beacmanage.nc

无线传感器网络中的节点定位算法。详见ReadMe文件。在TinyOS上实现的节点定位算法。

/*
 * BeacManage.nc
 * David Moore <[e-mail]>
 */

interface BeacManage {
    /* Stores a new distance as measured by us to a neighbor
     * specified by its ID.  The distance should be in timer ticks and
     * is converted to microseconds internally. */
    command result_t NewMeasurement(uint8_t * id, uint16_t d,
            uint16_t timestamp, uint8_t flags);

    /* Fills a packet of data with distances measured locally suitable for
     * being relayed to neighboring nodes. */
    command uint8_t GetMeasurements(uint8_t * buf, uint16_t len);

    /* Given a new relay packet from a neighbor, incorporate the
     * contained information into our database (such as distances
     * to that neighbor's neighbors) */
    command result_t NewRelay(uint8_t * id, uint8_t * buf, uint8_t len,
            uint16_t timediff);

    /* Specifies our local ID.  This is necessary so we recognize distances to
     * ourselves measured by other nodes. */
    command result_t SetId(uint8_t * id);

    /* Stores flags about ourselves, such as if we are moving or not. */
    command result_t SetFlags(uint8_t flags);

    /* Print the entire contents of the distance table to the serial port
     * if id is NULL.  Otherwise, print only the distances measured by that
     * node. */
    command result_t DebugPrint(uint8_t * id);

    /* Converting an ID to an integer index used internally. */
    command uint8_t FindId(uint8_t * id);

    /* Print useful information about all nodes we are aware of. */
    command result_t ListNodes();

    /* This function is called by the localization code in order to
     * copy recorded distance measurements into a form that is
     * useful for localization.  Specifically, we discard nodes for
     * which we have no distance information or no relayed information.
     * We also average distances since we have two measurements for
     * each pair. */
    command int RefineDistances(uint8_t o[MAX_NEIGHBORS+1],
            struct NodeInfo ** info,
            uint16_t d_norm[MAX_NEIGHBORS+1][MAX_NEIGHBORS+1]);

    /* Set the time at which we will perform the next static localization */
    command result_t SetLocTime(uint16_t t);

    /* Looks through the list of beacons from mobile nodes and
     * localizes any nodes whose beacons occured long enough ago
     * to allow time for measurements to propagate from neighboring
     * nodes. */
    command result_t LocalizeMovingNodes();
}