ {
return RADIO_RESULT_NOT_SUPPORTED; switch(param) {
case RADIO_PARAM_RX_MODE:
if(value & ~(RADIO_RX_MODE_ADDRESS_FILTER |
RADIO_RX_MODE_AUTOACK | RADIO_RX_MODE_POLL_MODE)) {
return RADIO_RESULT_INVALID_VALUE;
}
/* Only disabling is acceptable for RADIO_RX_MODE_ADDRESS_FILTER */
if ((value & RADIO_RX_MODE_ADDRESS_FILTER) != 0) {
return RADIO_RESULT_NOT_SUPPORTED;
}
set_frame_filtering((value & RADIO_RX_MODE_ADDRESS_FILTER) != 0);
/* Only disabling is acceptable for RADIO_RX_MODE_AUTOACK */
if ((value & RADIO_RX_MODE_ADDRESS_FILTER) != 0) {
return RADIO_RESULT_NOT_SUPPORTED;
}
set_auto_ack((value & RADIO_RX_MODE_AUTOACK) != 0);
set_poll_mode((value & RADIO_RX_MODE_POLL_MODE) != 0);
return RADIO_RESULT_OK;
case RADIO_PARAM_TX_MODE:
if(value & ~(RADIO_TX_MODE_SEND_ON_CCA)) {
return RADIO_RESULT_INVALID_VALUE;
}
set_send_on_cca((value & RADIO_TX_MODE_SEND_ON_CCA) != 0);
return RADIO_RESULT_OK;
case RADIO_PARAM_CHANNEL:
if(value < 11 || value > 26) {
return RADIO_RESULT_INVALID_VALUE;
}
radio_set_channel(value);
return RADIO_RESULT_OK;
default:
return RADIO_RESULT_NOT_SUPPORTED;
}
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
static radio_result_t static radio_result_t
get_object(radio_param_t param, void *dest, size_t size) get_object(radio_param_t param, void *dest, size_t size)
{ {
if(param == RADIO_PARAM_LAST_PACKET_TIMESTAMP) {
if(size != sizeof(rtimer_clock_t) || !dest) {
return RADIO_RESULT_INVALID_VALUE;
}
*(rtimer_clock_t *)dest = (rtimer_clock_t)simLastPacketTimestamp;
return RADIO_RESULT_OK;
}
return RADIO_RESULT_NOT_SUPPORTED; return RADIO_RESULT_NOT_SUPPORTED;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
@ -315,5 +416,5 @@ const struct radio_driver cooja_radio_driver =
}; };
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
SIM_INTERFACE(radio_interface, SIM_INTERFACE(radio_interface,
doInterfaceActionsBeforeTick, doInterfaceActionsBeforeTick,
doInterfaceActionsAfterTick); doInterfaceActionsAfterTick);

12
platform/cooja/dev/cooja-radio.h
View file

@ -36,6 +36,18 @@
#include "contiki.h" #include "contiki.h"
#include "dev/radio.h" #include "dev/radio.h"
#ifdef COOJA_CONF_SIMULATE_TURNAROUND
#define COOJA_SIMULATE_TURNAROUND COOJA_CONF_SIMULATE_TURNAROUND
#else
#define COOJA_SIMULATE_TURNAROUND 1
#endif
#ifdef COOJA_CONF_TRANSMIT_ON_CCA
#define COOJA_TRANSMIT_ON_CCA COOJA_CONF_TRANSMIT_ON_CCA
#else
#define COOJA_TRANSMIT_ON_CCA 1
#endif
extern const struct radio_driver cooja_radio_driver; extern const struct radio_driver cooja_radio_driver;
/** /**

2
platform/cooja/lib/simEnvChange.c
View file

@ -40,7 +40,7 @@ char simDontFallAsleep = 0;
int simProcessRunValue; int simProcessRunValue;
int simEtimerPending; int simEtimerPending;
clock_time_t simNextExpirationTime; clock_time_t simEtimerNextExpirationTime;
void doActionsBeforeTick() { void doActionsBeforeTick() {
// Poll all interfaces to do their thing before the tick // Poll all interfaces to do their thing before the tick

2
platform/cooja/lib/simEnvChange.h
View file

@ -42,7 +42,7 @@ struct simInterface {
// Variable for keeping the last process_run() return value // Variable for keeping the last process_run() return value
extern int simProcessRunValue; extern int simProcessRunValue;
extern int simEtimerPending; extern int simEtimerPending;
extern clock_time_t simNextExpirationTime; extern clock_time_t simEtimerNextExpirationTime;
extern clock_time_t simCurrentTime; extern clock_time_t simCurrentTime;
// Variable that when set to != 0, stops the mote from falling asleep next tick // Variable that when set to != 0, stops the mote from falling asleep next tick

35
platform/cooja/rtimer-arch.c
View file

@ -48,46 +48,44 @@
#define PRINTF(...) #define PRINTF(...)
#endif #endif
extern clock_time_t simCurrentTime; /* COOJA */
int simRtimerPending;
static int pending_rtimer = 0; rtimer_clock_t simRtimerNextExpirationTime;
static rtimer_clock_t next_rtimer = 0; rtimer_clock_t simRtimerCurrentTicks;
static clock_time_t last_rtimer_now = 0;
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
void void
rtimer_arch_init(void) rtimer_arch_init(void)
{ {
next_rtimer = 0; simRtimerNextExpirationTime = 0;
last_rtimer_now = 0; simRtimerPending = 0;
pending_rtimer = 0;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
void void
rtimer_arch_schedule(rtimer_clock_t t) rtimer_arch_schedule(rtimer_clock_t t)
{ {
next_rtimer = t; simRtimerNextExpirationTime = t;
pending_rtimer = 1; simRtimerPending = 1;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
rtimer_clock_t rtimer_clock_t
rtimer_arch_next(void) rtimer_arch_next(void)
{ {
return next_rtimer; return simRtimerNextExpirationTime;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
int int
rtimer_arch_pending(void) rtimer_arch_pending(void)
{ {
return pending_rtimer; return simRtimerPending;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
int int
rtimer_arch_check(void) rtimer_arch_check(void)
{ {
if (simCurrentTime == next_rtimer) { if (simRtimerCurrentTicks == simRtimerNextExpirationTime) {
/* Execute rtimer */ /* Execute rtimer */
pending_rtimer = 0; simRtimerPending = 0;
rtimer_run_next(); rtimer_run_next();
return 1; return 1;
} }
@ -97,14 +95,7 @@ rtimer_arch_check(void)
rtimer_clock_t rtimer_clock_t
rtimer_arch_now(void) rtimer_arch_now(void)
{ {
if(last_rtimer_now == simCurrentTime) { return simRtimerCurrentTicks;
/* Yield to COOJA, to allow time to change */
simProcessRunValue = 1;
simNextExpirationTime = simCurrentTime + 1;
cooja_mt_yield();
}
last_rtimer_now = simCurrentTime;
return simCurrentTime;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/

5
platform/cooja/rtimer-arch.h
View file

@ -36,7 +36,10 @@
#include "contiki-conf.h" #include "contiki-conf.h"
#include "sys/clock.h" #include "sys/clock.h"
#define RTIMER_ARCH_SECOND CLOCK_CONF_SECOND #define RTIMER_ARCH_SECOND UINT64_C(1000000)
#define US_TO_RTIMERTICKS(US) (US)
#define RTIMERTICKS_TO_US(T) (T)
rtimer_clock_t rtimer_arch_now(void); rtimer_clock_t rtimer_arch_now(void);
int rtimer_arch_check(void); int rtimer_arch_check(void);

40
tools/cooja/java/org/contikios/cooja/contikimote/interfaces/ContikiClock.java
View file

@ -52,8 +52,11 @@ import org.contikios.cooja.mote.memory.VarMemory;
* Contiki variables: * Contiki variables:
* <ul> * <ul>
* <li>clock_time_t simCurrentTime * <li>clock_time_t simCurrentTime
* <li>clock_time_t simNextExpirationTime * <li>rtimer_clock_t simRtimerCurrentTicks
* <li>int simProcessRunValue * <li>clock_time_t simEtimerNextExpirationTime
* <li>rtimer_clock_t simEtimerNextExpirationTime
* <li>int simEtimerProcessRunValue
* <li>int simRtimerProcessRunValue
* <li>int simEtimerPending * <li>int simEtimerPending
* </ul> * </ul>
* *
@ -125,16 +128,24 @@ public class ContikiClock extends Clock implements ContikiMoteInterface, PolledB
public void doActionsBeforeTick() { public void doActionsBeforeTick() {
/* Update time */ /* Update time */
setTime(mote.getSimulation().getSimulationTime() + timeDrift); long currentSimulationTime = simulation.getSimulationTime();
setTime(currentSimulationTime + timeDrift);
moteMem.setInt64ValueOf("simRtimerCurrentTicks", currentSimulationTime);
} }
public void doActionsAfterTick() { public void doActionsAfterTick() {
long currentSimulationTime = mote.getSimulation().getSimulationTime();
/* Always schedule for Rtimer if anything pending */
if (moteMem.getIntValueOf("simRtimerPending") != 0) {
mote.scheduleNextWakeup(moteMem.getInt64ValueOf("simRtimerNextExpirationTime"));
}
/* Request next tick for remaining events / timers */ /* Request next tick for remaining events / timers */
int processRunValue = moteMem.getIntValueOf("simProcessRunValue"); int processRunValue = moteMem.getIntValueOf("simProcessRunValue");
if (processRunValue != 0) { if (processRunValue != 0) {
/* Handle next Contiki event in one millisecond */ /* Handle next Contiki event in one millisecond */
mote.scheduleNextWakeup(simulation.getSimulationTime() + Simulation.MILLISECOND); mote.scheduleNextWakeup(currentSimulationTime + Simulation.MILLISECOND);
return; return;
} }
@ -144,15 +155,20 @@ public class ContikiClock extends Clock implements ContikiMoteInterface, PolledB
return; return;
} }
/* Request tick next wakeup time */ /* Request tick next wakeup time for Etimer */
int nextExpirationTime = moteMem.getIntValueOf("simNextExpirationTime"); long etimerNextExpirationTime = (long)moteMem.getInt32ValueOf("simEtimerNextExpirationTime") * Simulation.MILLISECOND;
if (nextExpirationTime <= 0) { long etimerTimeToNextExpiration = etimerNextExpirationTime - moteTime;
/*logger.warn("Event timer already expired, but has been delayed: " + nextExpirationTime);*/ if (etimerTimeToNextExpiration <= 0) {
mote.scheduleNextWakeup(simulation.getSimulationTime() + Simulation.MILLISECOND); /* logger.warn(mote.getID() + ": Event timer already expired, but has been delayed: " + etimerTimeToNextExpiration); */
return; /* Wake up in one millisecond to handle a missed Etimer task
* which may be blocked by busy waiting such as one in
* radio_send(). Scheduling it in a shorter time than one
* millisecond, e.g., one microsecond, seems to be worthless and
* it would cause unnecessary CPU usage. */
mote.scheduleNextWakeup(currentSimulationTime + Simulation.MILLISECOND);
} else {
mote.scheduleNextWakeup(currentSimulationTime + etimerTimeToNextExpiration);
} }
mote.scheduleNextWakeup(simulation.getSimulationTime() + Simulation.MILLISECOND*nextExpirationTime);
} }

3
tools/cooja/java/org/contikios/cooja/contikimote/interfaces/ContikiRadio.java
View file

@ -62,6 +62,7 @@ import org.contikios.cooja.util.CCITT_CRC;
* <p> * <p>
* <li>int simInSize (size of received data packet) * <li>int simInSize (size of received data packet)
* <li>byte[] simInDataBuffer (data of received data packet) * <li>byte[] simInDataBuffer (data of received data packet)
* <li>int64_t simLastPacketTimestamp (timestamp of the last received data packet)
* <p> * <p>
* <li>int simOutSize (size of transmitted data packet) * <li>int simOutSize (size of transmitted data packet)
* <li>byte[] simOutDataBuffer (data of transmitted data packet) * <li>byte[] simOutDataBuffer (data of transmitted data packet)
@ -190,6 +191,8 @@ public class ContikiRadio extends Radio implements ContikiMoteInterface, PolledA
lastEventTime = mote.getSimulation().getSimulationTime(); lastEventTime = mote.getSimulation().getSimulationTime();
lastEvent = RadioEvent.RECEPTION_STARTED; lastEvent = RadioEvent.RECEPTION_STARTED;
myMoteMemory.setInt64ValueOf("simLastPacketTimestamp", lastEventTime);
this.setChanged(); this.setChanged();
this.notifyObservers(); this.notifyObservers();
} }

6
tools/cooja/java/org/contikios/cooja/mote/memory/VarMemory.java
View file

@ -263,7 +263,7 @@ public class VarMemory extends Memory {
* @param varName Variable name * @param varName Variable name
* @param value 16 bit integer value to write * @param value 16 bit integer value to write
*/ */
public void setInt16ValueOf(String varName, byte value) public void setInt16ValueOf(String varName, short value)
throws UnknownVariableException { throws UnknownVariableException {
setInt16ValueOf(getVariable(varName).addr, value); setInt16ValueOf(getVariable(varName).addr, value);
} }
@ -274,7 +274,7 @@ public class VarMemory extends Memory {
* @param varName Variable name * @param varName Variable name
* @param value 32 bit integer value to write * @param value 32 bit integer value to write
*/ */
public void setInt32ValueOf(String varName, byte value) public void setInt32ValueOf(String varName, int value)
throws UnknownVariableException { throws UnknownVariableException {
setInt32ValueOf(getVariable(varName).addr, value); setInt32ValueOf(getVariable(varName).addr, value);
} }
@ -285,7 +285,7 @@ public class VarMemory extends Memory {
* @param varName Variable name * @param varName Variable name
* @param value 64 bit integer value to write * @param value 64 bit integer value to write
*/ */
public void setInt64ValueOf(String varName, byte value) public void setInt64ValueOf(String varName, long value)
throws UnknownVariableException { throws UnknownVariableException {
setInt64ValueOf(getVariable(varName).addr, value); setInt64ValueOf(getVariable(varName).addr, value);
} }