nes-proj/arch/platform/cooja/platform.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"
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#include "sys/cc.h"
#include "sys/clock.h"
#include "sys/etimer.h"
#include "sys/cooja_mt.h"
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/*---------------------------------------------------------------------------*/
/* Log configuration */
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#include "sys/log.h"
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#define LOG_MODULE "Cooja"
#define LOG_LEVEL LOG_LEVEL_MAIN
#include "lib/random.h"
#include "lib/simEnvChange.h"
#include "net/netstack.h"
#include "net/queuebuf.h"
#include "dev/eeprom.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 "dev/moteid.h"
#include "sys/node-id.h"
#include "services/rpl-border-router/rpl-border-router.h"
#if BUILD_WITH_ORCHESTRA
#include "orchestra.h"
#endif /* BUILD_WITH_ORCHESTRA */
#if BUILD_WITH_SHELL
#include "serial-shell.h"
#endif /* BUILD_WITH_SHELL */
/* JNI-defined functions, depends on the environment variable CLASSNAME */
#ifndef CLASSNAME
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#error CLASSNAME is undefined, required by platform.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_org_contikios_cooja_corecomm_
#define Java_org_contikios_cooja_corecomm_CLASSNAME_init COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_init)
#define Java_org_contikios_cooja_corecomm_CLASSNAME_getMemory COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_getMemory)
#define Java_org_contikios_cooja_corecomm_CLASSNAME_setMemory COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_setMemory)
#define Java_org_contikios_cooja_corecomm_CLASSNAME_tick COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_tick)
#define Java_org_contikios_cooja_corecomm_CLASSNAME_setReferenceAddress COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_setReferenceAddress)
#if NETSTACK_CONF_WITH_IPV6
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#include "net/ipv6/uip.h"
#include "net/ipv6/uip-ds6.h"
#endif /* NETSTACK_CONF_WITH_IPV6 */
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/* The main function, implemented in contiki-main.c */
int main(void);
/* 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_INTERFACE_NAME(eeprom_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, &eeprom_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;
/*---------------------------------------------------------------------------*/
static void
rtimer_thread_loop(void *data)
{
while(1)
{
rtimer_arch_check();
/* Return to COOJA */
cooja_mt_yield();
}
}
/*---------------------------------------------------------------------------*/
static void
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set_lladdr(void)
{
linkaddr_t addr;
memset(&addr, 0, sizeof(linkaddr_t));
#if NETSTACK_CONF_WITH_IPV6
{
int i;
for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
addr.u8[i + 1] = simMoteID & 0xff;
addr.u8[i + 0] = simMoteID >> 8;
}
}
#else /* NETSTACK_CONF_WITH_IPV6 */
addr.u8[0] = simMoteID & 0xff;
addr.u8[1] = simMoteID >> 8;
#endif /* NETSTACK_CONF_WITH_IPV6 */
linkaddr_set_node_addr(&addr);
}
/*---------------------------------------------------------------------------*/
void
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platform_init_stage_one()
{
return;
}
/*---------------------------------------------------------------------------*/
void
platform_init_stage_two()
{
set_lladdr();
}
/*---------------------------------------------------------------------------*/
void
platform_init_stage_three()
{
/* Initialize eeprom */
eeprom_init();
/* Start serial process */
serial_line_init();
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}
/*---------------------------------------------------------------------------*/
void
platform_main_loop()
{
while(1)
{
simProcessRunValue = process_run();
while(simProcessRunValue-- > 0) {
process_run();
}
simProcessRunValue = process_nevents();
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/* Check if we must stay awake */
if(simDontFallAsleep) {
simDontFallAsleep = 0;
simProcessRunValue = 1;
}
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/* Return to COOJA */
cooja_mt_yield();
}
}
/*---------------------------------------------------------------------------*/
static void
process_run_thread_loop(void *data)
{
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/* Yield once during bootup */
simProcessRunValue = 1;
cooja_mt_yield();
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/* Then call common Contiki-NG main function */
main();
}
/*---------------------------------------------------------------------------*/
/**
* \brief Initialize a mote by starting processes etc.
* \param env JNI Environment interface pointer
* \param obj unused
*
* 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_org_contikios_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 env JNI Environment interface pointer
* \param obj unused
* \param rel_addr Start address of segment
* \param length Size of memory segment
* \param mem_arr Byte array destination for the fetched memory segment
* \return Java byte array containing a copy of memory segment.
*
* Fetches a memory segment from the process memory starting at
* (rel_addr), 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_org_contikios_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 env JNI Environment interface pointer
* \param obj unused
* \param rel_addr 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_org_contikios_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).
* \param env JNI Environment interface pointer
* \param obj unused
*
* 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_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
{
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();
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/* Save nearest expiration time */
simEtimerNextExpirationTime = etimer_next_expiration_time();
}
/*---------------------------------------------------------------------------*/
/**
* \brief Set the relative memory address of the reference variable.
* \param env JNI Environment interface pointer
* \param obj unused
* \param addr Relative memory address
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_org_contikios_cooja_corecomm_CLASSNAME_setReferenceAddress(JNIEnv *env, jobject obj, jint addr)
{
referenceVar = (((long)&referenceVar) - ((long)addr));
}