424 lines
14 KiB
C
424 lines
14 KiB
C
/*
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* Copyright (c) 2010, Swedish Institute of Computer Science.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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*/
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/**
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* \file
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* COOJA Contiki mote main file.
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* \author
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* Fredrik Osterlind <fros@sics.se>
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*/
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#include <jni.h>
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#include <stdio.h>
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#include <string.h>
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#include "contiki.h"
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#include "sys/cc.h"
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#include "sys/clock.h"
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#include "sys/etimer.h"
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#include "sys/cooja_mt.h"
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#include "sys/autostart.h"
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#include "sys/log.h"
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#include "lib/random.h"
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#include "lib/simEnvChange.h"
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#include "net/netstack.h"
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#include "net/queuebuf.h"
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#include "dev/eeprom.h"
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#include "dev/serial-line.h"
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#include "dev/cooja-radio.h"
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#include "dev/button-sensor.h"
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#include "dev/pir-sensor.h"
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#include "dev/vib-sensor.h"
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#include "sys/node-id.h"
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#if BUILD_WITH_ORCHESTRA
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#include "orchestra.h"
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#endif /* BUILD_WITH_ORCHESTRA */
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#if BUILD_WITH_SHELL
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#include "serial-shell.h"
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#endif /* BUILD_WITH_SHELL */
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/* JNI-defined functions, depends on the environment variable CLASSNAME */
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#ifndef CLASSNAME
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#error CLASSNAME is undefined, required by contiki-cooja-main.c
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#endif /* CLASSNAME */
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#define COOJA__QUOTEME(a,b,c) COOJA_QUOTEME(a,b,c)
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#define COOJA_QUOTEME(a,b,c) a##b##c
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#define COOJA_JNI_PATH Java_org_contikios_cooja_corecomm_
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#define Java_org_contikios_cooja_corecomm_CLASSNAME_init COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_init)
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#define Java_org_contikios_cooja_corecomm_CLASSNAME_getMemory COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_getMemory)
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#define Java_org_contikios_cooja_corecomm_CLASSNAME_setMemory COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_setMemory)
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#define Java_org_contikios_cooja_corecomm_CLASSNAME_tick COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_tick)
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#define Java_org_contikios_cooja_corecomm_CLASSNAME_setReferenceAddress COOJA__QUOTEME(COOJA_JNI_PATH,CLASSNAME,_setReferenceAddress)
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#ifndef NETSTACK_CONF_WITH_IPV6
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#define NETSTACK_CONF_WITH_IPV6 0
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#endif
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#if NETSTACK_CONF_WITH_IPV6
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#include "net/ipv6/uip.h"
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#include "net/ipv6/uip-ds6.h"
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#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])
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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/* Simulation mote interfaces */
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SIM_INTERFACE_NAME(moteid_interface);
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SIM_INTERFACE_NAME(vib_interface);
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SIM_INTERFACE_NAME(rs232_interface);
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SIM_INTERFACE_NAME(simlog_interface);
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SIM_INTERFACE_NAME(beep_interface);
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SIM_INTERFACE_NAME(radio_interface);
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SIM_INTERFACE_NAME(button_interface);
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SIM_INTERFACE_NAME(pir_interface);
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SIM_INTERFACE_NAME(clock_interface);
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SIM_INTERFACE_NAME(leds_interface);
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SIM_INTERFACE_NAME(cfs_interface);
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SIM_INTERFACE_NAME(eeprom_interface);
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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);
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/* Example: manually add mote interfaces */
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//SIM_INTERFACE_NAME(dummy_interface);
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//SIM_INTERFACES(..., &dummy_interface);
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/* Sensors */
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SENSORS(&button_sensor, &pir_sensor, &vib_sensor);
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/*
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* referenceVar is used for comparing absolute and process relative memory.
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* (this must not be static due to memory locations)
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*/
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long referenceVar;
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/*
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* Contiki and rtimer threads.
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*/
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static struct cooja_mt_thread rtimer_thread;
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static struct cooja_mt_thread process_run_thread;
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/*---------------------------------------------------------------------------*/
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static void
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print_processes(struct process * const processes[])
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{
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/* const struct process * const * p = processes;*/
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printf("Starting");
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while(*processes != NULL) {
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printf(" '%s'", (*processes)->name);
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processes++;
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}
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putchar('\n');
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}
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/*---------------------------------------------------------------------------*/
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static void
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rtimer_thread_loop(void *data)
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{
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while(1)
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{
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rtimer_arch_check();
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/* Return to COOJA */
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cooja_mt_yield();
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}
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}
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/*---------------------------------------------------------------------------*/
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static void
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set_lladdr(void)
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{
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linkaddr_t addr;
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memset(&addr, 0, sizeof(linkaddr_t));
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#if NETSTACK_CONF_WITH_IPV6
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{
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int i;
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for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
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addr.u8[i + 1] = node_id & 0xff;
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addr.u8[i + 0] = node_id >> 8;
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}
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}
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#else /* NETSTACK_CONF_WITH_IPV6 */
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addr.u8[0] = node_id & 0xff;
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addr.u8[1] = node_id >> 8;
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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linkaddr_set_node_addr(&addr);
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printf("Link-layer address ");
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log_lladdr(&addr);
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printf("\n");
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}
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/*---------------------------------------------------------------------------*/
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void
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contiki_init()
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{
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/* Initialize random generator (moved to moteid.c) */
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/* Start process handler */
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process_init();
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/* Start Contiki processes */
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process_start(&etimer_process, NULL);
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process_start(&sensors_process, NULL);
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ctimer_init();
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/* Print startup information */
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printf(CONTIKI_VERSION_STRING " started. ");
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if(node_id > 0) {
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printf("Node id is set to %u.\n", node_id);
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} else {
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printf("Node id is not set.\n");
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}
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set_lladdr();
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{
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uint8_t longaddr[8];
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memset(longaddr, 0, sizeof(longaddr));
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linkaddr_copy((linkaddr_t *)&longaddr, &linkaddr_node_addr);
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printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
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longaddr[0], longaddr[1], longaddr[2], longaddr[3],
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longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
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}
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/* Initialize communication stack */
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netstack_init();
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printf("%s/%s\n",
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NETSTACK_NETWORK.name, NETSTACK_MAC.name);
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#if NETSTACK_CONF_WITH_IPV6
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/* IPv6 CONFIGURATION */
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{
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int i;
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uip_ds6_addr_t *lladdr;
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uint8_t addr[sizeof(uip_lladdr.addr)];
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for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
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addr[i + 1] = node_id & 0xff;
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addr[i + 0] = node_id >> 8;
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}
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linkaddr_copy((linkaddr_t *)addr, &linkaddr_node_addr);
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memcpy(&uip_lladdr.addr, addr, sizeof(uip_lladdr.addr));
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process_start(&tcpip_process, NULL);
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lladdr = uip_ds6_get_link_local(-1);
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printf("Tentative link-local IPv6 address ");
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log_6addr(lladdr != NULL ? &lladdr->ipaddr : NULL);
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printf("\n");
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}
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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/* Initialize eeprom */
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eeprom_init();
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/* Start serial process */
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serial_line_init();
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#if BUILD_WITH_ORCHESTRA
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orchestra_init();
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#endif /* BUILD_WITH_ORCHESTRA */
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#if BUILD_WITH_SHELL
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serial_shell_init();
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#endif /* BUILD_WITH_SHELL */
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/* Start autostart processes (defined in Contiki application) */
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print_processes(autostart_processes);
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autostart_start(autostart_processes);
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}
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/*---------------------------------------------------------------------------*/
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static void
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process_run_thread_loop(void *data)
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{
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/* Yield once during bootup */
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simProcessRunValue = 1;
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cooja_mt_yield();
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contiki_init();
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while(1)
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{
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simProcessRunValue = process_run();
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while(simProcessRunValue-- > 0) {
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process_run();
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}
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simProcessRunValue = process_nevents();
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/* Check if we must stay awake */
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if(simDontFallAsleep) {
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simDontFallAsleep=0;
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simProcessRunValue = 1;
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}
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/* Return to COOJA */
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cooja_mt_yield();
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}
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Initialize a mote by starting processes etc.
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* \param env JNI Environment interface pointer
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* \param obj unused
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*
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* This function initializes a mote by starting certain
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* processes and setting up the environment.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_org_contikios_cooja_corecomm_CLASSNAME_init(JNIEnv *env, jobject obj)
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{
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/* Create rtimers and Contiki threads */
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cooja_mt_start(&rtimer_thread, &rtimer_thread_loop, NULL);
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cooja_mt_start(&process_run_thread, &process_run_thread_loop, NULL);
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Get a segment from the process memory.
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* \param env JNI Environment interface pointer
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* \param obj unused
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* \param rel_addr Start address of segment
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* \param length Size of memory segment
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* \param mem_arr Byte array destination for the fetched memory segment
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* \return Java byte array containing a copy of memory segment.
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*
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* Fetches a memory segment from the process memory starting at
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* (rel_addr), with size (length). This function does not perform
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* ANY error checking, and the process may crash if addresses are
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* not available/readable.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_org_contikios_cooja_corecomm_CLASSNAME_getMemory(JNIEnv *env, jobject obj, jint rel_addr, jint length, jbyteArray mem_arr)
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{
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(*env)->SetByteArrayRegion(
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env,
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mem_arr,
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0,
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(size_t) length,
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(jbyte *) (((long)rel_addr) + referenceVar)
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);
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Replace a segment of the process memory with given byte array.
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* \param env JNI Environment interface pointer
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* \param obj unused
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* \param rel_addr Start address of segment
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* \param length Size of memory segment
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* \param mem_arr Byte array contaning new memory
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*
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* Replaces a process memory segment with given byte array.
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* This function does not perform ANY error checking, and the
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* process may crash if addresses are not available/writable.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_org_contikios_cooja_corecomm_CLASSNAME_setMemory(JNIEnv *env, jobject obj, jint rel_addr, jint length, jbyteArray mem_arr)
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{
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jbyte *mem = (*env)->GetByteArrayElements(env, mem_arr, 0);
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memcpy((char*) (((long)rel_addr) + referenceVar),
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mem,
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length);
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(*env)->ReleaseByteArrayElements(env, mem_arr, mem, 0);
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Let mote execute one "block" of code (tick mote).
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* \param env JNI Environment interface pointer
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* \param obj unused
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*
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* Let mote defined by the active contiki processes and current
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* process memory execute some program code. This code must not block
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* or else this function will never return. A typical contiki
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* process will return when it executes PROCESS_WAIT..() statements.
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*
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* Before the control is left to contiki processes, any messages
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* from the Java part are handled. These may for example be
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* incoming network data. After the contiki processes return control,
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* messages to the Java part are also handled (those which may need
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* special attention).
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
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{
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simProcessRunValue = 0;
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/* Let all simulation interfaces act first */
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doActionsBeforeTick();
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/* Poll etimer process */
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if(etimer_pending()) {
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etimer_request_poll();
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}
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/* Let rtimers run.
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* Sets simProcessRunValue */
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cooja_mt_exec(&rtimer_thread);
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if(simProcessRunValue == 0) {
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/* Rtimers done: Let Contiki handle a few events.
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* Sets simProcessRunValue */
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cooja_mt_exec(&process_run_thread);
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}
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/* Let all simulation interfaces act before returning to java */
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doActionsAfterTick();
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/* Do we have any pending timers */
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simEtimerPending = etimer_pending();
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/* Save nearest expiration time */
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simEtimerNextExpirationTime = etimer_next_expiration_time();
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Set the relative memory address of the reference variable.
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* \param env JNI Environment interface pointer
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* \param obj unused
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* \param addr Relative memory address
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_org_contikios_cooja_corecomm_CLASSNAME_setReferenceAddress(JNIEnv *env, jobject obj, jint addr)
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{
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referenceVar = (((long)&referenceVar) - ((long)addr));
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}
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