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https://github.com/oliverschmidt/contiki.git
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micaz port now extends AbstractWakeupMote and schedules itself to execute every millisecond.
still no memory access, so simulation of micaz motes remains limited
This commit is contained in:
fros4943
parent
d3131e1811
commit
36eae6fcdf
@ -26,14 +26,13 @@
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* $Id: MicaZMote.java,v 1.8 2009/09/17 13:19:08 fros4943 Exp $
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* $Id: MicaZMote.java,v 1.9 2009/10/30 09:42:50 fros4943 Exp $
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*/
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package se.sics.cooja.avrmote;
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import java.io.File;
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import java.util.Collection;
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import java.util.Random;
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import java.util.Vector;
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import org.apache.log4j.Logger;
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@ -45,12 +44,7 @@ import se.sics.cooja.MoteInterfaceHandler;
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import se.sics.cooja.MoteMemory;
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import se.sics.cooja.MoteType;
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import se.sics.cooja.Simulation;
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import se.sics.cooja.avrmote.interfaces.MicaClock;
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import se.sics.cooja.avrmote.interfaces.MicaSerial;
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import se.sics.cooja.avrmote.interfaces.MicaZLED;
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import se.sics.cooja.avrmote.interfaces.MicaZRadio;
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import se.sics.cooja.interfaces.MoteID;
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import se.sics.cooja.interfaces.Position;
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import se.sics.cooja.motes.AbstractEmulatedMote;
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import avrora.core.LoadableProgram;
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import avrora.sim.Interpreter;
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import avrora.sim.Simulator;
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@ -62,16 +56,12 @@ import avrora.sim.platform.PlatformFactory;
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/**
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* @author Joakim Eriksson, Fredrik Osterlind
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*/
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public class MicaZMote implements Mote {
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public class MicaZMote extends AbstractEmulatedMote implements Mote {
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private static Logger logger = Logger.getLogger(MicaZMote.class);
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/* 8 MHz according to Contiki config */
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public static long NR_CYCLES_PER_MSEC = 8000;
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/* Cycle counter */
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public long cycleCounter = 0;
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public long usDrift = 0; /* us */
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private Simulation mySimulation = null;
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private MoteInterfaceHandler myMoteInterfaceHandler;
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private Microcontroller myCpu = null;
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@ -84,7 +74,6 @@ public class MicaZMote implements Mote {
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/* Stack monitoring variables */
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private boolean stopNextInstruction = false;
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public MicaZMote() {
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myMoteType = null;
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mySimulation = null;
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@ -96,6 +85,9 @@ public class MicaZMote implements Mote {
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public MicaZMote(Simulation simulation, MicaZMoteType type) {
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mySimulation = simulation;
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myMoteType = type;
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/* Schedule us immediately */
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requestImmediateWakeup();
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}
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protected boolean initEmulator(File fileELF) {
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@ -184,37 +176,39 @@ public class MicaZMote implements Mote {
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myMoteInterfaceHandler = moteInterfaceHandler;
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}
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/* return false when done - e.g. true means more work to do before finished with this tick */
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private long cyclesExecuted = 0;
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public boolean tick(long simTime) {
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throw new RuntimeException("Obsolete method");
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}
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private long cyclesExecuted = 0;
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private long cyclesUntil = 0;
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public void execute(long t) {
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/* Wait until mote boots */
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if (myMoteInterfaceHandler.getClock().getTime() < 0) {
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scheduleNextWakeup(t - myMoteInterfaceHandler.getClock().getTime());
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return;
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}
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if (stopNextInstruction) {
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stopNextInstruction = false;
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throw new RuntimeException("Avrora requested simulation stop");
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}
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/* TODO Poll mote interfaces? */
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/* Execute one millisecond */
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cyclesUntil += NR_CYCLES_PER_MSEC;
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while (cyclesExecuted < cyclesUntil) {
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cyclesExecuted += interpreter.step();
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}
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if (simTime + usDrift < 0) {
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return false;
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}
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/* TODO Poll mote interfaces? */
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long maxSimTimeCycles = (long)(NR_CYCLES_PER_MSEC * ((simTime+usDrift+Simulation.MILLISECOND)/(double)Simulation.MILLISECOND));
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if (maxSimTimeCycles <= cycleCounter) {
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return false;
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}
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// Leave control to emulated CPU
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cycleCounter += 1;
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if (cyclesExecuted > cycleCounter) {
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/* CPU already ticked too far - just wait it out */
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return true;
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}
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myMoteInterfaceHandler.doActiveActionsBeforeTick();
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cyclesExecuted += interpreter.step();
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return true;
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/* Schedule wakeup every millisecond */
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/* TODO Optimize next wakeup time */
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scheduleNextWakeup(t + Simulation.MILLISECOND);
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}
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public boolean setConfigXML(Simulation simulation, Collection<Element> configXML, boolean visAvailable) {
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for (Element element: configXML) {
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String name = element.getName();
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@ -242,6 +236,8 @@ public class MicaZMote implements Mote {
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}
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}
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/* Schedule us immediately */
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requestImmediateWakeup();
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return true;
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}
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@ -26,7 +26,7 @@
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* $Id: MicaZMoteType.java,v 1.6 2009/09/17 10:45:14 fros4943 Exp $
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* $Id: MicaZMoteType.java,v 1.7 2009/10/30 09:42:50 fros4943 Exp $
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*/
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package se.sics.cooja.avrmote;
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@ -290,7 +290,7 @@ public class MicaZMoteType implements MoteType {
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} else if (name.equals("firmware")) {
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fileFirmware = new File(element.getText());
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if (!fileFirmware.exists()) {
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fileFirmware = simulation.getGUI().restorePortablePath(fileSource);
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fileFirmware = simulation.getGUI().restorePortablePath(fileFirmware);
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}
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} else if (name.equals("moteinterface")) {
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String intfClass = element.getText().trim();
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@ -26,21 +26,23 @@
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* $Id: MicaClock.java,v 1.5 2009/10/27 10:20:25 fros4943 Exp $
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* $Id: MicaClock.java,v 1.6 2009/10/30 09:42:50 fros4943 Exp $
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*/
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package se.sics.cooja.avrmote.interfaces;
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import java.util.Collection;
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import javax.swing.JPanel;
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import org.apache.log4j.Logger;
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import org.jdom.Element;
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import se.sics.cooja.*;
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import se.sics.cooja.ClassDescription;
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import se.sics.cooja.Mote;
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import se.sics.cooja.Simulation;
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import se.sics.cooja.avrmote.MicaZMote;
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import se.sics.cooja.interfaces.Clock;
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import se.sics.cooja.mspmote.MspMote;
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/**
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* @author Fredrik Osterlind, Joakim Eriksson
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@ -49,9 +51,13 @@ import se.sics.cooja.mspmote.MspMote;
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public class MicaClock extends Clock {
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private static Logger logger = Logger.getLogger(MicaClock.class);
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private Simulation simulation;
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private MicaZMote myMote;
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private long timeDrift; /* Microseconds */
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public MicaClock(Mote mote) {
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simulation = mote.getSimulation();
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myMote = (MicaZMote) mote;
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}
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@ -60,17 +66,15 @@ public class MicaClock extends Clock {
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}
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public long getTime() {
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// long time = (long) ((double)myMote.cycleCounter * Simulation.MILLISECOND / MspMote.NR_CYCLES_PER_MSEC);
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// return time > 0 ? time : 0;
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return 0;
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return simulation.getSimulationTime() + timeDrift;
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}
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public void setDrift(long drift) {
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myMote.usDrift = drift;
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timeDrift = drift;
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}
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public long getDrift() {
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return myMote.usDrift;
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return timeDrift;
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}
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public JPanel getInterfaceVisualizer() {
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