/*
* Copyright (c) 2007, Swedish Institute of Computer Science.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* $Id: MicaZMote.java,v 1.15 2010/10/04 12:54:01 joxe Exp $
*/
package se.sics.cooja.avrmote;
import java.io.File;
import java.util.ArrayList;
import java.util.Collection;
import org.apache.log4j.Logger;
import org.jdom.Element;
import se.sics.cooja.Mote;
import se.sics.cooja.MoteInterface;
import se.sics.cooja.MoteInterfaceHandler;
import se.sics.cooja.MoteMemory;
import se.sics.cooja.MoteType;
import se.sics.cooja.Simulation;
import se.sics.cooja.motes.AbstractEmulatedMote;
import avrora.arch.avr.AVRProperties;
import avrora.core.LoadableProgram;
import avrora.sim.AtmelInterpreter;
import avrora.sim.Simulator;
import avrora.sim.State;
import avrora.sim.mcu.AtmelMicrocontroller;
import avrora.sim.mcu.EEPROM;
import avrora.sim.platform.MicaZ;
import avrora.sim.platform.PlatformFactory;
/**
* @author Joakim Eriksson, Fredrik Osterlind
*/
public class MicaZMote extends AbstractEmulatedMote implements Mote {
private static Logger logger = Logger.getLogger(MicaZMote.class);
/* 8 MHz according to Contiki config */
public static long NR_CYCLES_PER_MSEC = 8000;
private MoteInterfaceHandler myMoteInterfaceHandler;
private AtmelMicrocontroller myCpu = null;
private MicaZ micaZ = null;
private LoadableProgram program = null;
private AtmelInterpreter interpreter = null;
private AvrMoteMemory myMemory = null;
private AVRProperties avrProperties = null;
private MicaZMoteType myMoteType = null;
private EEPROM eeprom = null;
/* Stack monitoring variables */
private boolean stopNextInstruction = false;
public MicaZMote() {
myMoteType = null;
myCpu = null;
/* TODO myMemory = null; */
myMoteInterfaceHandler = null;
}
public MicaZMote(Simulation simulation, MicaZMoteType type) {
setSimulation(simulation);
myMoteType = type;
/* Schedule us immediately */
requestImmediateWakeup();
}
protected boolean initEmulator(File fileELF) {
try {
prepareMote(fileELF);
} catch (Exception e) {
logger.fatal("Error when creating MicaZ mote: ", e);
return false;
}
return true;
}
/**
* Abort current tick immediately.
* May for example be called by a breakpoint handler.
*/
public void stopNextInstruction() {
stopNextInstruction = true;
}
private MoteInterfaceHandler createMoteInterfaceHandler() {
return new MoteInterfaceHandler(this, getType().getMoteInterfaceClasses());
}
public MicaZ getMicaZ() {
return micaZ;
}
protected void initMote() {
if (myMoteType != null) {
initEmulator(myMoteType.getContikiFirmwareFile());
myMoteInterfaceHandler = createMoteInterfaceHandler();
}
}
/**
* Prepares CPU, memory and ELF module.
*
* @param fileELF ELF file
* @param cpu MSP430 cpu
* @throws Exception
*/
protected void prepareMote(File file) throws Exception {
program = new LoadableProgram(file);
program.load();
PlatformFactory factory = new MicaZ.Factory();
micaZ = (MicaZ) factory.newPlatform(1, program.getProgram());
myCpu = (AtmelMicrocontroller) micaZ.getMicrocontroller();
eeprom = (EEPROM) myCpu.getDevice("eeprom");
avrProperties = (AVRProperties) myCpu.getProperties();
Simulator sim = myCpu.getSimulator();
interpreter = (AtmelInterpreter) sim.getInterpreter();
// State state = interpreter.getState();
myMemory = new AvrMoteMemory(program.getProgram().getSourceMapping(), avrProperties, interpreter);
}
public void setEEPROM(int address, int i) {
byte[] eedata = eeprom.getContent();
eedata[address] = (byte) i;
}
public void setState(State newState) {
logger.warn("MicaZ motes can't change state");
}
public int getID() {
return getInterfaces().getMoteID().getMoteID();
}
/* called when moteID is updated */
public void idUpdated(int newID) {
}
public MoteType getType() {
return myMoteType;
}
public void setType(MoteType type) {
myMoteType = (MicaZMoteType) type;
}
public MoteInterfaceHandler getInterfaces() {
return myMoteInterfaceHandler;
}
public void setInterfaces(MoteInterfaceHandler moteInterfaceHandler) {
myMoteInterfaceHandler = moteInterfaceHandler;
}
private long cyclesExecuted = 0;
private long cyclesUntil = 0;
public void execute(long t) {
/* Wait until mote boots */
if (myMoteInterfaceHandler.getClock().getTime() < 0) {
scheduleNextWakeup(t - myMoteInterfaceHandler.getClock().getTime());
return;
}
if (stopNextInstruction) {
stopNextInstruction = false;
throw new RuntimeException("Avrora requested simulation stop");
}
/* TODO Poll mote interfaces? */
/* Execute one millisecond */
cyclesUntil += NR_CYCLES_PER_MSEC;
while (cyclesExecuted < cyclesUntil) {
cyclesExecuted += interpreter.step();
}
/* TODO Poll mote interfaces? */
/* Schedule wakeup every millisecond */
/* TODO Optimize next wakeup time */
scheduleNextWakeup(t + Simulation.MILLISECOND);
}
public boolean setConfigXML(Simulation simulation, Collection<Element> configXML, boolean visAvailable) {
setSimulation(simulation);
initEmulator(myMoteType.getContikiFirmwareFile());
myMoteInterfaceHandler = createMoteInterfaceHandler();
for (Element element: configXML) {
String name = element.getName();
if (name.equals("motetype_identifier")) {
/* Ignored: handled by simulation */
} else if (name.equals("interface_config")) {
Class<? extends MoteInterface> moteInterfaceClass = simulation.getGUI().tryLoadClass(
this, MoteInterface.class, element.getText().trim());
if (moteInterfaceClass == null) {
logger.fatal("Could not load mote interface class: " + element.getText().trim());
return false;
}
MoteInterface moteInterface = getInterfaces().getInterfaceOfType(moteInterfaceClass);
moteInterface.setConfigXML(element.getChildren(), visAvailable);
}
}
/* Schedule us immediately */
requestImmediateWakeup();
return true;
}
public Collection<Element> getConfigXML() {
ArrayList<Element> config = new ArrayList<Element>();
Element element;
/* Mote interfaces */
for (MoteInterface moteInterface: getInterfaces().getInterfaces()) {
element = new Element("interface_config");
element.setText(moteInterface.getClass().getName());
Collection<Element> interfaceXML = moteInterface.getConfigXML();
if (interfaceXML != null) {
element.addContent(interfaceXML);
config.add(element);
}
}
return config;
}
public MoteMemory getMemory() {
return myMemory;
}
public void setMemory(MoteMemory memory) {
myMemory = (AvrMoteMemory) memory;
}
public String toString() {
return "MicaZ " + getID();
}
}