Proto Simulator User Manual
Contents
1. tab Q W E R T Y U I O P caps lock a El i F G H J K L y return shift Z X V B N M 4 o shift out backoff esc ctrl alt meta space meta enter Tt 4 gt Figure 3 Control key keyboard assignments 12 B Mouse Assignments BUTTON CLICK DRAG SHIFT CLICK SHIFT DRAG LEFT select rotate select region RIGHT print zoom move devices MIDDLE 132. 0 5 Argument window name NAME Title the simulator window NAME default Proto Simulator Argument f Key f Full screen display toggled by key Argument headless Run without a display or user interface default FALSE unless compiled without OpenGL When headless stop after must be specified Key CTRL x Zoom in Not working Note conflicts with the key for transmission backoff Key CTRL z Zoom out Not working Key z Reset display to initial view Key ARROW KEYS Shift simulation display in the direction of the arrow in the simulation s coordinate system Mouse LEFT DRAG Rotate display Mouse RIGHT DRAG Zoom display toward center zooms out away zooms in Selection Selected devices are indicated with a thin ring Color DEVICE_SELECTED 0 5 0 5 0 5 0 8 four times the device s body diameter Mouse LEFT CLICK Select the devices clicked on Mouse RIGHT CLICK Select then print the state of the selected device s to standard out Mouse SHIFT LEFT DRAG Toggle the selection of all devices in a rectangular display region The area to be selected is colored Color DRAG_SELECTION 1 1 0 0 5 Mouse SHIFT RIGHT DRAG Move selected devices Key U Unselect all devices Code 4 The debugger logs chosen types of activity to standard out information flows only when global debug mode is on and then only from devices selected for debugging In that case debugging information from de
3. This module represents the collection of sensor and actuator hardware that we have used on Mica2 Motes at various times There is one actuator a speaker four sensors a light sensor microphone temperature sensor and short sensor and two controls a button and a slider Of these the 2nd generation simulator only implements the button which is drawn as a four times radius disc Color BUTTON_COLOR 0 1 0 5 0 8 Argument mote io Use the Mode I O module Positive Argument Dmoteio Negative Argument NDmoteio Include Mote I O data in dumps Fields are SOUND TEMP BUTTON Key N Toggle button on selected devices 14 Other Modules There are a number of other modules in the 2nd generation simulator which either have no controls or are not yet properly implemented Perfect Localizer The only localizer implemented is a perfect localizer that supplies error free device coordinates and velocity in global coordinates It has no controls Mote link The mote link allows the simulator to interface with a network of Mica2 Motes creating a mixed network of real and simulated devices It is not yet implemented for the 2nd generation simulator When it is it will be invoked with the argument motelink and real devices will be drawn with Color MOTE_BODY 1 0 1 0 8 Platforms There are no 2nd generation versions of kernels for the mote swarm or topobo platforms References 1 R Smith G Carlton F Condello N Lin M C M
4. Use ODE dynamics for physics Positive Argument Ddynamics Negative Argument NDdynamics Include dynamics data in dumps Fields are X Y Z VX VY VZ Q_0 Q_1 Q_2 Q_3 WX WY W Z where Qi is the quaternion specifying orientation and W_i is the angular velocity Argument rad N Radius of a device body defaults from the initial distribution bounds 4 0 087 width x height n Argument density N Density of device bodies which determines mass Default is 0 0625 Argument S N Maximum speed of devices default 100 Argument m Key m Enable movement toggled by key Argument hide body Key b Do not draw bodies toggled by key Positive Argument w Negative Argument nw Key w Are there walls that pen devices into the initial distribution bounds Default is FALSE Argument substep Size of physics microsteps used by ODE default 0 001 If too large the simulation becomes unstable and devices will fly off the screen Argument draw walls Display the walls when there are walls Argument inescapable If any device escapes the walls when there are walls put it back inside using the starting distribution If the starting distribution cannot supply another location kill the device instead Argument rainbow bots Set device color by map device IDs onto hue full saturation and value alpha 0 7 11 Debugging I O This module gives simple sensors and actuators useful for debugging in the simulator The se
5. is printed to standard out though that is printed more verbosely When a snapshot is taken the screen flashes for 1 10 of a second Color PHOTO_FLASH 1 1 1 1 Snapshot data is recorded in files named STEM SIM TIME 1og for automatic dumps and STEM REAL TIME SIM TIME 1log for dumps triggered by the user Argument no dump snaps Don t show a flash on dumps Key Z Dump a snapshot immediately Argument D Key 9 Enable periodic dumping of data Disabled by default Key 0 Disable periodic dumping of data Argument dump after N Start periodic dumping at time N default 0 Argument dump period N During periodic dumping snapshot once every N seconds default 1 Argument dump dir DIR Store snapshot files in directory DIR default dumps If the directory does not exist it will be created Argument dump stem STEM Start snapshot file names with STEM default dump Positive Argument Dall Negative Argument NDall By default are all modules included in dumps Default TRUE Positive Argument Dhood Negative Argument NDhood Include neighborhood data in printed state but not snapshot files due to variability of size Argument probe dump filter Key 8 Probe filtering an unimplemented feature from the 1st generation simulator Not working 6 Device Distribution Simulations are created with n devices distributed through a bounded 2D or 3D volume according to one of several distributio
6. All colors used by the simulator are user controllable their default values can be overridden with the use of palette files Argument palette FILE Loads the palette in FILE This command can be invoked multiple times loading multiple palettes Palettes load in the order they are specified on the command line with later entries possibly overriding earlier ones Palette files are formatted as follows e Whitespace is ignored e as first non whitespace character in a line indicates a comment e One color per line specified NAME RED GREEN BLUE ALPHA where NAME is the name of the color and the others are values between zero and one If unspecified ALPHA defaults to 1 0 which is solid Each specified color replaces only the current value assigned to that color so multiple palette files can be layered each changing only a portion of the colors Example Palette File 3 Turn the background a horrid pink BACKGROUND 1 0 8 0 8 1 Make the devices green and the times translucent cyan and white SIMPLE_BODY 0 10 TIME_DISPLAY 0 1 1 0 5 FPS_DISPLAY 1 1 1 0 3 Core Simulator The core functions of the simulator are to create a simulation control its progress and manage the user interface If there is precisely one unhandled argument that argument is taken to be the Proto script to run If there are no unhandled arguments the script defaults to app If there are multiple unhandled arguments the simulator gives a warnin
7. Proto Simulator User Manual Jacob Beal Last Revision May 25 2008 This is the user manual for the 2nd generation Proto simulator For installation instructions see the Proto Installation Guide For a reference of commonly used simulator and language commands see the Proto Quick Start For a tutorial on the Proto language see the document Thinking In Proto For a reference to the Proto language see the Proto Language Reference For information on how to extend the functionality of the simulator see the Proto Simulator Developer Reference This manual is organized by functional modules within the simulator For each module there is a brief description of the purpose and behavior of the module followed by a list of the command line arguments keys and colors used by that module Some modules conflict in arguments and keys Ordinary keys are case sensitive i e c and C are different control keys are case insensitive When arguments are described an optional part of an argument is surrounded by square brackets Argument names always begin with a dash 1 Credits for Proto The Proto language was developed in partnership by Jonathan Bachrach and Jacob Beal Jonathan Bachrach is the primary programmer for the Proto compiler kernel and 1st generation simulator Jacob Beal is the primary programmer for the 2nd generation simulator Additional programming by Joshua Horowitz Omari Stephens Mark Tobenkin Dan Vickery 2 Palette Files
8. artin T Schmidt K Slipchenko J Smith V Macagon A D Moss E de Vries N Waddoups and D Whittaker Open Dynamics Engine version 0 7 http www ode org 2001 to 2006 A Keyboard Assignments Gray indicates reserved or unusable keys Many keys are rendered unusable by the peculiarities of GLUT including its inconsistent implementation across platforms Blue is allocated keys pink is non functional or conflicting keys and green is keys reserved for import of more 1st generation simulator functions 11 5 6 7 3 a caps lock shift aeaa elel n ia meta en Figure 1 Lower case keyboard assignments A amp del tab Q W j E R a ES a E op ll caps lock A pa A Mi zl return shift EO E HAN II shift esc ctrl meta space meta jenter t y gt Figure 2 Upper case keyboard assignments 1 2 3 4 5 6 7 8 9 0 a del
9. ction for debugging on selected devices Argument g Key d Global debug mode toggled by key Argument t Key a When debugging post trace of evaluation in kernel of debug devices toggled by key Argument debug kernel When debugging post trace of networking activity in kernel Argument debug script When debugging post trace of viral code distribution in in kernel To prevent complete overload debugging 5 State Dumping The simulator can save dumps that contain a snapshot of the current state of every device in the simulator These snapshots produce Matlab readable files The first line is a Matlab comment containing the names of all the state fields to be dumped each subsequent line contains the state of a device one number per field with fields separated by white space The first three fields are always UID TICKS TIME giving device ID number of rounds executed and current time estimate Each simulator module has two arguments Dmodule and NDmodule that assert that state for the module must or must not be included in dumps respectively Some modules also have an argument Dmodule mask that allows specific elements of its state to be included and excluded The first element is enabled by the first bit the second by the second bit and so on these masks generally default to 1 meaning that all elements will be included These dumping arguments also control what information is printed when a device state
10. g and uses the last one as the script Argument seed N Use N as a random seed defaults to a value set by the current time Key q Quit the simulator Argument mag N Relative magnification of text displays for each device default 1 Argument i Key i Show the ID of each device Color DEVICE_ID 1 0 0 0 8 Toggled by key Starting Stopping and Running Argument T Key T Display simulator time in lower left corner Color TIME DISPLAY 1 0 1 1 and frames per second in lower right corner Color FPS_DISPLAY 1 0 1 1 Toggled by key Argument step Key s Use stepping mode advancing one step on key s Key x Execute freely ending stepping mode Argument stop after N Terminate after N simulated seconds default infinity Argument throttle Key X Throttle simulated time to advance relative to real time toggled by key When the simulator cannot keep up a warning appears in the lower center Color LAG_WARNING 1 0 0 1 Argument ratio N Ratio between real time and simulated time when throttling is active default 1 Argument s N Set simulated seconds per step default 0 01 ratio Key CTRL s Slow throttled simulator Each keystroke divides speed by 27 Key CTRL a Accelerate throttled simulator Each keystroke multiplies speed by 21 Key CTRL d Return throttled simulator to a ratio of 1 1 simulated to real time Display The display background is colored Color BACKGROUND 0 0 0
11. n rules 7 Argument n N Number of devices Argument 3d Use a 3D distribution default is 2D Argument dim X Y Z Set bounds of initial device distribution defaults are X 132 Y 100 and Z 0 Z 40 for 3D Specifying a Z argument implies a 3D distribution By default devices are distributed uniformly randomly through the initial volume Argument fixedpt X Y Z Set the position of the first device Z defaults to 0 all others are distributed uniformly randomly If used more times times the argument sets the position of more devices e g the second use sets the position of the second device Argument grid Distribute devices in a grid that evenly fills the initial volume If the grid does not divide evenly the rightmost row plane will be incomplete Argument grideps EPSILON Distribute devices in a grid as for grid but shift each device randomly in the range e 2 e 2 for each coordinate Argument xgrid Distribute X on a grid and Y randomly If 3D Z is distributed on a grid as well Device Time Each device tracks its estimated time independently executing the Proto program at regular intervals The relationship between device time and simulator time may vary however Argument sync Synchronized execution of devices no variation in rate or phase Argument desired period P Base number of device seconds between executions default 1 Argument desired period variance PV Device
12. nsors are three boolean user sensors read by the Proto function sense n where n is 1 2 or 3 When TRUE each sensor displays a disc four times the device size colored Color USER_SENSOR_1 1 0 0 5 0 0 8 Color USER_SENSOR_2 0 5 0 1 0 8 or Color USER_SENSOR_3 1 0 0 0 5 0 8 respectively The actuators are red green and blue LEDs set by Proto functions red value green value and blue value respectively The LEDs may be shown independently as discs the size of the device body with colors Color RED_LED 1 0 0 0 8 Color GREEN_LED 0 1 0 0 8 Color BLUE_LED 0 0 1 0 8 Independent LEDs normally show their value both in intensity of color and Z displacement of the LED disc above the device LEDs may also be displayed mixed together into one double sized disc with base color Color RGB_LED 1 1 1 0 8 where the base color is scaled by LED values There are also three probes which can expose intermediate values from evaluation They display the values as a tuple above each device in the positive Y direction Color DEVICE_PROBES 0 1 0 0 8 Positive Argument Ddebug Negative Argument NDdebug Include debug module data in dumps Fields are USER1 USER2 USER3 RED_LED GREEN_LED BLUE_LED Argument Ddebug mask MASK Set which fields are included in dumps default all MASK 1 Fields start at 0x2 not Ox1 e g RED_LED is controlled by 0x10 due to a removed field Argument probes N Key
13. nt toggled by key Argument hide body Key b Do not draw bodies toggled by key 10 ODE Dynamics The ODE dynamics physics package uses the Open Dynamics Engine 1 a free open source Newtonian physics simulator ODE provides a high quality simulation including collisions and joint physics The Proto function swim vector is used to set the desired velocity of devices which then accelerate to try to maintain that velocity Physics is always run in three dimensions so 2D means gravity and a floor while 3D means no gravity and no floor When there is a floor it is set such that the center of a device is at Z 0 when the device is resting on the floor Device bodies are cubes Color ODE_BOT 1 0 0 0 7 with wire box edges Color ODE_EDGES 0 0 1 1 When a device is selected its color changes Color ODE_SELECTED 0 0 7 1 1 It is possible for bodies in ODE to disable evolution typically when a body is at rest and not interacting with other bodies If this happens the color of the body changes Color ODE_DISABLED 0 8 0 0 0 7 Walls are boxes when visible they are Color ODE_WALL 1 0 0 0 1 with wire box edges the same color as device bodies Walls when present are 10 meters thick centered on the X Y edges of the initial distribution bounds and extend in Z ten times the Y dimension of the pen The corners have a 45 degree wall 20 meters thick that smooths the corners of the pen Argument 0DE
14. or RADIO_RANGE RING 0 25 0 25 0 25 0 8 Argument show radio backoff Key S Display the current radio backoff level Color RADIO_BACKOFF 1 0 0 0 8 9 Simple Dynamics The simple dynamics physics package evolves bodies based on their velocity does not handle collisions and allows instantaneous shifts in velocity The Proto function swim vector is used to set the velocity of devices Simple dynamics is the default physics package Bodies are shown as circles Color SIMPLE_BODY 1 0 25 0 0 8 when movement is enabled points when it is not Positive Argument Ddynamics Negative Argument NDdynamics Include dynamics data in dumps Fields are X Y Z V_X V_Y V_Z RADIUS Argument Ddynamics mask MASK Set which fields are included in dumps default all MASK 1 Argument rad N Radius of a device body defaults from the initial distribution bounds 4 0 087 x width x height n Argument h Key h Show heading of a device with a tick on the body Argument S N Maximum speed of devices default 100 Positive Argument w Negative Argument nw Key w Are there walls that repel devices from the edge of the initial distribution bounds Default is FALSE The repulsive velocity is proportional to the distance into the wall zone starting 80 of the distance from the center of the bounds Argument floor Include a floor at Z 0 that 3D devices cannot move below Argument m Key m Enable moveme
15. or decision making process and display cell ID Color RADIO_CELL_INFO 0 1 1 0 8 Argument r N Transmission range for radio default 15 Argument ns N Set transmission range to get an expected neighborhood size of N Overrides r Argument txerr N Probability of failure on message transmit default 0 Argument rxerr N Probability of failure on message receive default 0 Argument no motion pruning Ordinarily moving devices delete neighbors that go out of range this suppresses that behavior requiring them to time out instead Argument radio backoff Key CTRL x Use exponential backoff of transmission frequency toggled by key Display Argument c Key c Display network connections toggled by key Argument sharp connections sharp neighborhood Key C When network connections are displayed the lines are drawn either thin and sharp Color NET_CONNECTION_SHARP 0 1 0 1 or thick and fuzzy Color NET_CONNECTION_FUZZY 0 1 0 0 25 There are three modes either all are fuzzy default all are sharp or lines are sharp where they connect to selected devices The C key cycles through the three display modes Argument 1c Key CTRL c Display logical connectivity connections that are listed in a device s neighborhood whether or not they currently exist Color NET_CONNECTION_LOGICAL 0 5 0 5 1 0 8 Argument show radio Key r Display a ring around each device at its radio range Col
16. p Display the first N of the three probes The p key cycles through how many are shown Argument 1 Key L Display LEDs toggled by key Argument led ghost Key 1 LED value controls transparency too with 0 completely transparent and 1 completely opaque Toggled by key Argument led flat Key 2 Do not use displacement in Z to show LED value Toggled by key Argument led stacking N Key 3 Set LED stacking to one of three modes Mode 0 stacks LEDs directly in order red green blue bottom to top Mode 1 sets heights independently plus an offset of 1 meter for green and 2 meters for blue Mode 2 sets heights independently The 3 key cycles through the modes Argument led blend Key 4 Show the LEDs as an RGB blend rather than independently Toggled by key Key t Toggle user sensor 1 on selected devices Key y Toggle user sensor 2 on selected devices Key u Toggle user sensor 3 on selected devices 12 Simple Life Cycle This module allows devices to duplicate themselves or suicide Duplication rate is limited by a cloning timer devices can only duplicate when the timer expires Positive Argument Dclone Negative Argument NDclone Include life cycle data in dumps Fields are CLONETIME the time remaining before a clone can be made 10 Argument clone delay N Minimum number of seconds between duplications default 1 Key B Clone selected devices Key K Kill selected devices 13 Mote I O
17. periods are distributed randomly in the range P PV P PV defaulting PV 0 Argument desired ratio R Base ratio between device time and simulator time default 1 Argument desired ratio variance RV Device simulator time ratios are distributed randomly in the range R RV R RV defaulting RV 0 8 Unit Disc Radio Communication Currently the only communication model supported by the simulator is unit disc radio communication In this model any pair of devices within a fixed radius r can communicate While unit disc is only a coarse approximation of real radio communication it is a useful first approximation To speed up computation of neighbors the devices are distributed into a grid of cells r in diameter In order to find its neighbors a device thus needs only to search through adjacent cells The kernel has the option to decrease frequency of transmissions when nothing is changing in a node s outputs Ordinarily it transmits every round but when radio backoff is enabled it increments its backoff level b each transmission with unchanged values setting the number of rounds between transmissions R to R 1 6 The backoff level is capped at 11 which gives R 176 When values change the backoff level goes back to b 0 immediately Positive Argument Dradio Negative Argument NDradio Include radio data in dumps At present however no fields are dumped Argument debug radio When debugging post neighb
18. signated categories prints to standard out from the devices selected for debugging Devices currently logging debugging information are shown by a filled disc twice the size of Key 1 Recompile and reload the current script injecting at the selected devices Argument proto directory DIR Directory where the simulator runs defaults to the directory where the command was invoked Argument path PATH Set the order of directories to be searched for Proto programs The PATH is a list of directories separated by semicolons default is usr lib lib core Argument k Key k Display the current script across the middle of the window toggled by key Mot working Argument show script version Key j Show what version of the script is loaded at each device Color DEVICE_SCRIPT 1 0 0 0 8 Toggled by key Argument v Key n Show value computed at each device Color DEVICE_VALUE 0 5 0 5 1 0 8 Toggled by key Argument sv Key v When device outputs a 2 or 3 tuple display it as a vector toggled by key The vector is interpreted as meters drawn as a line Color VECTOR_BODY 0 0 1 0 8 with a differently colored tip to indicate direction Color VECTOR_TIP 1 0 1 0 8 Debugging the device Color DEVICE_DEBUG 1 0 8 0 8 0 5 For example to get a trace of networking activity in the kernel add the command line arguments g debug kernel then select the desired devices and hit D Key D Toggle sele
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