Cooja with dynamically moving motes

examples/circular_motion/Makefile

@@ -0,0 +1,7 @@
+CONTIKI = ../..
+
+all: circular-motion
+TARGET_LIBFILES = -lm
+
+CONTIKI_WITH_RIME = 1
+include $(CONTIKI)/Makefile.include

examples/circular_motion/Readme.md

@@ -0,0 +1,13 @@
+<!---Author: Manish Kausik H-->
+
+Circular Motion
+================
+
+This folder contains a demo of how dynamic mobility can be implemented in contiki-cooja setup.
+
+There are 2 global variables in the contiki code: pos_x and pos_y. These two variables are updated in accordance with the equation of a circle. 
+Cooja reads these variables to update the position of the motes in GUI.
+
+For more information, please checkout tools/cooja/Readme_Mobility.md
+
+

examples/circular_motion/circular-motion.c

@@ -0,0 +1,50 @@
+#include "contiki.h"
+#include "random.h"
+
+
+#include <stdio.h>
+#include <math.h>
+
+static float pos_x=100;
+static float pos_y=0;
+
+
+/*---------------------------------------------------------------------------*/
+PROCESS(circular_motion_process, "CIRCULAR MOTION example");
+AUTOSTART_PROCESSES(&circular_motion_process);
+/*---------------------------------------------------------------------------*/
+
+
+
+/*---------------------------------------------------------------------------*/
+PROCESS_THREAD(circular_motion_process, ev, data)
+{
+  static struct etimer et;
+
+  PROCESS_BEGIN();
+  random_init(25);
+
+
+
+  static float ang_velocity=0.5;
+  static float del_t=0.001;
+
+
+  while(1) {
+
+    /* Delay 2-4 seconds */
+    etimer_set(&et, del_t*CLOCK_SECOND);
+
+    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
+
+
+
+    pos_x = pos_x - (pos_y*ang_velocity*del_t);
+    pos_y = pos_y + (pos_x*ang_velocity*del_t);
+
+
+  }
+
+  PROCESS_END();
+}
+/*---------------------------------------------------------------------------*/

tools/cooja/Readme_Mobility.md

@@ -0,0 +1,55 @@
+<!---Author: Manish Kausik H-->
+
+# Cooja Mobility
+	This version of cooja has the option of moving motes via a contiki process. 
+
+## How to use this verion of Cooja?
+	1. To compile and launch cooja, the steps are the same as the older cooja versions:
+		ant jar // to compile only
+		ant run // to compile and launch cooja
+
+	2. To setup mote tracking :
+		a. Go to File ---> New Simulation
+		b. In the New Simulation Dialog box, enable "Track Positions of Node" checkbox
+		c. Fill in all other details as per your needs
+		d. Press "Create".
+
+	Now you can operate Cooja just as before!
+
+## What is expected from the contiki code?
+	The contiki code that you upload to the virtual motes in cooja MUST define 2 Global variables called "pos_x" and "pos_y".
+	They must be declared like this:
+		static float pos_x=<value>;
+		static float pos_y=<value>;
+
+	These are the variables that you MUST update, so that cooja can update positions in the GUI.
+	Note: If these variables are not declared as Global Variables or are not declared at all, a NULL_POINTER_EXCEPTION will be thrown by Cooja.
+	These Variables are relevant and compulsory only if the Track Position checkbox was enabled when creating the simulation.
+
+## Some other important details
+	Cooja updates the positions of the motes every 100ms. Any changes made to pos_x and pos_y before 100ms time will not be reflected in Cooja.
+
+## Examples
+	the example folder in contiki parent folder contains an example of a contiki process that makes the mote moving in a circle. The folder is named "circular-motion"
+
+## Potential Application
+	The dynamic mobility feature has been introduced so that motes can make decisions on how to move on the run, while communicating with other motes.
+	This gives a platform for research on various path planning methods in tight sync with various communication stacks already available in contiki. 
+
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tools/cooja/java/org/contikios/cooja/Simulation.java

@@ -28,20 +28,20 @@
 
 package org.contikios.cooja;
 
-import java.util.ArrayDeque;
-import java.util.ArrayList;
-import java.util.Collection;
-import java.util.Observable;
-import java.util.Observer;
-import java.util.Random;
-import java.util.Vector;
+import java.util.*;
+import java.nio.*; // added by manish
 
 import javax.swing.JOptionPane;
 
 import org.apache.log4j.Logger;
 import org.jdom.Element;
 
 import org.contikios.cooja.dialogs.CreateSimDialog;
+//import org.contikios.cooja.mspmote.interfaces.SkyPositionUpdate;
+//import org.contikios.cooja.mspmote.MspMoteMemory; //added by manish
+import org.contikios.cooja.mote.memory.MemoryInterface; //added by manish
+import org.contikios.cooja.mote.memory.MemoryInterface.Symbol; //added by manish
+import org.contikios.cooja.interfaces.Position; //added by manish
 
 /**
  * A simulation consists of a number of motes and mote types.
@@ -50,7 +50,9 @@
  * changed simulation state, added or deleted motes etc are observed.
  * To track mote changes, observe the mote (interfaces) itself.
  *
- * @author Fredrik Osterlind
+ * Mobility related features were added by Manish Kausik H
+ * @author Fredrik Osterlind, Manish Kausik H
+
  */
 public class Simulation extends Observable implements Runnable {
   public static final long MICROSECOND = 1L;
@@ -112,6 +114,77 @@ private void newMillisecond(long time) {
   private boolean hasPollRequests = false;
   private ArrayDeque<Runnable> pollRequests = new ArrayDeque<Runnable>();
 
+  /*
+      Edit by Manish Kausik H
+  */
+  private boolean trackPositions;
+  //Set trackPostions
+  public void setTrackPositions(boolean v){
+    this.trackPositions=v;
+  }
+  //Get TrackPositions
+  public boolean getTrackPosiions(){
+    return this.trackPositions;
+  }
+
+  private Vector<MemoryInterface> memInterfaces=new Vector<MemoryInterface>();
+  private Vector<Position> posInterfaces=new Vector<Position>();
+
+  private Timer position_tracking_scheduler=null;
+  private int position_update_interval=100;
+
+  private void setupMemoryAndPositionInterfaces(){
+    for(int i=0;i<motes.size();i++){
+      memInterfaces.add(
+              motes.get(i).getMemory()
+      );
+      posInterfaces.add(
+              motes.get(i).getInterfaces().getPosition()
+      );
+    }
+  }
+  public void updatePositions(){
+    for(int i=0;i<motes.size();i++){
+//      Map<String, Symbol> SymbolMap = memInterfaces.get(i).getSymbolMap();
+//      Symbol symx=null;
+//      Symbol symy=null;
+//      for(String s:SymbolMap.keySet()){
+//        if(s.startsWith("pos_x")){symx=SymbolMap.get(s);break;}
+//      }
+//      for(String s:SymbolMap.keySet()){
+//        if(s.startsWith("pos_y")){symy=SymbolMap.get(s);break;}
+//      }
+      Symbol symx = memInterfaces.get(i).getSymbolMap().get("pos_x");
+      Symbol symy = memInterfaces.get(i).getSymbolMap().get("pos_y");
+
+      byte[] ans_x = memInterfaces.get(i).getMemorySegment(symx.addr,symx.size);
+      byte[] ans_y = memInterfaces.get(i).getMemorySegment(symy.addr,symy.size);
+
+      float pos_x = ByteBuffer.wrap(ans_x).order(ByteOrder.LITTLE_ENDIAN).getFloat();
+      float pos_y = ByteBuffer.wrap(ans_y).order(ByteOrder.LITTLE_ENDIAN).getFloat();
+
+      System.out.println("X = "+pos_x+" , Y = "+pos_y);
+
+     posInterfaces.get(i).setCoordinates(pos_x, pos_y, posInterfaces.get(i).getZCoordinate());
+    }
+  }
+
+  public void startTrackingScheduler(){
+    position_tracking_scheduler = new Timer();
+    position_tracking_scheduler.schedule(new TimerTask() {
+      @Override
+      public void run() {
+        updatePositions();
+      }
+    },500,position_update_interval);
+  }
+  public void stopTrackingScheduler(){
+    position_tracking_scheduler.cancel();
+  }
+  /*
+      End of Edit by Manish Kausik H
+   */
+
 
   /**
    * Request poll from simulation thread.
@@ -280,6 +353,7 @@ public void run() {
         /*logger.info("Executing event #" + EVENT_COUNTER++ + " @ " + currentSimulationTime + ": " + nextEvent);*/
         nextEvent.execute(currentSimulationTime);
 
+
         if (stopSimulation) {
           isRunning = false;
         }
@@ -481,7 +555,21 @@ public Collection<Element> getConfigXML() {
       element.setText("" + getSpeedLimit());
       config.add(element);
     }
+    /*
+      Edit made by Manish Kausik H
+     */
+    /* Position Tracking Related Information */
+    element = new Element("trackPositions");
+    element.setText(""+getTrackPosiions());
+    config.add(element);
 
+    element = new Element("Position_tracking_interval");
+    element.setText(""+position_update_interval);
+    config.add(element);
+
+    /*
+      End of Edit made by Manish Kausik H
+     */
     // Random seed
     element = new Element("randomseed");
     if (randomSeedGenerated) {
@@ -585,7 +673,21 @@ public boolean setConfigXML(Collection<Element> configXML,
           setSpeedLimit(Double.parseDouble(text));
         }
       }
-
+      /*
+        Edit made by Manish Kausik H
+       */
+      /* Max simulation speed */
+      if (element.getName().equals("trackPositions")) {
+        String text = element.getText();
+        setTrackPositions(Boolean.parseBoolean(text));
+      }
+      if (element.getName().equals("Position_tracking_interval")) {
+        String text = element.getText();
+        position_update_interval=Integer.parseInt(text);
+      }
+      /*
+        End of edit made by Manish Kausik H
+       */
       // Random seed
       if (element.getName().equals("randomseed")) {
         long newSeed;
@@ -846,6 +948,17 @@ public void run() {
         }
 
         motes.add(mote);
+        /*
+          Edit by Manish Kausik H
+         */
+        if(getTrackPosiions()){
+          posInterfaces.add(mote.getInterfaces().getPosition());
+          memInterfaces.add(mote.getMemory());
+        }
+
+        /*
+          End of Edit by Manish Kausik H
+         */
         motesUninit.remove(mote);
         currentRadioMedium.registerMote(mote, Simulation.this);
 

tools/cooja/java/org/contikios/cooja/dialogs/CreateSimDialog.java

@@ -67,7 +67,8 @@
 /**
  * A dialog for creating and configuring a simulation.
  *
- * @author Fredrik Osterlind
+ * Mobility related features were added by Manish Kausik H
+ * @author Fredrik Osterlind, Manish Kausik H
  */
 public class CreateSimDialog extends JDialog {
   private static final long serialVersionUID = 1L;
@@ -80,6 +81,7 @@ public class CreateSimDialog extends JDialog {
 
   private JFormattedTextField randomSeed, delayedStartup;
   private JCheckBox randomSeedGenerated;
+  private JCheckBox trackPos; //edit by Manish  Kausik H
 
   private JTextField title;
   private JComboBox radioMediumBox;
@@ -313,7 +315,6 @@ public void actionPerformed(ActionEvent e) {
           randomSeed.setValue(new Integer(123456));
         }
       }
-
     });
 
     horizBox.add(label);
@@ -323,6 +324,34 @@ public void actionPerformed(ActionEvent e) {
     advancedBox.add(horizBox);
     advancedBox.add(Box.createVerticalStrut(5));
 
+    /*
+      Edit by Manish Kausik H
+     */
+    horizBox = Box.createHorizontalBox();
+    horizBox.setMaximumSize(new Dimension(Integer.MAX_VALUE,LABEL_HEIGHT));
+    horizBox.setAlignmentX(Component.LEFT_ALIGNMENT);
+    label = new JLabel("Track Positions of Node");
+    label.setPreferredSize(new Dimension(LABEL_WIDTH,LABEL_HEIGHT));
+    trackPos = new JCheckBox();
+    trackPos.setToolTipText("Tracks the positions of each node and updates them periodically");
+//    trackPos.addActionListener(new ActionListener() {
+//      public void actionPerformed(ActionEvent e) {
+//        /*
+//          Some changes related to how often to update etc can come here
+//         */
+//      }
+//    });
+
+    horizBox.add(label);
+    horizBox.add(Box.createHorizontalStrut(173));
+    horizBox.add(trackPos);
+
+    advancedBox.add(horizBox);
+    advancedBox.add(Box.createVerticalStrut(5));
+
+    /*
+      End of Edit by Manish Kausik H
+     */
     vertBox.add(advancedBox);
     vertBox.add(Box.createVerticalGlue());
 
@@ -363,6 +392,17 @@ public void actionPerformed(ActionEvent e) {
         mySimulation.setRandomSeed(((Number) randomSeed.getValue()).longValue());
       }
 
+      /*
+        Edit Made by Manish Kausik H
+       */
+      if(trackPos.isSelected()){
+        mySimulation.setTrackPositions(true);
+      }else{
+        mySimulation.setTrackPositions((false));
+      }
+      /*
+        End of Edit made by Manish Kausik H
+       */
       mySimulation.setDelayedMoteStartupTime((int) ((Number) delayedStartup.getValue()).intValue()*Simulation.MILLISECOND);
 
       dispose();