// controller code function
double ctrl_code(int seg, void *data)
{
double *m;
double r, y, P, D;
PD_Data* d = (PD_Data*) data;
switch(seg) {
case 1:
ttTake("sem"); // wait for a message
return 0.0;
case 2:
m = (double*) ttGetMsg(); // get sensor value
y = *m;
delete m; // delete message
r = ttAnalogIn(1);
P = d->K*(r-y);
D = d->ad*d->Dold + d->bd*(d->yold-y);
d->u = P + D;
d->Dold = D;
d->yold = y;
return 0.0005;
case 3:
m = new double;
*m = d->u;
ttSendMsg(2, m, 80); // Send 80 bits to node 2 (actuator)
ttSetNextSegment(1); // loop and wait for new packet
return 0.0;
}
return FINISHED; // to supress compilation warnings
}
void *ttGetMsg() {
if (rtsys->nbrOfNetworks == 0) {
TT_MEX_ERROR("ttGetMsg: The node is not connected to to any network!");
return NULL;
}
if (rtsys->nbrOfNetworks > 1) {
TT_MEX_ERROR("ttGetMsg: The node is connected to more than one network - specify which!\n");
return NULL;
}
int network = rtsys->networkInterfaces[0].networkNbr; // find first (and only) network number
return ttGetMsg(network);
}
/** Task, executed upon receiving a network message
* on the I2C-bus.
*/
double msg_rcv_handler(int seg, void* t_d)
{
AODVrcv_Data *d = (AODVrcv_Data *) t_d;
MailboxMsg *mailboxmsg;
DataMsg *dataMsg;
generic *m;
m = (generic *) ttGetMsg(I2C_NETWORK + d->bot_nbr - 1);
switch (seg) {
case 1:
switch (m->t){
// Forwarding velocity references from Mega_128 to wheel avr:s
// or forwarding velocities from wheel avr:s to Mega_128.
case SEND_WHEEL_VEL:
{
if (((SEND_WHEEL_VEL_MSG*) m->msg)->hdr.sender == MEGA_128) {
if (((SEND_WHEEL_VEL_MSG*) m->msg)->hdr.receiver == LEFT_WHEEL)
ttSendMsg(I2C_NETWORK + d->bot_nbr - 1, LEFT_WHEEL, m, 8+32);
else
ttSendMsg(I2C_NETWORK + d->bot_nbr - 1, RIGHT_WHEEL, m, 8+32);
} else { // This else needs to be modified
mailboxmsg = new MailboxMsg;
dataMsg = new DataMsg;
dataMsg->data = ((SEND_WHEEL_VEL_MSG*) m->msg)->vel;
mailboxmsg->datamsg = dataMsg;
ttPost("WheelRequestBox",mailboxmsg);
// ttSendMsg(I2C_NETWORK + d->bot_nbr - 1, MEGA_128, m, 10);
delete m;
}
return 0.0001;
}
// Forwarding obstacle avoidance information from Mega_Ultra to
// to Mega_128.
case SEND_IR:
{
ttSendMsg(I2C_NETWORK + d->bot_nbr - 1, MEGA_128, m, 8+32);
return 0.0001;
}
default: {}
}
return 0.0001;
default:
return FINISHED;
}
}
double AODVrcvcode(int seg, void* data) {
AODVrcv_Data* d = (AODVrcv_Data*) data;
int myID = d->nodeID;
MailboxMsg *mailboxmsg;
GenericNwkMsg *nwkmsg;
DataMsg *datamsg;
RREQMsg *rreqmsg;
RREPMsg *rrepmsg;
RERRMsg *rerrmsg, *rerrmsg2;
HelloMsg *hellomsg;
int i, dest, seqNbr, hopCnt, cond1, cond2;
int intermed, drop, cached_RREQID, propagate, nextHop;
double now, etime1, etime2, lifetime;
double etime = 0.0001;
RouteEntry *dest_entry, *src_entry;
DataNode *dn;
switch (seg) {
case 1:
nwkmsg = (GenericNwkMsg*) ttGetMsg(ZIGBEENETW);
now = ttCurrentTime();
///////////////////////
// Tmote stuff start //
///////////////////////
if(nwkmsg->type == RANGE_RESPONSE) {
if (ttCurrentTime() < d->rcv_timeout) {
// Get data from rangeResponseMsg and then delete it
RangeResponseMsg *rangeResp = (RangeResponseMsg *)nwkmsg->msg;
double x, y;
unsigned int range;
range = rangeResp->range;
x = rangeResp->x;
y = rangeResp->y;
d->responseCounter++;
// mexPrintf("Response counter = %d \n",d->responseCounter);
// Remove 145 for 2ms delay
// Add 80 for compensation for unknown error
double dist;
// dist = 34400.0 * (double)(range - 145 + 80) / 72280.0; original
dist = 34400.0 * (double)(range - 145 + 68) / 72280.0;
// dist = 34400.0 * (double)(range - 145) / 72280.0;
// mexPrintf("Distance measurment from %d = %f \n",rangeResp->nodeID,dist);
// Put values in data
d->node_x = x;
d->node_y = y;
d->node_dist = dist;
// DEBUG
d->node_nodeID = rangeResp->nodeID;
if (fabs(dist) < 300.0) {
// Start task that sends data to mega128
ttCreateJob("node_data_to_kalman");
}
}
} else if (nwkmsg->type == RANGE_REQUEST) {
d->snd_block = ttCurrentTime() + 0.310;
}
//////////////////////
// Tmote stuff ends //
//////////////////////
else if (nwkmsg->type == DATA) {
// Data message
datamsg = (DataMsg*) nwkmsg->msg;
delete nwkmsg;
if (datamsg->dest == myID) {
// Data message arrived at destination
if (VERBOSE) {
mexPrintf("Time: %f Data message arrived at Node#%d\n", now, myID);
}
// Update expiry timer for route to source
d->routing_table[datamsg->src - 1].exptime = now + ACTIVE_ROUTE_TIMEOUT;
// Notify application
ttTryPost("AODVRcvBox", datamsg);
ttCreateJob("RcvTask");
etime = 0.0001;
} else {
// Forward data message
if (VERBOSE) {
mexPrintf("Time: %f Node#%d about to forward data to Node#%d Data: %f\n", now, myID, datamsg->dest, datamsg->data);
}
// Update expiry timer for route to source
d->routing_table[datamsg->src - 1].exptime = now + ACTIVE_ROUTE_TIMEOUT;
// Find route to destination and update expiry timer
dest_entry = &(d->routing_table[datamsg->dest - 1]);
dest_entry->exptime = now + ACTIVE_ROUTE_TIMEOUT;
// Forward data message to next hop
nwkmsg = new GenericNwkMsg;
nwkmsg->type = DATA;
nwkmsg->msg = datamsg;
ttSendMsg(1, dest_entry->nextHop, nwkmsg, datamsg->size);
etime = 0.0001;
}
updateExpiryTimer(d->routing_table, d->dataTimer, myID);
} else {
// AODV control message (RREQ, RREP, RERR, or HELLO)
if (VERBOSE) {
mexPrintf("Time: %f Node#%d processing AODV message type: %d from Node#%d\n", now, myID, nwkmsg->type, nwkmsg->intermed);
}
switch (nwkmsg->type) {
case RREQ:
rreqmsg = (RREQMsg*) nwkmsg->msg;
intermed = nwkmsg->intermed;
if (rreqmsg->src == myID) {
// Skip RREQs received by the original source
etime = 0.00001;
} else {
// Have this RREQ already been processed?
cached_RREQID = d->cache[rreqmsg->src - 1];
drop = 0;
if (rreqmsg->RREQID <= cached_RREQID) {
// Found in cache, drop redundant RREQ
if (VERBOSE) {
mexPrintf("Time: %f Node#%d dropping redundant RREQ from Node#%d\n", now, myID, intermed);
}
drop = 1;
}
if (!drop) {
// process RREQ
if (VERBOSE) {
mexPrintf("Time: %f Node#%d caching RREQ with Src: %d RREQID: %d\n", now, myID, rreqmsg->src, rreqmsg->RREQID);
}
// Enter RREQID in cache
d->cache[rreqmsg->src - 1] = rreqmsg->RREQID;
// Create or update route entry to source
src_entry = &(d->routing_table[rreqmsg->src - 1]);
if (!src_entry->valid) {
// No entry exists or invalid
src_entry->destSeqNbr = rreqmsg->srcSeqNbr;
for (i=0; i<NBR_AODV; i++) {
src_entry->prec[i] = 0; // empty precursor list
}
} else {
// Update destination sequence number
src_entry->destSeqNbr = max(src_entry->destSeqNbr, rreqmsg->srcSeqNbr);
}
src_entry->dest = rreqmsg->src;
src_entry->nextHop = intermed;
src_entry->hops = rreqmsg->hopCnt + 1;
src_entry->exptime = now + ACTIVE_ROUTE_TIMEOUT;
src_entry->valid = 1;
updateExpiryTimer(d->routing_table, d->dataTimer, myID);
// Check if we have a route to destination
dest_entry = &(d->routing_table[rreqmsg->dest - 1]);
if (rreqmsg->dest==myID || dest_entry->valid) {
// We are the destination or we have a route to it
if (VERBOSE) {
mexPrintf("Node#%d has a route to destination#%d\n", myID, rreqmsg->dest);
}
if (rreqmsg->dest!=myID) {
// I am not the destination, but have a route to it
if (VERBOSE) {
mexPrintf("Sending first RREP from node with route\n");
}
dest = dest_entry->dest;
seqNbr = dest_entry->destSeqNbr;
hopCnt = dest_entry->hops;
lifetime = dest_entry->exptime - now;
dest_entry->prec[intermed] = 1;
} else {
// I am the destination itself
if (VERBOSE) {
mexPrintf("Sending first RREP from destination itself\n");
}
dest = myID;
if (d->seqNbrs[myID - 1] + 1 == rreqmsg->srcSeqNbr) {
d->seqNbrs[myID - 1]++;
}
seqNbr = max(d->seqNbrs[myID - 1], rreqmsg->destSeqNbr);
hopCnt = 0;
lifetime = ACTIVE_ROUTE_TIMEOUT;
}
// Create RREP
rrepmsg = new RREPMsg;
rrepmsg->hopCnt = hopCnt;
rrepmsg->dest = dest;
rrepmsg->destSeqNbr = seqNbr;
rrepmsg->src = rreqmsg->src;
rrepmsg->lifetime = lifetime;
// Send RREP to previous hop
nwkmsg = new GenericNwkMsg;
nwkmsg->type = RREP;
nwkmsg->intermed = myID;
nwkmsg->msg = rrepmsg;
ttSendMsg(1, intermed, nwkmsg, 20*8); // 20 bytes
etime = 0.0001;
} else {
// We do not have a route to the destination
if (VERBOSE) {
mexPrintf("Time: %f Node#%d sending new broadcast\n", now, myID);
}
// Update RREQ
rreqmsg->hopCnt++;
rreqmsg->destSeqNbr = max(d->seqNbrs[rreqmsg->dest - 1], rreqmsg->destSeqNbr);
// Rebroadcast RREQ
nwkmsg = new GenericNwkMsg;
nwkmsg->type = RREQ;
nwkmsg->intermed = myID;
nwkmsg->msg = rreqmsg;
ttSendMsg(1, 0, nwkmsg, 24*8); // 24 bytes
etime = 0.0001;
}
} else {
etime = 0.00001; // used if RREQ is dropped
}
}
break;
case RREP:
rrepmsg = (RREPMsg*) nwkmsg->msg;
intermed = nwkmsg->intermed;
if (VERBOSE) {
mexPrintf("Node#%d got an RREP from Node#%d for destination#%d\n", myID, intermed, rrepmsg->dest);
}
// Initialize or update forward route entry
dest_entry = &(d->routing_table[rrepmsg->dest - 1]);
if (!dest_entry->valid) {
// No valid entry exists, initialize new
if (VERBOSE) {
mexPrintf("Initializing new forward entry from Node#%d to Node#%d\n", myID, rrepmsg->dest);
}
dest_entry->dest = rrepmsg->dest;
dest_entry->nextHop = intermed;
dest_entry->hops = rrepmsg->hopCnt + 1;
dest_entry->destSeqNbr = rrepmsg->destSeqNbr;
dest_entry->exptime = now + rrepmsg->lifetime;
for (i=0; i<NBR_AODV; i++) {
dest_entry->prec[i] = 0; // empty precursor list
}
dest_entry->valid = 1;
propagate = 1;
etime2 = 0.0001;;
} else {
// Valid forward entry already exists in table
// Should it be updated?
cond1 = (rrepmsg->destSeqNbr > dest_entry->destSeqNbr);
cond2 = ((rrepmsg->destSeqNbr == dest_entry->destSeqNbr) && (rrepmsg->hopCnt+1 < dest_entry->hops));
if (cond1 || cond2) {
// Update existing entry
if (VERBOSE) {
mexPrintf("Updating existing forward entry from Node#%d to Node#%d\n", myID, rrepmsg->dest);
}
dest_entry->nextHop = intermed;
dest_entry->hops = rrepmsg->hopCnt + 1;
dest_entry->destSeqNbr = rrepmsg->destSeqNbr;
dest_entry->exptime = now + rrepmsg->lifetime;
propagate = 1;
etime2 = 0.0001;
} else {
// Existing entry should be kept
// Do not propagate RREP
if (VERBOSE) {
mexPrintf("No entry updated in Node#%d\n", myID);
}
propagate = 0;
etime2 = 0.0001;;
}
}
etime1 = 0;
if (rrepmsg->src == myID) {
// Original source, no reverse entry exists
if (VERBOSE) {
mexPrintf("Node#%d got final RREP for route to Node#%d\n", myID, rrepmsg->dest);
}
// Inform AODVSend to send buffered data messages
mailboxmsg = new MailboxMsg;
mailboxmsg->type = ROUTE_EST;
mailboxmsg->dest = rrepmsg->dest;
mailboxmsg->datamsg = NULL;
ttTryPost("AODVSndBox", mailboxmsg);
etime1 = 0.0001;
} else if (propagate) {
// Update reverse entry from info in RREP
// and get next hop towards source
src_entry = &(d->routing_table[rrepmsg->src - 1]);
src_entry->exptime = now + rrepmsg->lifetime;
src_entry->prec[intermed-1] = 1; // the node that sent the RREP is a precursor towards the src
nextHop = src_entry->nextHop;
// Update precursor list for forward entry
dest_entry->prec[nextHop-1] = 1; // the node that will rcv next RREP is a precursor towards the dest
// Update RREP to continue back propagation
rrepmsg->hopCnt++;
nwkmsg = new GenericNwkMsg;
nwkmsg->type = RREP;
nwkmsg->intermed = myID;
nwkmsg->msg = rrepmsg;
ttSendMsg(1, nextHop, nwkmsg, 20*8); // 20 bytes
etime1 = 0.0001;;
}
updateExpiryTimer(d->routing_table, d->dataTimer, myID);
etime = etime1 + etime2;
break;
case RERR:
rerrmsg = (RERRMsg*) nwkmsg->msg;
intermed = nwkmsg->intermed;
if (VERBOSE) {
mexPrintf("Node#%d got an RERR from Node#%d for destination#%d\n", myID, intermed, rerrmsg->dest);
}
// Propagate RERR?
dest_entry = &(d->routing_table[rerrmsg->dest - 1]);
if (dest_entry->valid && dest_entry->nextHop == intermed) {
// Should send RERR to all nodes in precursor list (neighbors)
for (i=0; i<NBR_AODV; i++) {
if (dest_entry->prec[i]) {
// Node i+1 uses this node as next hop towards dest, send RERR
rerrmsg2 = new RERRMsg;
rerrmsg2->dest = dest_entry->dest;
rerrmsg2->destSeqNbr = dest_entry->destSeqNbr;
rerrmsg2->receiver = i+1;
d->RERRlist->appendNode(new DataNode(rerrmsg2, ""));
}
}
// Invalidate route
if (VERBOSE) {
mexPrintf("Node#%d invalidating route to Node#%d through Node#%d\n", myID, rerrmsg->dest, intermed);
}
dest_entry->valid = 0;
}
etime = 0.0001;;
break;
case HELLO:
hellomsg = (HelloMsg*) nwkmsg->msg;
intermed = nwkmsg->intermed;
//delete nwkmsg;
if (VERBOSE) {
mexPrintf("Time: %f Node#%d got a hello message from Node#%d\n", now, myID, hellomsg->dest);
}
// Update time stamp for last HELLO msg
d->dataHello->nbors[hellomsg->dest - 1] = 1;
d->dataHello->lastHello[hellomsg->dest - 1] = now;
etime = 0.0001;;
}
}
return etime;
case 2:
// Send next RERR, if any
dn = (DataNode*) d->RERRlist->getFirst();
if (dn != NULL) {
// Retrieve next RERR in list
rerrmsg = (RERRMsg*) dn->data;
dn->remove();
delete dn;
// Send RERR to receiver
nwkmsg = new GenericNwkMsg;
nwkmsg->type = RERR;
nwkmsg->intermed = myID;
nwkmsg->msg = rerrmsg;
if (VERBOSE) {
mexPrintf("Node#%d sending RERR to Node#%d\n", myID, rerrmsg->receiver);
}
ttSendMsg(1, rerrmsg->receiver, nwkmsg, 12*8); // 12 bytes
ttSleep(0.001);
return 0.0001;
} else {
return FINISHED;
}
case 3:
ttSetNextSegment(2);
return 0.0001;
}
return FINISHED; // to supress compilation warnings
}
void *ttGetMsg() {
return ttGetMsg(1);
}
