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if (t-tAlert. acquiredo) setNeighborReading(originID, t-tAlert.distance0); else setNeighborReading(originID, 0 ) ;
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if (myhading > maxNeighborReading0) < if ( ! currentleader) { currentLeader = true; System.out . p r i n t l n ( m - m y S t a t e . m y I D 0 + * :UREPORTINCUTARCET"); new TargetInfoC TargetInfo m-targetlnfo m-netvorkArchitecture.myCoords0, m-myState.myID0); DataItem m-dataitem = nev DataItem(1DConstants. D-TARCETINFO , IDConstants .T-LEADER, m-targetInf 0 ) ; m-dataPool.putData(m_dataitem); m-guinessage = nev CUIKessage (m-myState . m y I D O , GUIKessage.CUIK-NODEOUTPUT,
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m-guiKessage.setNodeOutput("LEADER"); m-CUI.send(m_guiHessage); 1 else t / / do nothing if I am not already the leader
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else t if (currentLeader 1 { Is-guineasage = nev CUIKessage(m-myState.myID0,
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m-guiKessage.setNodeOutput(HEXLEADER");
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m-CUI.send(m-guiKessage); currentLeader = false;
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Figure 5.20 The run0 routine of the Leader task.
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Figure 5.21 TargetAlert received from only one neighbor.
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We do not propose the right solution to this problem and merely explain the logic of our particular implementation of the Leader task as shown by the listing in Figure 5.20. When the TargetAlert is consumed by the node, the following processing occurs: 1. Lines 13-26: The origin of the data item is checked to determine if it is produced by the local sampler task or has arrived from one of the neighboring nodes. If the data item is local and the acquired flag is set, the Leader task records the local reading in the myReading variable. If the acquired flag is set to false, it means that the local node has lost the object; that is, the object is out of sensing range of the node. In that case, the myReading variable is set to zero. If the data item is not local, a similar process is carried out and the neighbor s reading is recorded in the suitable m a y entry or set to zero if the alert indicates that the target was lost.
2. Lines 2 8 4 6 : At this stage, the received reading has been stored in the suitable variable. Now, the node s local reading is compared with the maximum among all readings from neighboring nodes. If the local
APPLICATION COMPOSITION
reading is greater than that received from the neighbors, the node first determines if it has already elected itself the leader in a previous invocation of this task. If the node is the current leader, no action is taken. If the node is not the current leader, it first declares itself the leader by setting the appropriate state variable. This state is maintained to avoid sending repeated, duplicate messages to the supervisor node (and to the visualization front end). Next, the TargetInf o data item is created. In this implementation, this data item merely records the ID of the node that has elected itself the leader by virtue of being closest to the object based on information received till that time. This data item is added to the data pool and a message is sent to the visualization interface.
3. Lines 47-56: If the local reading is not greater than the maximum of all readings received from neighboring nodes, it means that the node is clearly not the leader. If the node was the leader in the previous invocation, the state is changed to f a l s e and the corresponding message is sent to the visualization interface.
Note that this implementation does not have to worry about old readings from neighboring nodes being preserved as part of the state maintained by the Leader and possibly affecting its logic adversely. This is because the ATaG program ensures that when the node loses a target (i.e., the acoustic sensor reading becomes zero), it sends out the corresponding message to all nodes in its neighborhood. This effectively sets to zero the reading associated with that node in all the Leader tasks hosted in its neighborhood.