osd-contiki/tools/cooja/java/se/sics/cooja/Simulation.java
2009-03-12 11:01:26 +00:00

878 lines
23 KiB
Java

/*
* Copyright (c) 2006, 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: Simulation.java,v 1.46 2009/03/12 11:01:26 nifi Exp $
*/
package se.sics.cooja;
import java.util.*;
import org.apache.log4j.Logger;
import org.jdom.*;
import se.sics.cooja.dialogs.*;
/**
* A simulation consists of a number of motes and mote types.
*
* The motes in the simulation are ticked every millisecond.
*
* A simulation is observable:
* changed simulation state, added or deleted motes etc are observed.
* To track mote changes, observe the mote (interfaces) itself.
*
* @author Fredrik Osterlind
*/
public class Simulation extends Observable implements Runnable {
private Vector<Mote> motes = new Vector<Mote>();
private Vector<MoteType> moteTypes = new Vector<MoteType>();
private int delayTime = 0;
private long currentSimulationTime = 0;
private int tickTime = 1;
private String title = null;
private RadioMedium currentRadioMedium = null;
private static Logger logger = Logger.getLogger(Simulation.class);
private boolean isRunning = false;
private boolean stopSimulation = false;
private Thread simulationThread = null;
private GUI myGUI = null;
private long randomSeed = 123456;
private boolean randomSeedGenerated = false;
private int maxMoteStartupDelay = 1000;
private Random randomGenerator = new Random();
// Tick observable
private class TickObservable extends Observable {
private void allTicksPerformed() {
setChanged();
notifyObservers();
}
}
private TickObservable tickObservable = new TickObservable();
/**
* Add tick observer. This observer is notified once every tick loop, that is,
* when all motes have been ticked.
*
* @see #deleteTickObserver(Observer)
* @param newObserver
* New observer
*/
public void addTickObserver(Observer newObserver) {
tickObservable.addObserver(newObserver);
}
/**
* Delete an existing tick observer.
*
* @see #addTickObserver(Observer)
* @param observer
* Observer to delete
*/
public void deleteTickObserver(Observer observer) {
tickObservable.deleteObserver(observer);
}
protected void scheduleEventUnsafe(TimeEvent e, long time) {
eventQueue.addEvent(e, time);
}
/**
* Schedule event to be handled by event loop.
*
* @param e Event
* @param time Simulated time
*/
public void scheduleEvent(TimeEvent e, long time) {
if (Thread.currentThread() == simulationThread) {
eventQueue.addEvent(e, time);
} else {
eventQueue.addEventUnsorted(e, time);
}
}
private EventQueue eventQueue = new EventQueue();
private Mote[] emulatedMoteArray;
private TimeEvent tickemulatedMotesEvent = new TimeEvent(0) {
public void execute(long t) {
/*logger.info("MSP motes tick at: " + t);*/
if (emulatedMoteArray.length == 0) {
return;
}
/* Tick MSP motes */
boolean wantMoreTicks = true;
while (wantMoreTicks) {
/* Tick all MSP motes until none need more ticks */
wantMoreTicks = false;
for (Mote element : emulatedMoteArray) {
if (element.tick(currentSimulationTime)) {
wantMoreTicks = true;
}
}
}
/* Reschedule MSP motes */
scheduleEventUnsafe(this, t+1);
}
};
private Mote[] moteArray;
private TimeEvent tickMotesEvent = new TimeEvent(0) {
public void execute(long t) {
/*logger.info("Contiki motes tick at: " + t);*/
if (moteArray.length == 0) {
return;
}
/* Tick Contiki motes */
for (Mote mote : moteArray) {
mote.tick(t);
}
/* Reschedule Contiki motes */
scheduleEventUnsafe(this, t+1);
}
};
private TimeEvent delayEvent = new TimeEvent(0) {
public void execute(long t) {
/*logger.info("Delay at: " + t);*/
if (delayTime == 0) {
return;
}
try { Thread.sleep(delayTime); } catch (InterruptedException e) { }
scheduleEventUnsafe(this, t+1);
}
};
private void recreateTickLists() {
/* Tick MSP motes separately */
ArrayList<Mote> emulatedMotes = new ArrayList<Mote>();
ArrayList<Mote> contikiMotes = new ArrayList<Mote>();
for (Mote mote: motes) {
/* TODO: fixe an emulatedMote generic class */
if (mote.getType().getClass().toString().contains(".mspmote.")) {
emulatedMotes.add(mote);
} else if (mote.getType().getClass().toString().contains(".avrmote.")) {
emulatedMotes.add(mote);
} else {
contikiMotes.add(mote);
}
}
emulatedMoteArray = emulatedMotes.toArray(new Mote[emulatedMotes.size()]);
moteArray = contikiMotes.toArray(new Mote[contikiMotes.size()]);
}
private boolean rescheduleEvents = false;
public void run() {
long lastStartTime = System.currentTimeMillis();
logger.info("Simulation main loop started, system time: " + lastStartTime);
isRunning = true;
/* Schedule tick events */
scheduleEventUnsafe(tickMotesEvent, currentSimulationTime);
scheduleEventUnsafe(tickemulatedMotesEvent, currentSimulationTime);
scheduleEventUnsafe(delayEvent, currentSimulationTime);
/* Simulation starting */
this.setChanged();
this.notifyObservers(this);
recreateTickLists();
boolean increasedTime;
try {
TimeEvent nextEvent;
while (isRunning) {
if (rescheduleEvents) {
rescheduleEvents = false;
scheduleEventUnsafe(tickMotesEvent, currentSimulationTime);
scheduleEventUnsafe(tickemulatedMotesEvent, currentSimulationTime);
scheduleEventUnsafe(delayEvent, currentSimulationTime);
}
nextEvent = eventQueue.popFirst();
if (nextEvent == null) {
throw new RuntimeException("No more events");
}
increasedTime = nextEvent.time > currentSimulationTime;
currentSimulationTime = nextEvent.time;
nextEvent.execute(currentSimulationTime);
/* Notify tick observers */
if (increasedTime) {
tickObservable.allTicksPerformed();
}
if (stopSimulation) {
isRunning = false;
}
}
} catch (RuntimeException e) {
logger.fatal("Simulation stopped due to error", e);
if (!GUI.isVisualized()) {
/* Quit simulator if in test mode */
System.exit(1);
}
}
isRunning = false;
simulationThread = null;
stopSimulation = false;
// Notify observers simulation has stopped
this.setChanged();
this.notifyObservers(this);
logger.info("Simulation main loop stopped, system time: "
+ System.currentTimeMillis() + "\tDuration: "
+ (System.currentTimeMillis() - lastStartTime) + " ms");
}
/**
* Creates a new simulation with a delay time of 100 ms.
*/
public Simulation(GUI gui) {
myGUI = gui;
}
/**
* Starts this simulation (notifies observers).
*/
public void startSimulation() {
if (!isRunning()) {
isRunning = true;
simulationThread = new Thread(this);
simulationThread.start();
}
}
/**
* Stops this simulation (notifies observers).
*/
public void stopSimulation() {
if (isRunning()) {
stopSimulation = true;
/* Wait until simulation stops */
if (Thread.currentThread() != simulationThread) {
try {
if (simulationThread != null) {
simulationThread.join();
}
} catch (InterruptedException e) {
}
}
}
}
/**
* Starts simulation if stopped, ticks all motes once, and finally stops
* simulation again.
*/
public void tickSimulation() {
addTickObserver(new Observer() {
public void update(Observable obs, Object obj) {
stopSimulation();
deleteTickObserver(this);
}
});
startSimulation();
}
/**
* @return GUI holding this simulation
*/
public GUI getGUI() {
return myGUI;
}
/**
* @return Random seed
*/
public long getRandomSeed() {
return randomSeed;
}
/**
* @param randomSeed Random seed
*/
public void setRandomSeed(long randomSeed) {
this.randomSeed = randomSeed;
randomGenerator.setSeed(randomSeed);
logger.info("Simulation random seed: " + randomSeed);
}
/**
* @param generated Autogenerated random seed at simulation load
*/
public void setRandomSeedGenerated(boolean generated) {
this.randomSeedGenerated = generated;
}
/**
* @return Autogenerated random seed at simulation load
*/
public boolean getRandomSeedGenerated() {
return randomSeedGenerated;
}
public Random getRandomGenerator() {
return randomGenerator;
}
/**
* @return Maximum mote startup delay
*/
public int getDelayedMoteStartupTime() {
return maxMoteStartupDelay;
}
/**
* @param maxMoteStartupDelay Maximum mote startup delay
*/
public void setDelayedMoteStartupTime(int maxMoteStartupDelay) {
this.maxMoteStartupDelay = Math.max(0, maxMoteStartupDelay);
}
/**
* Returns the current simulation config represented by XML elements. This
* config also includes the current radio medium, all mote types and motes.
*
* @return Current simulation config
*/
public Collection<Element> getConfigXML() {
Vector<Element> config = new Vector<Element>();
Element element;
// Title
element = new Element("title");
element.setText(title);
config.add(element);
// Delay time
element = new Element("delaytime");
element.setText(Integer.toString(delayTime));
config.add(element);
// Tick time
element = new Element("ticktime");
element.setText(Integer.toString(tickTime));
config.add(element);
// Random seed
element = new Element("randomseed");
if (randomSeedGenerated) {
element.setText("generated");
} else {
element.setText(Long.toString(getRandomSeed()));
}
config.add(element);
// Max mote startup delay
element = new Element("motedelay");
element.setText(Integer.toString(maxMoteStartupDelay));
config.add(element);
// Radio Medium
element = new Element("radiomedium");
element.setText(currentRadioMedium.getClass().getName());
Collection radioMediumXML = currentRadioMedium.getConfigXML();
if (radioMediumXML != null) {
element.addContent(radioMediumXML);
}
config.add(element);
// Mote types
for (MoteType moteType : getMoteTypes()) {
element = new Element("motetype");
element.setText(moteType.getClass().getName());
Collection moteTypeXML = moteType.getConfigXML();
if (moteTypeXML != null) {
element.addContent(moteTypeXML);
}
config.add(element);
}
// Motes
for (Mote mote : motes) {
element = new Element("mote");
element.setText(mote.getClass().getName());
Collection moteXML = mote.getConfigXML();
if (moteXML != null) {
element.addContent(moteXML);
}
config.add(element);
}
return config;
}
/**
* Sets the current simulation config depending on the given XML elements.
*
* @see #getConfigXML()
* @param configXML
* Config XML elements
* @param visAvailable
* True if simulation is allowed to show visualizers while loading
* the given config
* @return True if simulation config set successfully
* @throws Exception
* If configuration could not be loaded
*/
public boolean setConfigXML(Collection<Element> configXML,
boolean visAvailable) throws Exception {
// Parse elements
for (Element element : configXML) {
// Title
if (element.getName().equals("title")) {
title = element.getText();
}
// Delay time
if (element.getName().equals("delaytime")) {
delayTime = Integer.parseInt(element.getText());
}
// Tick time
if (element.getName().equals("ticktime")) {
tickTime = Integer.parseInt(element.getText());
}
// Random seed
if (element.getName().equals("randomseed")) {
if (element.getText().equals("generated")) {
randomSeedGenerated = true;
setRandomSeed(new Random().nextLong());
} else {
setRandomSeed(Long.parseLong(element.getText()));
}
}
// Max mote startup delay
if (element.getName().equals("motedelay")) {
maxMoteStartupDelay = Integer.parseInt(element.getText());
}
// Radio medium
if (element.getName().equals("radiomedium")) {
String radioMediumClassName = element.getText().trim();
Class<? extends RadioMedium> radioMediumClass = myGUI.tryLoadClass(
this, RadioMedium.class, radioMediumClassName);
if (radioMediumClass != null) {
// Create radio medium specified in config
try {
currentRadioMedium = RadioMedium.generateRadioMedium(radioMediumClass, this);
} catch (Exception e) {
currentRadioMedium = null;
logger.warn("Could not load radio medium class: " + radioMediumClassName);
}
}
// Show configure simulation dialog
boolean createdOK = false;
if (visAvailable) {
createdOK = CreateSimDialog.showDialog(GUI.getTopParentContainer(), this);
} else {
createdOK = true;
}
if (!createdOK) {
logger.debug("Simulation not created, aborting");
throw new Exception("Load aborted by user");
}
// Check if radio medium specific config should be applied
if (radioMediumClassName.equals(currentRadioMedium.getClass().getName())) {
currentRadioMedium.setConfigXML(element.getChildren(), visAvailable);
} else {
logger.info("Radio Medium changed - ignoring radio medium specific config");
}
}
// Mote type
if (element.getName().equals("motetype")) {
String moteTypeClassName = element.getText().trim();
Class<? extends MoteType> moteTypeClass = myGUI.tryLoadClass(this,
MoteType.class, moteTypeClassName);
if (moteTypeClass == null) {
logger.fatal("Could not load mote type class: " + moteTypeClassName);
return false;
}
MoteType moteType = moteTypeClass.getConstructor((Class[]) null).newInstance();
boolean createdOK = moteType.setConfigXML(this, element.getChildren(),
visAvailable);
if (createdOK) {
addMoteType(moteType);
} else {
logger
.fatal("Mote type was not created: " + element.getText().trim());
throw new Exception("All mote types were not recreated");
}
}
// Mote
if (element.getName().equals("mote")) {
Class<? extends Mote> moteClass = myGUI.tryLoadClass(this, Mote.class,
element.getText().trim());
Mote mote = moteClass.getConstructor((Class[]) null).newInstance((Object[]) null);
if (mote.setConfigXML(this, element.getChildren(), visAvailable)) {
addMote(mote);
} else {
logger.fatal("Mote was not created: " + element.getText().trim());
throw new Exception("All motes were not recreated");
}
}
}
setChanged();
notifyObservers(this);
return true;
}
/**
* Removes a mote from this simulation
*
* @param mote
* Mote to remove
*/
public void removeMote(final Mote mote) {
if (!isRunning()) {
/* Simulation is stopped, remove mote immediately */
motes.remove(mote);
currentRadioMedium.unregisterMote(mote, this);
myGUI.closeMotePlugins(mote);
this.setChanged();
this.notifyObservers(this);
return;
}
/* Simulation is running, remove mote in simulation loop */
TimeEvent removeNewMoteEvent = new TimeEvent(0) {
public void execute(long t) {
motes.remove(mote);
currentRadioMedium.unregisterMote(mote, Simulation.this);
recreateTickLists();
Simulation.this.setChanged();
Simulation.this.notifyObservers(this);
}
};
scheduleEvent(removeNewMoteEvent, Simulation.this.getSimulationTime());
}
/**
* Adds a mote to this simulation
*
* @param mote
* Mote to add
*/
public void addMote(final Mote mote) {
if (maxMoteStartupDelay > 0 && mote.getInterfaces().getClock() != null) {
mote.getInterfaces().getClock().setDrift(
-randomGenerator.nextInt(maxMoteStartupDelay)
);
}
if (!isRunning()) {
/* Simulation is stopped, add mote immediately */
motes.add(mote);
currentRadioMedium.registerMote(mote, this);
this.setChanged();
this.notifyObservers(this);
return;
}
/* Simulation is running, add mote in simulation loop */
TimeEvent addNewMoteEvent = new TimeEvent(0) {
public void execute(long t) {
motes.add(mote);
currentRadioMedium.registerMote(mote, Simulation.this);
recreateTickLists();
Simulation.this.setChanged();
Simulation.this.notifyObservers(this);
}
};
scheduleEvent(addNewMoteEvent, Simulation.this.getSimulationTime());
}
/**
* Get a mote from this simulation.
*
* @param pos
* Internal list position of mote
* @return Mote
*/
public Mote getMote(int pos) {
return motes.get(pos);
}
/**
* Returns number of motes in this simulation.
*
* @return Number of motes
*/
public int getMotesCount() {
return motes.size();
}
/**
* Returns all motes in this simulation.
*
* @return Motes
*/
public Mote[] getMotes() {
Mote[] arr = new Mote[motes.size()];
motes.toArray(arr);
return arr;
}
/**
* Returns all mote types in simulation.
*
* @return All mote types
*/
public MoteType[] getMoteTypes() {
MoteType[] types = new MoteType[moteTypes.size()];
moteTypes.toArray(types);
return types;
}
/**
* Returns mote type with given identifier.
*
* @param identifier
* Mote type identifier
* @return Mote type or null if not found
*/
public MoteType getMoteType(String identifier) {
for (MoteType moteType : getMoteTypes()) {
if (moteType.getIdentifier().equals(identifier)) {
return moteType;
}
}
return null;
}
/**
* Adds given mote type to simulation.
*
* @param newMoteType Mote type
*/
public void addMoteType(MoteType newMoteType) {
moteTypes.add(newMoteType);
this.setChanged();
this.notifyObservers(this);
}
/**
* Set delay time to delayTime. When all motes have been ticked, the
* simulation waits for this time before ticking again.
*
* @param delayTime
* New delay time (ms)
*/
public void setDelayTime(int delayTime) {
this.delayTime = delayTime;
rescheduleEvents = true;
this.setChanged();
this.notifyObservers(this);
}
/**
* Returns current delay time.
*
* @return Delay time (ms)
*/
public int getDelayTime() {
return delayTime;
}
/**
* Set simulation time to simulationTime.
*
* @param simulationTime
* New simulation time (ms)
*/
public void setSimulationTime(int simulationTime) {
currentSimulationTime = simulationTime;
this.setChanged();
this.notifyObservers(this);
}
/**
* Returns current simulation time.
*
* @return Simulation time (ms)
*/
public long getSimulationTime() {
return currentSimulationTime;
}
/**
* Set tick time to tickTime. The tick time is the simulated time every tick
* takes. When all motes have been ticked, current simulation time is
* increased with tickTime. Default tick time is 1 ms.
*
* @see #getTickTime()
* @see #getTickTimeInSeconds()
* @param tickTime
* New tick time (ms)
*/
public void setTickTime(int tickTime) {
this.tickTime = tickTime;
this.setChanged();
this.notifyObservers(this);
}
/**
* Changes radio medium of this simulation to the given.
*
* @param radioMedium
* New radio medium
*/
public void setRadioMedium(RadioMedium radioMedium) {
// Remove current radio medium from observing motes
if (currentRadioMedium != null) {
for (int i = 0; i < motes.size(); i++) {
currentRadioMedium.unregisterMote(motes.get(i), this);
}
}
// Change current radio medium to new one
if (radioMedium == null) {
logger.fatal("Radio medium could not be created!");
return;
}
this.currentRadioMedium = radioMedium;
// Add all current motes to the new radio medium
for (int i = 0; i < motes.size(); i++) {
currentRadioMedium.registerMote(motes.get(i), this);
}
}
/**
* Get currently used radio medium.
*
* @return Currently used radio medium
*/
public RadioMedium getRadioMedium() {
return currentRadioMedium;
}
/**
* Get current tick time (ms).
*
* @see #setTickTime(int)
* @return Current tick time (ms)
*/
public int getTickTime() {
return tickTime;
}
/**
* Get current tick time (seconds).
*
* @see #setTickTime(int)
* @return Current tick time (seconds)
*/
public double getTickTimeInSeconds() {
return (tickTime) / 1000.0;
}
/**
* Return true is simulation is running.
*
* @return True if simulation is running
*/
public boolean isRunning() {
return isRunning && simulationThread != null;
}
/**
* Get current simulation title (short description).
*
* @return Title
*/
public String getTitle() {
return title;
}
/**
* Set simulation title.
*
* @param title
* New title
*/
public void setTitle(String title) {
this.title = title;
}
}