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Matlab-based time synchronization algorithm for wireless sensor networks

Abstract

This paper proposes a novel distributed time synchronization scheme for wireless sensor networks, which uses max consensus to compensate for clock drift and average consensus to compensate for clock offset. The main idea is to achieve a global synchronization just using local information. The proposed protocol has the advantage of being totally distributed, asynchronous, and robust to packet drop and sensor node failure. Finally, the protocol has been implemented in MATLAB. Through several simulations, we can see that this protocol can reduce clock error to ±10 ticks, adapt to dynamic topology, and be suitable to large-scale applications.

1. Introduction

As in all distributed systems, time synchronization is very important in wireless sensor networks (WSNs) since the design of many protocols and implementation of applications require precise time, for example, forming an energy-efficient radio schedule, conducting in-network processing (data fusion, data suppression, data reduction, etc.), distributing an acoustic beamforming array, performing acoustic ranging (i.e., measuring the time of flight of sound), logging causal events during system debugging, and querying a distributed database.
Time synchronization is a research area with a very long history. Various mechanisms and algorithms have been proposed and extensively used over the past few decades. However, several unique characteristics of WSNs often preclude the use of the existing synchronization techniques in this domain. First, since the amount of energy available to battery-powered sensors is quite limited, time synchronization must be implemented in an energy-efficient way. Second, some messages need to be exchanged for achieving synchronization while limited bandwidth of wireless communication discourages frequent message exchanges among sensor nodes. Third, the small size of a sensor node imposes restrictions on computational power and storage space. Therefore, traditional synchronization schemes such as network time protocol (NTP) and global positioning system (GPS) are not suitable for WSNs because of complexity and energy issues, cost efficiency, limited size, and so on.
In the context of WSNs, time synchronization refers to the problem of synchronizing clocks across a set of sensor nodes that are connected to one another over a single-hop or multihop wireless networks. To achieve time synchronization in wireless sensor networks, we have to face the following four challenges.
1.1. Nondeterministic Delays
There are many sources of message delivery delays. Kopetz and Ochsenreiter [1] describe the components of message latency, which they call the Reading Error, as being comprised of 4 distinct components plus the local granularity of the nodes clocks. Their work was later expanded by [2] to include transmission and reception time. The most nondeterministic delay is called Access Time, which is incurred in the MAC layer waiting for access to the transmit channel, its orders of magnitude is larger than the synchronization precision required by the network.
1.2. Clock Drift
Manufacturers of crystal oscillators specify a tolerance value in parts per million (PPM) relative the nominal frequency at 25°C, which determines the maximum amount that the skew rate will deviate from 1. For the nodes used in WSNs, the tolerance value is typically in the order of 5 to 20 PPM. If no drift compensation applied, two synchronized nodes will be out of step soon.
1.3. Robustness
Since sensor networks are often left unattended for long periods of time in possibly hostile environments, synchronization schemes should be robust against link and node failures. Mobile nodes can also disrupt routing schemes, and network partitioning may occur.
1.4. Convergence Speed
Nodes in wireless sensor networks always distribute in large scales, one node may get in touch with another by many hops. This increases the difficulty in reducing the convergence speed in time synchronization algorithm design.
Up to now, many protocols have been designed to address this problem. These protocols all have some basic features in common: a simple connectionless messaging protocol, exchange of clock information among nodes, mitigating the effect of nondeterministic factors in message delivery, and processing utilizing different schemes and algorithms, respectively. They can be classified into two types: centralized synchronization and distributed synchronization.
Centralized synchronization protocol, such as RBS [4], TPSN [2], and FTSP [3], usually has fast convergence speed and little synchronization error. This kind of protocol needs a physical node acting as the whole network’s reference clock, so it has to divide the nodes into different roles, for example, client node and beacon node in RBS. If the node with the special role, such as beacon node in RBS, is out of work, the protocol will suffer from big damage. To deal with the WSNs’ dynamic topology, centralized synchronization protocol is often designed with complexity logic. Another disadvantage of centralized synchronization protocol is that synchronization error grows with the increase of network hops.
Distributed synchronization protocol, such as TDP [5]/GCS [6]/RFA [7]/ATS [8]/CCS [9], can use local information to achieve the whole network synchronization. This kind of protocol can easily adapt to WSNs’ dynamic topology property with lite computation. Currently, the disadvantage of distributed synchronization protocol is that the convergence speed may be a bit slow, relating to the network topology.
This paper describes a new distributed protocol for time synchronization in wireless sensor networks called time synchronization using max and average consensus protocol (TSMA). We adapt a number of techniques to take up the challenges time synchronization has in WSNs. To eliminate the nondeterministic delays, we make use of MAC layer timestamp technique. To compensate for the clock drift, we adapt max consensus protocol, and we use average consensus protocol to compensate for the clock offset. This protocol has the advantages of being computationally light, scalable, asynchronous, robust to node and link failure, and it does not require a master or controlling node.

The rest of the paper is organized as follows. Section 2 summarizes the related work. Section 3 introduces some mathematical tools and definitions that will be instrumental for the proof of convergence of the proposed TSMA algorithm. Section 4 introduces a model for the clock dynamics and formally defines the synchronization objectives, while Section 5 presents the TSMA algorithm in details. This is followed by MATLAB simulations in Section 6. Finally, Section 7 briefly summarizes the results obtained and proposes potential research directions.



matlab code 

#######################################



function varargout=prowler(command, varargin)
%  prowler - PROBABILISTIC WIRELESS NETWORK  SIMULATOR - Main simulation program
%
%  Command line options:
%    initialize: prowler('Init')
%    simulate:   prowler('StartSimulation')
% A graphical user interface can be invoked by typing prowler.
%
% See also: radio_channel, sim_params, demo_application, simstats, demo_opt

% ***
% *** Copyright 2002, Vanderbilt University. All rights reserved.
% ***
% ***    This program is distributed in the hope that it will be useful,
% ***    but WITHOUT ANY WARRANTY; without even the implied warranty of
% ***    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
% ***
% ***

% Written by Gyula Simon, gyula.simon@vanderbilt.edu
% Last modified: Jan 28, 2004  by GYS


persistent event_Q  event_Q_ix topology mote_IDs topology_update_stamp
persistent radio app_name  sim_t  real_sim_T
global global_event_Q


if nargin<1
    command='OpenGui'; 
end
if strcmpi(command, 'Init')
    sim_t=0;

    prowler('RefreshApplicationAndRadioInfo');
    SetApplicationParams(app_name);  % if exists _params file, set the default parameters
    prowler('RefreshTopologyInfo', 'init');
    prowler('show_animation');
    prowler('show_events');

    
    prowparams('select_active_params')  % if parameters window is open, enable/disable radio specific UICs
    
    event_Q=[]; global_event_Q=[];
    prowler('InsertEvents2Q', make_event(0, 'Init_Radio', -999));
    for mote_ID=mote_IDs
        prowler('InsertEvents2Q', make_event(0, 'Init_Application', mote_ID));
    end
    event_Q_ix=1;
    print_event(['Application ''' app_name ''' initialized...'])
    plot_event('init')
    AdjustTipButton(app_name);
    
    prowler('show_LEDs')
    real_sim_T=0; % measure simulation time
elseif strcmpi(command, 'StartSimulation')
    sim_t=0; 
    % housekeeping A1: remove those events from  global_event_Q which were added when simulation was suspended (by stop button)
    % see housekeeping A2
    NUM_EVENTS_STOP=1000; % max number of events shown when stopped
    sim_params('set', 'SIMULATION_RUNNING',1);
    if length(global_event_Q)>0
        ix_end=length(global_event_Q)-length(event_Q)+event_Q_ix-1;
        print_event(global_event_Q(max(1,end-NUM_EVENTS_STOP):ix_end))
        global_event_Q=global_event_Q(1:end-length(event_Q));
    end
    % simulation
    % disable buttons and pulldown menus
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    if ~isempty(h_fig)
        a=guihandles(h_fig);
        set([a.Application_def, a.Radio_def, a.Simulation_start, a.Simulation_continue], 'enable', 'off')
    end
    tic; last_draw=clock; last_print=clock;
    while sim_t<sim_params('get', 'STOP_SIM_TIME') & event_Q_ix <= length(event_Q) & sim_params('get','SIMULATION_RUNNING')
        
        event=event_Q(event_Q_ix);
        print_event(event)
        plot_event(event)
        last_sim_t=sim_t;
        [sim_t, event_name, ID, data]=get_event(event);
        if last_sim_t~=sim_t % new time instant, perhaps screen update necessary
            upd=sim_params('get', 'ANIMATE');
            if upd==1
                drawnow, last_draw=clock;
            else % slow update or no update
                if etime(clock, last_draw)>1
                    drawnow, last_draw=clock; 
                end  
            end
        end
        
        if etime(clock, last_print)>1, % this is to prevent gui from freezing when no animation is done
            last_print=clock; 
            if ~sim_params('get', 'PRINT_EVENTS'), print_event(make_event(sim_t, 'Simulation running...',0), 0, 0), end
        end  
        
        % decide to whom the event should be sent
        switch event_name
        case {'Init_Radio', 'Channel_Request', 'Channel_Idle_Check', ...
                    'Packet_Receive_Start', 'Packet_Receive_End', ...
                    'Packet_Transmit_Start', 'Packet_Transmit_End'}
            % event to radio layer
            feval(radio, event);
        case {'Init_Application', 'Packet_Sent', 'Packet_Received', ...
                    'Collided_Packet_Received', 'Clock_Tick'}
            % event to application layer
            feval([app_name, '_application'], event);
        otherwise
            error(['Unknown event: ' event_name])
        end
        event_Q_ix=event_Q_ix+1;
        
    end % while 
    try % try provided for compatibility reasons, older applications cannot handle the following events
        if sim_params('get','SIMULATION_RUNNING') % event queue empty
            for mote_ID=mote_IDs
                feval([app_name, '_application'], make_event(0, 'Application_Finished', mote_ID));
            end
        else
            for mote_ID=mote_IDs
                feval([app_name, '_application'], make_event(0, 'Application_Stopped', mote_ID));
            end
        end 
    catch
    end
    
    sim_params('set', 'SIMULATION_RUNNING',0);
    real_sim_T=real_sim_T+toc;
    % housekeeping A2: add events to global_event_Q which were not purged from event_Q by the time
    % simulation was stopped
    % see housekeeping A1
    global_event_Q=[global_event_Q, event_Q]; 
    highlight_offset=length(event_Q)-event_Q_ix; % event monitor highlights the next event to be executed
    
    print_event(global_event_Q(max(1,end-NUM_EVENTS_STOP):end)) % update event list with a longer list
    print_event(['Stopped. (SimTime=' sprintf('%1.1f', real_sim_T) 's)'], highlight_offset+1)
    drawnow;
    % enable pulldown menus
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    if ~isempty(h_fig)
        a=guihandles(h_fig);
        set([a.Application_def, a.Radio_def, a.Simulation_start, a.Simulation_continue], 'enable', 'on')
    end

elseif strcmpi(command, 'StopSimulation')
    sim_params('set','SIMULATION_RUNNING',0);
    % enable pulldown menus
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    if ~isempty(h_fig)
        a=guihandles(h_fig);
        set([a.Application_def, a.Radio_def, a.Simulation_start, a.Simulation_continue], 'enable', 'on')
    end

elseif strcmpi(command, 'InsertEvents2Q')
    events=varargin{1}; 
    [event_Q, event_Q_ix]=insert_events(event_Q,event_Q_ix,events,sim_t);
    
elseif strcmpi(command, 'GetRadioName')
    varargout={radio};
elseif strcmpi(command, 'GetAnimationName')
    varargout={[app_name '_animation']};
elseif strcmpi(command, 'GetTopologyInfo')
    varargout={topology, mote_IDs, topology_update_stamp};
    
elseif strcmpi(command, 'RefreshApplicationAndRadioInfo')
    app_name=sim_params('get', 'APP_NAME');
    radio=sim_params('get', 'RADIO_NAME');
    
    application_name=[app_name '_application'];      % application is implemented in this m-file
    topology_name   =[app_name '_topology'];         % topology and ID info for the application 
    animation_name  =[app_name '_animation'];        % topology and ID info for the application 
    % check names
    if ~exist(application_name, 'file'), error(['Application file '' '  application_name '''.m is missing']); end
    if ~exist(topology_name, 'file'),    error(['Topology file '' '        topology_name '''.m is missing']); end
    if ~exist(animation_name, 'file'),   error(['Animation file '' '      animation_name '''.m is missing']); end
    if ~exist(radio, 'file'),            error(['Radio definition file '' '        radio '''.m is missing']); end
    
    
elseif strcmpi(command, 'RefreshTopologyInfo')
    topology_name=[app_name '_topology'];         % topology and ID info for the application 
    if nargin >1; % init
        topology_update_stamp=0;    
        [topology, mote_IDs]=feval(topology_name, 'init');
    else
        [topology, mote_IDs]=feval(topology_name);
    end
    topology_update_stamp=topology_update_stamp+1;
    if  topology_update_stamp>1   % not init
        radio=sim_params('get', 'RADIO_NAME');
        feval(radio, 'Prowler!RefreshTopology');  % notify the radio channel, it should update its internal info
    end
elseif strcmpi(command, 'TextMessage')
    plot_event('TextMessage', varargin{1}, varargin{2})
elseif strcmpi(command, 'LED')
    plot_event(command, varargin{1}, varargin{2})
    
elseif findstr(command, 'Draw')
    if findstr(command, 'Line')
        plot_line('Line', varargin{:})
    elseif findstr(command, 'Arrow')
        plot_line('Arrow', varargin{:})
    elseif findstr(command, 'Delete')
        plot_line('Delete', varargin{:})
    end
    
elseif strcmpi(command, 'Redraw')
    plot_event(command)
    
elseif strcmpi(command, 'Gui_Mouse_Axes_Click')  % message from gui; can be used to update topology
    position=varargin{1}; position=position(1,1:2);
    try
        feval([app_name '_topology'], 'Refresh', position);
        prowler('RefreshTopologyInfo');
        prowler('Redraw')
    end
elseif strcmpi(command, 'GuiMouseMoteClick')
    h_clicked_mote=varargin{1};
    clicked_mote_ID=get(h_clicked_mote, 'userdata');
    feval([app_name, '_application'], make_event(sim_t, 'GuiInfoRequest', clicked_mote_ID));
    
    
elseif strcmpi(command, 'show_LEDs')
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    ch=allchild(h_fig);
    h_cb=findobj(ch, 'flat', 'tag', 'showLEDs');
    show_LEDs=get(h_cb, 'value');
    % find all LED related staff on plot
    %h_ax=findobj(ch, 'flat', 'tag', 'simulation_plot_ax');
    h_ax=findall(0, 'tag', 'simulation_plot_ax');
    %     h_line=findobj(allchild(h_ax), 'flat', 'type', 'line');
    %     h_LEDs=[]; h_frames=[]; i=1; found=1;
    %     while ~isempty(found)
    %         found=[ findobj(h_line, 'flat', 'tag', ['rLED' num2str(i)]); ...
    %                 findobj(h_line, 'flat', 'tag', ['gLED' num2str(i)]); ...
    %                 findobj(h_line, 'flat', 'tag', ['yLED' num2str(i)]); ...
    %                 findobj(h_line, 'flat', 'tag', ['LED_frame' num2str(i)])];
    %         h_LEDs=[h_LEDs; found]; i=i+1;
    %     end
    %     h_LEDs  =[findobj(h_ax, 'tag', 'rLED'); findobj(h_ax, 'tag', 'gLED'); findobj(h_ax, 'tag', 'yLED')];
    %     h_frames=findobj(h_ax, 'tag', 'LED_frame');
    h_LEDs=findobj(allchild(h_ax), 'flat',  'buttondownfcn', '3.1415926;'); 

    if show_LEDs
        set([h_LEDs], 'visible', 'on')
    else
        set([h_LEDs], 'visible', 'off')
    end
    
    
elseif strcmpi(command, 'show_distances')
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    ch=allchild(h_fig);
    % h_ax=findobj(ch, 'flat', 'tag', 'simulation_plot_ax');
    h_ax=findall(0, 'tag', 'simulation_plot_ax');
    h_cb=findobj(ch, 'flat', 'tag', 'show_distances');
    if nargin > 1
        show=varargin{1};
        set(h_cb, 'value', show);
    else
        show=get(h_cb, 'value');
    end
    if show
        set(h_ax, 'xtickmode', 'auto')
        set(h_ax, 'ytickmode', 'auto')
        grid(h_ax, 'on')
    else
        set(h_ax, 'xtickmode', 'manual')
        set(h_ax, 'ytickmode', 'manual')
        set(h_ax, 'xtick', [])
        set(h_ax, 'ytick', [])
        
        grid(h_ax, 'off')

    end
    
elseif strcmpi(command, 'show_animation')
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    ch=allchild(h_fig);
    h=findobj(ch, 'flat', 'tag', 'show_animation');
    if nargin >1 % value provided
        anim=varargin{1};
        if anim==0; anim=3; end
        set(h,'value', anim);
        sim_params('set_from_gui', 'ANIMATE', mod(anim,3));
    else
        anim=get(h,'value');
        sim_params('set_from_gui', 'ANIMATE', mod(anim,3));
    end
    
elseif strcmpi(command, 'show_events')
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    ch=allchild(h_fig);
    h=findobj(ch, 'flat', 'tag', 'show_events');

    if nargin >1 % value provided
        shw=varargin{1};
        set(h,'value', shw);
        sim_params('set_from_gui', 'PRINT_EVENTS', shw);
    else
        sim_params('set_from_gui', 'PRINT_EVENTS', get(h,'value'));
    end

elseif strcmpi(command, 'ShowApplicationInfo')
    infofile=AdjustTipButton(app_name);
    if ~isempty(infofile)
        feval(infofile);
    end
    
elseif strcmpi(command, 'ShowApplicationParams')
    appparamw('init', app_name)
    
elseif strcmpi(command, 'OpenGUI')
    simgui;
elseif strcmpi(command, 'CloseGUI')
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    delete(h_fig)
    h_fig=findobj(allchild(0), 'flat', 'tag', 'paramgui_fig');
    close(h_fig)
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Prowler_External_Display_fig');
    delete(h_fig)
   
elseif strcmpi(command, 'SwitchDisplay')
    h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
    h_cb=findobj(allchild(h_fig), 'flat', 'tag', 'external_display');
    if nargin>1
        mode=varargin{1};
        if strcmp('mode', 'out')
            set(h_cb, 'value', 1)
        else
            set(h_cb, 'value', 0)
        end
    end
    if get(h_cb, 'value')
        mode='out';
    else 
        mode='in';
    end
    SwitchDisplay(mode);

elseif strcmpi(command, 'GetDisplayHandle')
        h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
        h_ax=findall(h_fig, 'tag', 'simulation_plot_ax');
        if isempty(h_ax)
            h_fig=findobj(allchild(0), 'flat', 'tag', 'Prowler_External_Display_fig');
            h_ax=findall(h_fig, 'tag', 'simulation_plot_ax');
        end
        varargout={h_ax};
    
% 'PrintEvent' command is added by LK and YZ    
elseif strcmpi(command, 'PrintEvent')
    print_event(varargin{1});
    
elseif strcmpi(command, 'version')
    % CURRENT VERSION NUMBER
    varargout={'1.25'};
else
    error(['Unknown command: ' command])
end



%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [new_Q, new_Q_ix]=insert_events(old_Q,old_Q_ix,events,last_t);
global global_event_Q

PURGE_LIMIT=50;

new_Q=[old_Q, events];

L=length(new_Q);
t=zeros(1,L);
for i=1:L
    t(i)=new_Q(i).time;
end
[tmp,ix]=sort(t);

ix1=find(t(ix)>=last_t); 
purge_Num=length(ix)-length(ix1);
if purge_Num>PURGE_LIMIT; PURGE=1; else PURGE=0; end
if PURGE % purge old events from Q
    global_event_Q=[global_event_Q, old_Q(1:purge_Num)];
    new_Q=new_Q(ix(ix1));
    new_Q_ix=old_Q_ix-purge_Num;
else
    new_Q=new_Q(ix);
    new_Q_ix=old_Q_ix;
end


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function print_event(e, offset,force)
persistent h_list ct str
if (~sim_params('get', 'PRINT_EVENTS'))&sim_params('get', 'SIMULATION_RUNNING')&nargin<3, return, end
if nargin<2, offset=0; end
if nargin>2, ct=100; end % force event update
MAX_LINES=100;
if ischar(e) % init or finish
    if findstr(e, 'init')
        clear=1; ct=100;
        h_list=findall(0, 'tag', 'message_list');
        disp_str=e; list_str={e};
        %plot_event('init')
    elseif findstr(e, 'Running')
        clear=1; ct=100;
        disp_str=e; list_str={e};
    else % finish
        clear=0; MAX_LINES=inf; % prevent list truncation
        disp_str=e; list_str={e}; ct=100; % ensure to update listbox
    end
else
    len_e=length(e);
    if len_e>1,
        clear=1; 
        list_str=[];
    else
        clear=0;
        list_str=[];
    end
    
    for ev_ix=1:len_e
        [sim_t, event, ID, data]=get_event(e(ev_ix));
        sim_t_sec=sim_t*sim_params('get', 'BIT_TIME');
        list_stri=sprintf('%7d %6.2f  %-26s %5d', floor(sim_t), sim_t_sec, event, ID);
        list_str=[list_str; {list_stri}];
    end
    if len_e >1
        disp_str=[]; ct=100;
    else
        disp_str=sprintf('t:%7d (%6.2fs), %-27s ID:%3d', floor(sim_t), sim_t_sec, [event ','], ID);
        %plot_event(e)
    end
end

if ~isempty(h_list) 
    %str=get(h_list, 'string');
    if clear
        str=list_str;
    else
        if length(str)>MAX_LINES-1;
            str=[str(end-MAX_LINES+1:end); list_str];
        else
            str=[str; list_str];
        end
    end
    if ct>10 % do not update list too frequently; it's too slow
        set(h_list, 'string',  str, 'listboxtop', max(1, length(str)-1), 'value', length(str)-offset)
        ct=0;
    end
    ct=ct+1;
else
    % disp(disp_str)
end


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function plot_event(varargin)
persistent h hr hg hy ht hf ax updatetime
upd=sim_params('get', 'ANIMATE');
if ischar(varargin{1}) % command
    cmd=varargin{1};
    if ~upd&~strcmp(cmd, 'init')
        return
    end
else
    if ~upd
        return
    end
    cmd='update';
    event_struct=varargin{1};
    [t, event, ID, data]=get_event(event_struct);
end
[topology, mote_IDs]=prowler('GetTopologyInfo');
drw=0; % init draw update flag
switch cmd
case 'Refresh'  % refresh handles which could be changed when display changed
    ax=findall(0, 'tag', 'simulation_plot_ax');
    ch=allchild(ax);
    lines=findobj(ch, 'flat', 'type', 'line');
    texts=findobj(ch, 'flat', 'type', 'text');
    for i=1:length(h)
        h(i) =findobj(lines, 'flat', 'tag', ['DisplayObjMote' num2str(i)]);
        hr(i)=findobj(lines, 'flat', 'tag', ['rLED' num2str(i)]);
        hg(i)=findobj(lines, 'flat', 'tag', ['gLED' num2str(i)]);
        hy(i)=findobj(lines, 'flat', 'tag', ['yLED' num2str(i)]);
        ht(i)=findobj(texts, 'flat', 'tag', ['DisplayObjTxt' num2str(i)]);
        hf(i)=findobj(lines, 'flat', 'tag', ['LED_frame' num2str(i)]);
    end
    plot_line('refresh')
    
    
case {'init', 'Redraw'}
    
    ax=findall(0, 'tag', 'simulation_plot_ax');
    if ~isempty(ax)
        Mx=max(topology(:,1)); mx=min(topology(:,1));
        My=max(topology(:,2)); my=min(topology(:,2));
        
        if Mx-mx<1, Mx=Mx+.5; mx=mx-.5; end
        if My-my<1, My=My+.5; my=my-.5; end
        %sc=0.001; mx=mx-sc*abs(mx); my=my-sc*abs(my); Mx=Mx+sc*abs(Mx); My=My+sc*abs(My);
        deltaX=Mx-mx;
        deltaY=My-my;
        DX=deltaX/50; DY=-deltaY/50;
        
        if strcmp(cmd, 'init')
            updatetime=clock;
            delete(allchild(ax));
            set(ax, 'nextplot', 'add')
            axis(ax, [mx-1*DX Mx+6*DX my+4*DY My-3*DY])
            h=[]; hr=[]; hg=[]; hy=[]; ht=[]; hf=[];
            for i=1:length(mote_IDs)
                PX=topology(i, 1); PY=topology(i, 2);
                h(i)=plot(PX,PY,'.', 'parent', ax, ...
                    'userdata', mote_IDs(i), 'buttondownfcn', 'prowler(''GuiMouseMoteClick'', gcbo)', 'tag', ['DisplayObjMote' num2str(i)]);
                hr(i)=plot(PX+1.5*DX,PY+DY,'.r', 'parent', ax, 'tag', ['rLED' num2str(i)], 'userdata', [1   0   0]);
                hg(i)=plot(PX+2.5*DX,PY+DY,'.g', 'parent', ax, 'tag', ['gLED' num2str(i)], 'userdata', [0   1   0]);
                hy(i)=plot(PX+3.5*DX,PY+DY,'.y', 'parent', ax, 'tag', ['yLED' num2str(i)], 'userdata', [1   0.6 0]);
                hf(i)=line(PX+[.7*DX, .7*DX 4*DX 4*DX .7*DX],...
                    PY+[DY/2 DY*3/2 DY*3/2 DY/2 DY/2], 'parent', ax, 'tag', ['LED_frame' num2str(i)]);
                ht(i)=text(PX+.5*DX,PY-DY,' ', 'FontSize', 8, 'clipping', 'on', 'parent', ax, 'tag', ['DisplayObjTxt' num2str(i)]);
            end
            set([hr hg hy], 'markersize', 6, 'color', [1 1 1])
            set([hr hg hy hf], 'buttondownfcn', '3.1415926;', 'hittest', 'off'); % search purposes
            plot_line('init')
            drawnow
        else
            for i=1:length(mote_IDs)
                PX=topology(i, 1); PY=topology(i, 2);
                set(h(i), 'xdata', PX, 'ydata', PY);
                set(hr(i), 'xdata', PX+1.5*DX, 'ydata', PY+DY);
                set(hg(i), 'xdata', PX+2.5*DX, 'ydata', PY+DY);
                set(hy(i), 'xdata', PX+3.5*DX, 'ydata', PY+DY);
                set(hf(i), 'xdata', PX+[.7*DX, .7*DX 4*DX 4*DX .7*DX], ...
                    'ydata',  PY+[DY/2 DY*3/2 DY*3/2 DY/2 DY/2]);
                set(ht(i), 'position', [PX+.5*DX,PY-DY]);
            end
            plot_line('redraw')
        end
        drw=1;
    end
case 'update'
    if ~isempty(ax)
        ix=find(mote_IDs==ID);
        a=feval(prowler('GetAnimationName'));
        for i=1:length(a)
            if strcmpi(a(i).event, event)
                if a(i).animated
                    switch a(i).animated
                    case 1 % the mote 
                        if ~isempty(a(i).color), set(h(ix), 'color', a(i).color); end
                        if ~isempty(a(i).size),  set(h(ix), 'markersize',  a(i).size);  end
                    case {2,3,4} % LEDs
                        if a(i).color(1)
                            mode='on';
                        elseif a(i).color(2)
                            mode='off';
                        else
                            mode='toggle';
                        end
                        switch a(i).animated
                        case 2 % red LED
                            h_LED=hr(ix);
                        case 3 % green LED
                            h_LED=hg(ix);
                        case 4 % yellow LED
                            h_LED=hy(ix);
                        end
                        cur_col=get(h_LED, 'color');
                        on_col =get(h_LED, 'userdata');
                        if strcmp('toggle', mode)
                            if cur_col==on_col
                                mode='off';
                            else
                                mode='on';
                            end
                        end
                        if strcmp('on', mode)
                            set(h_LED, 'color', on_col);
                        else
                            set(h_LED, 'color', [1 1 1]);
                        end
                    end
                    drw=1;
                end
                break
            end
        end
    end
case 'TextMessage'
    if ~isempty(ax)
        ID=varargin{2};
        txt=varargin{3};
        ix=find(mote_IDs==ID);
        set(ht(ix), 'string', txt)
        drw=1;
    end
case 'LED'
    if ~isempty(ax)
        ID=varargin{2};
        msg=varargin{3};
        ix=find(mote_IDs==ID);
        if findstr(lower(msg), 'red');    h_LED=hr(ix); 
        elseif findstr(lower(msg), 'green');  h_LED=hg(ix); 
        elseif findstr(lower(msg), 'yellow'); h_LED=hy(ix); 
        else error(['Bad LED color in command ' msg]); 
        end
        
        cur_col=get(h_LED, 'color');
        on_col =get(h_LED, 'userdata');
        
        if findstr(lower(msg), 'on');     mode='on';  
        elseif findstr(lower(msg), 'off');    mode='off'; 
        elseif findstr(lower(msg), 'toggle');    
            if cur_col==on_col; mode='off'; else mode='on'; end
        else error(['Bad LED state in command ' msg]); 
        end
        
        if strcmp('on', mode)
            set(h_LED, 'color', on_col);
        else
            set(h_LED, 'color', [1 1 1]);
        end
        drw=1;
    end
end

if drw*0  % drawnow's are managed in the main loop
    if upd==1 % fast update
        % drawnow necessary
        drwnow=1;
    else % slow update
        % check update time
        if etime(clock, updatetime)>5
            drwnow=1;
        else
            drwnow=0;
        end
    end
    if drwnow
        drawnow;
        updatetime=clock;
    end
end

function plot_line(command, ID1, ID2, varargin)
persistent table
% table contains current lines (or arrows) in the following format: 
% each line (arrow) has a row in the table: {ID1_i, ID2_i, handle_i, command, varargin}

command=lower(command);

if nargin>3
    style=varargin;
else
    style=[];
end

switch command
case {'line', 'arrow', 'delete'}
    if ~sim_params('get', 'ANIMATE');
        return
    end
    [topology, mote_IDs]=prowler('GetTopologyInfo');
    
    if strcmp(command, 'delete') & isinf(ID1+ID2)
        ct=1; % special delete all syntax, only ID1 is needed
    else
        ct=0; % two ID's required
    end
    for ix=1:length(mote_IDs)
        if mote_IDs(ix) == ID1
            ix1=ix; ct=ct+1;
        elseif  mote_IDs(ix) == ID2
            ix2=ix; ct=ct+1;
        end
        if ct>1
            break
        end
    end
    if ct<2 % ID not found
        error(sprintf('Bad ID for line draw: %d, %d', ID1, ID2))
    else
        ax=findall(0, 'tag', 'simulation_plot_ax');
        if ~isempty(ax)
            % search for line in the table; if exists, remove
            len_t=size(table,1);
            for t_ix=1:len_t
                if table{t_ix, 1}==ID1 & table{t_ix, 2}==ID2
                    h=table{t_ix, 3};
                    table(t_ix,:)=[];
                    delete(h);
                    break
                end
            end
            if strcmp(command, 'delete')   
                if isinf(ID1+ID2)  % delete all
                    if isinf(ID1)
                        ID_ix=2; ID_val=ID2;
                    else
                        ID_ix=1; ID_val=ID1;
                    end
                    
                    del_h=[]; del_ix=[];
                    for t_ix=1:len_t
                        if table{t_ix, ID_ix}==ID_val
                            del_h=[del_h, table{t_ix, 3}];
                            del_ix=[del_ix, t_ix];
                        end
                    end
                    table(del_ix,:)=[];
                    delete(del_h);
                end
                return
            end
            
            x1=topology(ix1,1); y1=topology(ix1,2); 
            x2=topology(ix2,1); y2=topology(ix2,2); 
            
            if strcmp(command, 'arrow')   
                
                phi=pi/10;  % arrow angle
                L=0.03;     % arrow size constant
                
                xa = get(ax,'xlim');
                ya = get(ax,'ylim');
                set(ax, 'unit', 'points');
                pos= get(ax,'position');
                xp=pos(3); yp=pos(4); % axis size in figure
                xd = xa(2)-xa(1);     % axis limits
                yd = ya(2)-ya(1); 
                scalex = L*xd/xp*yp; % compensate aspect ratio
                scaley = L*yd; 
                
                dx = x1 - x2;
                dy = y1 - y2;
                
                alphac=atan2(dy/yd*yp, dx/xd*xp); % angle of line on screen
                
                xx = [x1, x2, x2+scalex*cos(alphac+phi), NaN, ...
                        x2, x2+scalex*cos(alphac-phi)]';
                yy = [y1, y2, y2+scaley*sin(alphac+phi), NaN, ...
                        y2, y2+scaley*sin(alphac-phi)]';
                
                hl=line(xx,yy, 'parent', ax, 'hittest', 'off', 'tag', 'DisplayArrow', 'userdata', [ID1, ID2]);
                set(ax, 'unit', 'normalized');  % necessary for resizable external plot
            else % line
                hl=line([x1,x2], [y1,y2], 'parent', ax, 'hittest', 'off', 'tag', 'DisplayArrow', 'userdata', [ID1, ID2]);
            end
            if ~isempty(style)
                set(hl,  style{:})
            end
            table=[table; {ID1, ID2, hl, command, varargin}];
        end
    end
case 'init'
    table={};
case 'refresh'
    ax=findall(0, 'tag', 'simulation_plot_ax');
    h_arr=findobj(allchild(ax), 'flat', 'tag', 'DisplayArrow');
    new_table=table;
    for i=1:length(h_arr)
        ix=get(h_arr(i),'userdata');
        for j=1:length(h_arr)
            if table{j,1}==ix(1) & table{j,2}==ix(2)
                new_table{j,3}=h_arr(i);
                break
            end
        end
    end
    table=new_table;
    
case 'redraw'
    [topology, mote_IDs]=prowler('GetTopologyInfo');
    len_t=size(table,1);
    table_old=table;
    for t_ix=1:len_t
        ID1=table_old{t_ix,1};
        ID2=table_old{t_ix,2};
        command=table_old{t_ix,4};
        xtra=table_old{t_ix,5};
        plot_line(command, ID1, ID2, xtra{:})
    end
end

function out=AdjustTipButton(app_name)
% Enables Application Info pushbutton if _info file exists for the application,
% disables otherwise. Returns the info file name.
h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
h_tip=findobj(allchild(h_fig), 'flat', 'tag', 'Application_tips');
infofile=[app_name, '_info'];
if exist([infofile '.m'], 'file')
    set(h_tip, 'enable', 'on')
    out=infofile;
else
    set(h_tip, 'enable', 'off')
    out=[];
end


function out=SetApplicationParams(app_name)
% Checks if application parameters are defined.
% If not, set the default.
h_fig=findobj(allchild(0), 'flat', 'tag', 'Simulation_Fig');
h_par=findobj(allchild(h_fig), 'flat', 'tag', 'Application_params');
paramfile=[app_name, '_params'];
if exist([paramfile '.m'], 'file')
    set(h_par, 'enable', 'on')
    p=feval(paramfile);
    for i=1:length(p)
        if isempty(sim_params('get_app', p(i).name))
            if iscell(p(i).default) % popupmenu, the first element is the default
                sim_params('set_app', p(i).name, p(i).default{1});
            else
                sim_params('set_app', p(i).name, p(i).default);
            end
        end
    end
    out=paramfile;
else
    set(h_par, 'enable', 'off')
    out=[];
end



function SwitchDisplay(mode)
% switch between internal and external display modes

switch mode
case 'out'
    h_sim_fig=findall(0, 'tag', 'Simulation_Fig');
    h_ax=findall(h_sim_fig, 'tag', 'simulation_plot_ax');
    if ~isempty(h_ax)
        set(h_ax, 'tag', 'inactive_simulation_plot_ax')
        h=findall(0, 'tag', 'simulation_plot_ax'); delete(h); % just in case...
        
        h_fig=figure(...
            'name', 'Prowler - Display',...
            'numbertitle', 'off', ...
            'integerhandle', 'off', ...
            'closerequestfcn', 'prowler(''SwitchDisplay'', ''in'')', ...
            'handlevisibility', 'off', ...
            'units', 'pixels', ...
            'tag', 'Prowler_External_Display_fig');
        
        h_ax_new=copyobj(h_ax, h_fig);
        delete(allchild(h_ax))
        set(h_ax, 'buttondownfcn', 'figure(findall(0,''tag'', ''Prowler_External_Display_fig''))');

        set(h_ax_new, ...
            'unit', 'normalized',...
            'position', [0 0 1 1], ...
            'tag', 'simulation_plot_ax');
        xx=get(h_ax, 'Xlim'); yy=get(h_ax, 'Ylim');
        plot([xx(2) xx(1) nan xx(1) xx(2)], [yy(1) yy(2) nan yy(1) yy(2)], 'parent', h_ax)
        
    end
case 'in'
    h_sim_fig=findall(0, 'tag', 'Simulation_Fig');
    h_ext_fig=findall(0, 'tag', 'Prowler_External_Display_fig');
    h_ax=findall(h_ext_fig, 'tag', 'simulation_plot_ax');
    if ~isempty(h_ax)
        set(h_ax, 'tag', 'external_simulation_plot_ax');
        
        h=findall(0, 'tag', 'simulation_plot_ax'); delete(h); % just in case...
        
        h_ax_old=findall(h_sim_fig, 'tag', 'inactive_simulation_plot_ax');
        h_ax_new=copyobj(h_ax, h_sim_fig);
        set(h_ax_new, ...
            'unit', get(h_ax_old, 'unit'), ...
            'position', get(h_ax_old, 'position'), ...
            'tag', 'simulation_plot_ax');
        delete(h_ax_old)
        delete(h_ext_fig)
    end
end
plot_event('Refresh'); % update handles
 
 
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