/* * us.c * David Moore <dcm@csail.mit.edu> * * Backend code for Ultrasound simulation with TOSSIM */FILE * distfile = NULL;norace int ** dist_mat = NULL;long long nexttime = 0;struct _cricket_id {    uint8_t     id[4];};struct _cricket_id * cricket_id = NULL;void us_use_file(char * name, int num_devices){    int i;    distfile = fopen(name, "r");    if (!distfile)        return;    printf("%d devices\n", num_devices);    dist_mat = (int **) malloc(num_devices * sizeof(int *));    dist_mat[0] = (int *) malloc(num_devices * num_devices * sizeof(int));    bzero(dist_mat[0], num_devices*num_devices*sizeof(int));    for (i=1; i<num_devices; i++) {        dist_mat[i] = dist_mat[0] + i*num_devices;    }    cricket_id = (struct _cricket_id *)        malloc(num_devices * sizeof(struct _cricket_id));    for (i=0; i<num_devices; i++) {        int j;        for (j=0; j<4; j++)            cricket_id[i].id[j] = i;    }}int cricket_get_id(uint8_t * dst, int node){    int i;    if (!cricket_id)        return -1;    for (i=0; i<4; i++) {        dst[4-i] = cricket_id[node].id[i];    }    dst[0] = dst[5] = dst[6] = dst[7] = 0;    return 0;}int us_parse_until(long long currtime){    int sec, msec, i, j, d;    char buf[256];    if (!distfile || currtime < nexttime)        return 0;//    printf("systime is %lld\n", currtime);    while (fgets(buf, sizeof(buf), distfile)) {        int id[4];        if (sscanf(buf, "time %d.%d", &sec, &msec) == 2) {            nexttime = sec * 4000000 + msec * 4000;            if (currtime < nexttime)                return 0;        }        else if (sscanf(buf, "%d %d %d", &i, &j, &d) == 3) {            dist_mat[i][j] = d;//            fprintf(stderr, "dist[%d][%d] = %d\n", i, j, d);        }        else if (sscanf(buf, "node %d ID %x:%x:%x:%x", &i,                    id, id+1, id+2, id+3) == 5) {            cricket_id[i].id[0] = id[0];            cricket_id[i].id[1] = id[1];            cricket_id[i].id[2] = id[2];            cricket_id[i].id[3] = id[3];        }    }    fclose(distfile);    distfile = NULL;    return 0;}void us_close_file(){    if (distfile)        fclose(distfile);    if (dist_mat) {        free(dist_mat[0]);        free(dist_mat);    }    if (cricket_id) {        free(cricket_id);    }}/******************************************************************************* ******************* The Ultrasound implementation for Nido ******************** *******************************************************************************/#define US_TIMEOUT  0#define US_PULSE    1#define DEFAULT_PULSE   5000norace static event_t* usTimeoutEvents[TOSNODES];void TOSH_us_timeout();void TOSH_us_pulse_detected(uint16_t);void event_us_handle(event_t * event, struct TOS_state * state){    us_data_t * us = (us_data_t *)event->data;    switch (us->type) {        case US_TIMEOUT:            if (us->valid)                TOSH_us_timeout();            event->cleanup(event);            usTimeoutEvents[NODE_NUM] = NULL;            break;        case US_PULSE:            if (usTimeoutEvents[NODE_NUM] &&                    ((us_data_t *)usTimeoutEvents[NODE_NUM]->data)->valid) {                TOSH_us_pulse_detected(us->timer_val);            }            event->cleanup(event);            break;    }}void event_us_create(event_t * event, int node, int type, int interval){    us_data_t * us = (us_data_t*) malloc(sizeof(us_data_t));    us->valid = 1;    us->type = type;    us->timer_val = interval;    event->data = us;    event->mote = node;    event->force = 0;    event->pause = 0;    event->time = tos_state.tos_time + interval;    event->handle = event_us_handle;    event->cleanup = event_total_cleanup;}void TOSH_us_start_detector(uint16_t timeout){    event_t * event = NULL;    if (usTimeoutEvents[NODE_NUM] == NULL) {        event = (event_t *) malloc(sizeof(event_t));        event_us_create(event, NODE_NUM, US_TIMEOUT, timeout);        usTimeoutEvents[NODE_NUM] = event;        TOS_queue_insert_event(event);    }    else {        dbg(DBG_ERROR, "US detector started twice at node %d\n", NODE_NUM);    }}void TOSH_us_stop_detector(){    if (usTimeoutEvents[NODE_NUM]) {        ((us_data_t*)usTimeoutEvents[NODE_NUM]->data)->valid = 0;    }    else {        dbg(DBG_ERROR, "US detector stopped without being started at node %d\n",                NODE_NUM);    }}void TOSH_us_send_pulse(){    int i;    for (i=0; i < tos_state.num_nodes; i++) {        event_t * event;        if (i == NODE_NUM)            continue;        if (dist_mat && dist_mat[i][NODE_NUM]) {            event = (event_t *) malloc(sizeof(event_t));            event_us_create(event, i, US_PULSE, dist_mat[i][NODE_NUM]);            TOS_queue_insert_event(event);        }        else if (!dist_mat) {            event = (event_t *) malloc(sizeof(event_t));            event_us_create(event, i, US_PULSE, DEFAULT_PULSE);            TOS_queue_insert_event(event);        }    }}