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

/*
 * 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/cc.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 "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 "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_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)

#ifndef NETSTACK_CONF_WITH_IPV4
#define NETSTACK_CONF_WITH_IPV4 0
#endif
#if NETSTACK_CONF_WITH_IPV4
#include "dev/rs232.h"
#include "dev/slip.h"
#include "net/ip/uip.h"
#include "net/ipv4/uip-fw.h"
#include "net/uip-fw-drv.h"
#include "net/ipv4/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 /* NETSTACK_CONF_WITH_IPV4 */

#ifndef NETSTACK_CONF_WITH_IPV6
#define NETSTACK_CONF_WITH_IPV6 0
#endif
#if NETSTACK_CONF_WITH_IPV6
#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])
#endif /* NETSTACK_CONF_WITH_IPV6 */

/* 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;

/*---------------------------------------------------------------------------*/
#if NETSTACK_CONF_WITH_IPV4
static void
set_gateway(void)
{
  if(!is_gateway) {
    printf("%d.%d: making myself the IP network gateway.\n\n",
       linkaddr_node_addr.u8[0], linkaddr_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(&linkaddr_node_addr);
    uip_over_mesh_make_announced_gateway();
    is_gateway = 1;
  }
}
#endif /* NETSTACK_CONF_WITH_IPV4 */
/*---------------------------------------------------------------------------*/
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)
{
  linkaddr_t addr;
  int i;

  memset(&addr, 0, sizeof(linkaddr_t));
#if NETSTACK_CONF_WITH_IPV6
  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 /* NETSTACK_CONF_WITH_IPV6 */
  addr.u8[0] = node_id & 0xff;
  addr.u8[1] = node_id >> 8;
#endif /* NETSTACK_CONF_WITH_IPV6 */
  linkaddr_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];
    
    memset(longaddr, 0, sizeof(longaddr));
    linkaddr_copy((linkaddr_t *)&longaddr, &linkaddr_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 NETSTACK_CONF_WITH_IPV4
  /* 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,linkaddr_node_addr.u8[0],linkaddr_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 /* NETSTACK_CONF_WITH_IPV4 */

#if NETSTACK_CONF_WITH_IPV6
  /* 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;
    }
    linkaddr_copy((linkaddr_t *)addr, &linkaddr_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 /* NETSTACK_CONF_WITH_IPV6 */

  /* Initialize eeprom */
  eeprom_init();
  
  /* 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_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));
}