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osd-contiki/platform/cooja/contiki-cooja-main.c

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/*
* Copyright (c) 2010, 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.
*
*/
/**
* \file
* COOJA Contiki mote main file.
* \author
* Fredrik Osterlind <fros@sics.se>
*/
#include <jni.h>
#include <stdio.h>
#include <string.h>
#include "contiki.h"
#include "sys/clock.h"
#include "sys/etimer.h"
#include "sys/cooja_mt.h"
#include "sys/autostart.h"
#include "lib/random.h"
#include "lib/simEnvChange.h"
#include "net/rime.h"
#include "net/netstack.h"
#include "dev/serial-line.h"
#include "dev/cooja-radio.h"
#include "dev/button-sensor.h"
#include "dev/pir-sensor.h"
#include "dev/vib-sensor.h"
#include "sys/node-id.h"
/* JNI-defined functions, depends on the environment variable CLASSNAME */
#ifndef CLASSNAME
#error CLASSNAME is undefined, required by contiki-cooja-main.c
#endif /* CLASSNAME */
#define COOJA__QUOTEME(a,b,c) COOJA_QUOTEME(a,b,c)
#define COOJA_QUOTEME(a,b,c) a##b##c
#define COOJA_JNI_PATH Java_se_sics_cooja_corecomm_
#define Java_se_sics_cooja_corecomm_CLASSNAME_init COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_init)
#define Java_se_sics_cooja_corecomm_CLASSNAME_getMemory COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_getMemory)
#define Java_se_sics_cooja_corecomm_CLASSNAME_setMemory COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_setMemory)
#define Java_se_sics_cooja_corecomm_CLASSNAME_tick COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_tick)
#define Java_se_sics_cooja_corecomm_CLASSNAME_setReferenceAddress COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_setReferenceAddress)
#ifndef WITH_UIP
#define WITH_UIP 0
#endif
#if WITH_UIP
#include "dev/rs232.h"
#include "dev/slip.h"
#include "net/uip.h"
#include "net/uip-fw.h"
#include "net/uip-fw-drv.h"
#include "net/uip-over-mesh.h"
static struct uip_fw_netif slipif =
{UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)};
static struct uip_fw_netif meshif =
{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
#define UIP_OVER_MESH_CHANNEL 8
static uint8_t is_gateway;
#endif /* WITH_UIP */
#ifndef WITH_UIP6
#define WITH_UIP6 0
#endif
#if WITH_UIP6
#include "net/uip.h"
#include "net/uip-ds6.h"
#define PRINT6ADDR(addr) printf("%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x", ((uint8_t *)addr)[0], ((uint8_t *)addr)[1], ((uint8_t *)addr)[2], ((uint8_t *)addr)[3], ((uint8_t *)addr)[4], ((uint8_t *)addr)[5], ((uint8_t *)addr)[6], ((uint8_t *)addr)[7], ((uint8_t *)addr)[8], ((uint8_t *)addr)[9], ((uint8_t *)addr)[10], ((uint8_t *)addr)[11], ((uint8_t *)addr)[12], ((uint8_t *)addr)[13], ((uint8_t *)addr)[14], ((uint8_t *)addr)[15])
#endif /* WITH_UIP6 */
/* Simulation mote interfaces */
SIM_INTERFACE_NAME(moteid_interface);
SIM_INTERFACE_NAME(vib_interface);
SIM_INTERFACE_NAME(rs232_interface);
SIM_INTERFACE_NAME(simlog_interface);
SIM_INTERFACE_NAME(beep_interface);
SIM_INTERFACE_NAME(radio_interface);
SIM_INTERFACE_NAME(button_interface);
SIM_INTERFACE_NAME(pir_interface);
SIM_INTERFACE_NAME(clock_interface);
SIM_INTERFACE_NAME(leds_interface);
SIM_INTERFACE_NAME(cfs_interface);
SIM_INTERFACES(&vib_interface, &moteid_interface, &rs232_interface, &simlog_interface, &beep_interface, &radio_interface, &button_interface, &pir_interface, &clock_interface, &leds_interface, &cfs_interface);
/* Example: manually add mote interfaces */
//SIM_INTERFACE_NAME(dummy_interface);
//SIM_INTERFACES(..., &dummy_interface);
/* Sensors */
SENSORS(&button_sensor, &pir_sensor, &vib_sensor);
/*
* referenceVar is used for comparing absolute and process relative memory.
* (this must not be static due to memory locations)
*/
long referenceVar;
/*
* Contiki and rtimer threads.
*/
static struct cooja_mt_thread rtimer_thread;
static struct cooja_mt_thread process_run_thread;
#define MIN(a, b) ( (a)<(b) ? (a) : (b) )
/*---------------------------------------------------------------------------*/
#if WITH_UIP
static void
set_gateway(void)
{
if(!is_gateway) {
printf("%d.%d: making myself the IP network gateway.\n\n",
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
printf("IPv4 address of the gateway: %d.%d.%d.%d\n\n",
uip_ipaddr_to_quad(&uip_hostaddr));
uip_over_mesh_set_gateway(&rimeaddr_node_addr);
uip_over_mesh_make_announced_gateway();
is_gateway = 1;
}
}
#endif /* WITH_UIP */
/*---------------------------------------------------------------------------*/
static void
print_processes(struct process * const processes[])
{
/* const struct process * const * p = processes;*/
printf("Starting");
while(*processes != NULL) {
printf(" '%s'", (*processes)->name);
processes++;
}
putchar('\n');
}
/*---------------------------------------------------------------------------*/
static void
rtimer_thread_loop(void *data)
{
while(1)
{
rtimer_arch_check();
/* Return to COOJA */
cooja_mt_yield();
}
}
/*---------------------------------------------------------------------------*/
static void
set_rime_addr(void)
{
rimeaddr_t addr;
int i;
memset(&addr, 0, sizeof(rimeaddr_t));
#if WITH_UIP6
for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
addr.u8[i + 1] = node_id & 0xff;
addr.u8[i + 0] = node_id >> 8;
}
#else /* WITH_UIP6 */
addr.u8[0] = node_id & 0xff;
addr.u8[1] = node_id >> 8;
#endif /* WITH_UIP6 */
rimeaddr_set_node_addr(&addr);
printf("Rime started with address ");
for(i = 0; i < sizeof(addr.u8) - 1; i++) {
printf("%d.", addr.u8[i]);
}
printf("%d\n", addr.u8[i]);
}
/*---------------------------------------------------------------------------*/
void
contiki_init()
{
/* Initialize random generator (moved to moteid.c) */
/* Start process handler */
process_init();
/* Start Contiki processes */
process_start(&etimer_process, NULL);
process_start(&sensors_process, NULL);
ctimer_init();
/* Print startup information */
printf(CONTIKI_VERSION_STRING " started. ");
if(node_id > 0) {
printf("Node id is set to %u.\n", node_id);
} else {
printf("Node id is not set.\n");
}
set_rime_addr();
{
uint8_t longaddr[8];
uint16_t shortaddr;
shortaddr = (rimeaddr_node_addr.u8[0] << 8) +
rimeaddr_node_addr.u8[1];
memset(longaddr, 0, sizeof(longaddr));
rimeaddr_copy((rimeaddr_t *)&longaddr, &rimeaddr_node_addr);
printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
longaddr[0], longaddr[1], longaddr[2], longaddr[3],
longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
}
queuebuf_init();
/* Initialize communication stack */
netstack_init();
printf("%s/%s/%s, channel check rate %lu Hz\n",
NETSTACK_NETWORK.name, NETSTACK_MAC.name, NETSTACK_RDC.name,
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:
NETSTACK_RDC.channel_check_interval()));
#if WITH_UIP
/* IPv4 CONFIGURATION */
{
uip_ipaddr_t hostaddr, netmask;
process_start(&tcpip_process, NULL);
process_start(&uip_fw_process, NULL);
process_start(&slip_process, NULL);
slip_set_input_callback(set_gateway);
uip_init();
uip_fw_init();
uip_ipaddr(&hostaddr, 172,16,rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
uip_ipaddr(&netmask, 255,255,0,0);
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
uip_sethostaddr(&hostaddr);
uip_setnetmask(&netmask);
uip_over_mesh_set_net(&hostaddr, &netmask);
uip_over_mesh_set_gateway_netif(&slipif);
uip_fw_default(&meshif);
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
rs232_set_input(slip_input_byte);
printf("IPv4 address: %d.%d.%d.%d\n", uip_ipaddr_to_quad(&hostaddr));
}
#endif /* WITH_UIP */
#if WITH_UIP6
/* IPv6 CONFIGURATION */
{
int i;
uint8_t addr[sizeof(uip_lladdr.addr)];
for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
addr[i + 1] = node_id & 0xff;
addr[i + 0] = node_id >> 8;
}
rimeaddr_copy(addr, &rimeaddr_node_addr);
memcpy(&uip_lladdr.addr, addr, sizeof(uip_lladdr.addr));
process_start(&tcpip_process, NULL);
printf("Tentative link-local IPv6 address ");
{
uip_ds6_addr_t *lladdr;
int i;
lladdr = uip_ds6_get_link_local(-1);
for(i = 0; i < 7; ++i) {
printf("%02x%02x:", lladdr->ipaddr.u8[i * 2],
lladdr->ipaddr.u8[i * 2 + 1]);
}
printf("%02x%02x\n", lladdr->ipaddr.u8[14],
lladdr->ipaddr.u8[15]);
}
if(1) {
uip_ipaddr_t ipaddr;
int i;
uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
printf("Tentative global IPv6 address ");
for(i = 0; i < 7; ++i) {
printf("%02x%02x:",
ipaddr.u8[i * 2], ipaddr.u8[i * 2 + 1]);
}
printf("%02x%02x\n",
ipaddr.u8[7 * 2], ipaddr.u8[7 * 2 + 1]);
}
}
#endif /* WITH_UIP6 */
/* Start serial process */
serial_line_init();
/* Start autostart processes (defined in Contiki application) */
print_processes(autostart_processes);
autostart_start(autostart_processes);
}
/*---------------------------------------------------------------------------*/
static void
process_run_thread_loop(void *data)
{
/* Yield once during bootup */
simProcessRunValue = 1;
cooja_mt_yield();
contiki_init();
while(1)
{
simProcessRunValue = process_run();
while(simProcessRunValue-- > 0) {
process_run();
}
simProcessRunValue = process_nevents();
/* Check if we must stay awake */
if(simDontFallAsleep) {
simDontFallAsleep=0;
simProcessRunValue = 1;
}
/* Return to COOJA */
cooja_mt_yield();
}
}
/*---------------------------------------------------------------------------*/
/**
* \brief Initialize a mote by starting processes etc.
*
* This function initializes a mote by starting certain
* processes and setting up the environment.
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_CLASSNAME_init(JNIEnv *env, jobject obj)
{
/* Create rtimers and Contiki threads */
cooja_mt_start(&rtimer_thread, &rtimer_thread_loop, NULL);
cooja_mt_start(&process_run_thread, &process_run_thread_loop, NULL);
}
/*---------------------------------------------------------------------------*/
/**
* \brief Get a segment from the process memory.
* \param start Start address of segment
* \param length Size of memory segment
* \return Java byte array containing a copy of memory segment.
*
* Fetches a memory segment from the process memory starting at
* (start), with size (length). This function does not perform
* ANY error checking, and the process may crash if addresses are
* not available/readable.
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_CLASSNAME_getMemory(JNIEnv *env, jobject obj, jint rel_addr, jint length, jbyteArray mem_arr)
{
(*env)->SetByteArrayRegion(
env,
mem_arr,
0,
(size_t) length,
(jbyte *) (((long)rel_addr) + referenceVar)
);
}
/*---------------------------------------------------------------------------*/
/**
* \brief Replace a segment of the process memory with given byte array.
* \param start Start address of segment
* \param length Size of memory segment
* \param mem_arr Byte array contaning new memory
*
* Replaces a process memory segment with given byte array.
* This function does not perform ANY error checking, and the
* process may crash if addresses are not available/writable.
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_CLASSNAME_setMemory(JNIEnv *env, jobject obj, jint rel_addr, jint length, jbyteArray mem_arr)
{
jbyte *mem = (*env)->GetByteArrayElements(env, mem_arr, 0);
memcpy(
(char*) (((long)rel_addr) + referenceVar),
mem,
length);
(*env)->ReleaseByteArrayElements(env, mem_arr, mem, 0);
}
/*---------------------------------------------------------------------------*/
/**
* \brief Let mote execute one "block" of code (tick mote).
*
* Let mote defined by the active contiki processes and current
* process memory execute some program code. This code must not block
* or else this function will never return. A typical contiki
* process will return when it executes PROCESS_WAIT..() statements.
*
* Before the control is left to contiki processes, any messages
* from the Java part are handled. These may for example be
* incoming network data. After the contiki processes return control,
* messages to the Java part are also handled (those which may need
* special attention).
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
{
clock_time_t nextEtimer;
rtimer_clock_t nextRtimer;
simProcessRunValue = 0;
/* Let all simulation interfaces act first */
doActionsBeforeTick();
/* Poll etimer process */
if (etimer_pending()) {
etimer_request_poll();
}
/* Let rtimers run.
* Sets simProcessRunValue */
cooja_mt_exec(&rtimer_thread);
if(simProcessRunValue == 0) {
/* Rtimers done: Let Contiki handle a few events.
* Sets simProcessRunValue */
cooja_mt_exec(&process_run_thread);
}
/* Let all simulation interfaces act before returning to java */
doActionsAfterTick();
/* Do we have any pending timers */
simEtimerPending = etimer_pending() || rtimer_arch_pending();
if(!simEtimerPending) {
return;
}
/* Save nearest expiration time */
nextEtimer = etimer_next_expiration_time() - (clock_time_t) simCurrentTime;
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;
}
}
/*---------------------------------------------------------------------------*/
/**
* \brief Set the relative memory address of the reference variable.
* \return Relative memory address.
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_CLASSNAME_setReferenceAddress(JNIEnv *env, jobject obj, jint addr)
{
referenceVar = (((long)&referenceVar) - ((long)addr));
}
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