/* * 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 */ #include #include #include #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/rime.h" #include "net/netstack.h" #include "net/ip/uip-nameserver.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" #include "ip64.h" #include "dev/slip.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_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) #include "net/ip/uip.h" #include "net/ipv6/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]) /* 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) ) /*---------------------------------------------------------------------------*/ 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_mac_addr(void) { linkaddr_t addr; int i; memset(&addr, 0, sizeof(linkaddr_t)); for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) { addr.u8[i + 1] = node_id & 0xff; addr.u8[i + 0] = node_id >> 8; } linkaddr_set_node_addr(&addr); printf("MAC address "); for(i = 0; i < sizeof(addr.u8) - 1; i++) { printf("%d.", addr.u8[i]); } printf("%d\n", addr.u8[i]); } /*---------------------------------------------------------------------------*/ void contiki_init(void) { int i; uint8_t addr[sizeof(uip_lladdr.addr)]; uip_ipaddr_t ipaddr; uip_ds6_addr_t *lladdr; uip_ip4addr_t ipv4addr, netmask; /* 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_mac_addr(); 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())); /* IPv6 CONFIGURATION */ for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) { addr[i + 1] = node_id & 0xff; addr[i + 0] = node_id >> 8; } linkaddr_copy(addr, &linkaddr_node_addr); memcpy(&uip_lladdr.addr, addr, sizeof(uip_lladdr.addr)); process_start(&tcpip_process, NULL); printf("Tentative link-local IPv6 address "); 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]); 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]); /* Start serial process */ serial_line_init(); /* Start autostart processes (defined in Contiki application) */ print_processes(autostart_processes); autostart_start(autostart_processes); /* Start the SLIP */ printf("Initiating SLIP with IP address is 172.16.0.2.\n"); uip_ipaddr(&ipv4addr, 172, 16, 0, 2); uip_ipaddr(&netmask, 255, 255, 255, 0); ip64_set_ipv4_address(&ipv4addr, &netmask); rs232_set_input(slip_input_byte); log_set_putchar_with_slip(1); uip_ip4addr_t ip4addr; uip_ip6addr_t ip6addr; uip_ipaddr(&ip4addr, 8,8,8,8); ip64_addr_4to6(&ip4addr, &ip6addr); uip_nameserver_update((uip_ipaddr_t *)&ip6addr, UIP_NAMESERVER_INFINITE_LIFETIME); } /*---------------------------------------------------------------------------*/ 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_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 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_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 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_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). * * 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) { 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_org_contikios_cooja_corecomm_CLASSNAME_setReferenceAddress(JNIEnv *env, jobject obj, jint addr) { referenceVar = (((long)&referenceVar) - ((long)addr)); }