From 36eae6fcdfe9fc6f754809ffd3166f4012515e3b Mon Sep 17 00:00:00 2001 From: fros4943 Date: Fri, 30 Oct 2009 09:42:50 +0000 Subject: [PATCH] micaz port now extends AbstractWakeupMote and schedules itself to execute every millisecond. still no memory access, so simulation of micaz motes remains limited --- .../src/se/sics/cooja/avrmote/MicaZMote.java | 70 +++++++++---------- .../se/sics/cooja/avrmote/MicaZMoteType.java | 4 +- .../cooja/avrmote/interfaces/MicaClock.java | 22 +++--- 3 files changed, 48 insertions(+), 48 deletions(-) diff --git a/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMote.java b/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMote.java index 73cfb94d9..be3724bae 100755 --- a/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMote.java +++ b/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMote.java @@ -26,14 +26,13 @@ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. * - * $Id: MicaZMote.java,v 1.8 2009/09/17 13:19:08 fros4943 Exp $ + * $Id: MicaZMote.java,v 1.9 2009/10/30 09:42:50 fros4943 Exp $ */ package se.sics.cooja.avrmote; import java.io.File; import java.util.Collection; -import java.util.Random; import java.util.Vector; import org.apache.log4j.Logger; @@ -45,12 +44,7 @@ import se.sics.cooja.MoteInterfaceHandler; import se.sics.cooja.MoteMemory; import se.sics.cooja.MoteType; import se.sics.cooja.Simulation; -import se.sics.cooja.avrmote.interfaces.MicaClock; -import se.sics.cooja.avrmote.interfaces.MicaSerial; -import se.sics.cooja.avrmote.interfaces.MicaZLED; -import se.sics.cooja.avrmote.interfaces.MicaZRadio; -import se.sics.cooja.interfaces.MoteID; -import se.sics.cooja.interfaces.Position; +import se.sics.cooja.motes.AbstractEmulatedMote; import avrora.core.LoadableProgram; import avrora.sim.Interpreter; import avrora.sim.Simulator; @@ -62,16 +56,12 @@ import avrora.sim.platform.PlatformFactory; /** * @author Joakim Eriksson, Fredrik Osterlind */ -public class MicaZMote implements Mote { +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; - /* Cycle counter */ - public long cycleCounter = 0; - public long usDrift = 0; /* us */ - private Simulation mySimulation = null; private MoteInterfaceHandler myMoteInterfaceHandler; private Microcontroller myCpu = null; @@ -84,7 +74,6 @@ public class MicaZMote implements Mote { /* Stack monitoring variables */ private boolean stopNextInstruction = false; - public MicaZMote() { myMoteType = null; mySimulation = null; @@ -96,6 +85,9 @@ public class MicaZMote implements Mote { public MicaZMote(Simulation simulation, MicaZMoteType type) { mySimulation = simulation; myMoteType = type; + + /* Schedule us immediately */ + requestImmediateWakeup(); } protected boolean initEmulator(File fileELF) { @@ -184,37 +176,39 @@ public class MicaZMote implements Mote { myMoteInterfaceHandler = moteInterfaceHandler; } - /* return false when done - e.g. true means more work to do before finished with this tick */ - private long cyclesExecuted = 0; public boolean tick(long simTime) { + throw new RuntimeException("Obsolete method"); + } + + 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(); } - if (simTime + usDrift < 0) { - return false; - } + /* TODO Poll mote interfaces? */ - long maxSimTimeCycles = (long)(NR_CYCLES_PER_MSEC * ((simTime+usDrift+Simulation.MILLISECOND)/(double)Simulation.MILLISECOND)); - if (maxSimTimeCycles <= cycleCounter) { - return false; - } - - // Leave control to emulated CPU - cycleCounter += 1; - - if (cyclesExecuted > cycleCounter) { - /* CPU already ticked too far - just wait it out */ - return true; - } - myMoteInterfaceHandler.doActiveActionsBeforeTick(); - - cyclesExecuted += interpreter.step(); - - return true; + /* Schedule wakeup every millisecond */ + /* TODO Optimize next wakeup time */ + scheduleNextWakeup(t + Simulation.MILLISECOND); } - + public boolean setConfigXML(Simulation simulation, Collection configXML, boolean visAvailable) { for (Element element: configXML) { String name = element.getName(); @@ -242,6 +236,8 @@ public class MicaZMote implements Mote { } } + /* Schedule us immediately */ + requestImmediateWakeup(); return true; } diff --git a/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMoteType.java b/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMoteType.java index 19a4956a0..b5654de90 100644 --- a/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMoteType.java +++ b/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/MicaZMoteType.java @@ -26,7 +26,7 @@ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. * - * $Id: MicaZMoteType.java,v 1.6 2009/09/17 10:45:14 fros4943 Exp $ + * $Id: MicaZMoteType.java,v 1.7 2009/10/30 09:42:50 fros4943 Exp $ */ package se.sics.cooja.avrmote; @@ -290,7 +290,7 @@ public class MicaZMoteType implements MoteType { } else if (name.equals("firmware")) { fileFirmware = new File(element.getText()); if (!fileFirmware.exists()) { - fileFirmware = simulation.getGUI().restorePortablePath(fileSource); + fileFirmware = simulation.getGUI().restorePortablePath(fileFirmware); } } else if (name.equals("moteinterface")) { String intfClass = element.getText().trim(); diff --git a/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/interfaces/MicaClock.java b/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/interfaces/MicaClock.java index bdb128e76..7a2ef4c4e 100644 --- a/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/interfaces/MicaClock.java +++ b/tools/cooja/apps/avrora/src/se/sics/cooja/avrmote/interfaces/MicaClock.java @@ -26,21 +26,23 @@ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. * - * $Id: MicaClock.java,v 1.5 2009/10/27 10:20:25 fros4943 Exp $ + * $Id: MicaClock.java,v 1.6 2009/10/30 09:42:50 fros4943 Exp $ */ package se.sics.cooja.avrmote.interfaces; import java.util.Collection; + import javax.swing.JPanel; + import org.apache.log4j.Logger; import org.jdom.Element; -import se.sics.cooja.*; +import se.sics.cooja.ClassDescription; +import se.sics.cooja.Mote; +import se.sics.cooja.Simulation; import se.sics.cooja.avrmote.MicaZMote; import se.sics.cooja.interfaces.Clock; -import se.sics.cooja.mspmote.MspMote; - /** * @author Fredrik Osterlind, Joakim Eriksson @@ -49,9 +51,13 @@ import se.sics.cooja.mspmote.MspMote; public class MicaClock extends Clock { private static Logger logger = Logger.getLogger(MicaClock.class); + private Simulation simulation; private MicaZMote myMote; + private long timeDrift; /* Microseconds */ + public MicaClock(Mote mote) { + simulation = mote.getSimulation(); myMote = (MicaZMote) mote; } @@ -60,17 +66,15 @@ public class MicaClock extends Clock { } public long getTime() { -// long time = (long) ((double)myMote.cycleCounter * Simulation.MILLISECOND / MspMote.NR_CYCLES_PER_MSEC); -// return time > 0 ? time : 0; - return 0; + return simulation.getSimulationTime() + timeDrift; } public void setDrift(long drift) { - myMote.usDrift = drift; + timeDrift = drift; } public long getDrift() { - return myMote.usDrift; + return timeDrift; } public JPanel getInterfaceVisualizer() {