/*
* 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: MspMote.java,v 1.48 2010/10/04 12:54:01 joxe Exp $
*/
package se.sics.cooja.mspmote;
import java.io.File;
import java.io.IOException;
import java.io.PrintStream;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Hashtable;
import java.util.Observable;
import org.apache.log4j.Logger;
import org.jdom.Element;
import se.sics.cooja.ContikiError;
import se.sics.cooja.GUI;
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.Watchpoint;
import se.sics.cooja.WatchpointMote;
import se.sics.cooja.interfaces.IPAddress;
import se.sics.cooja.motes.AbstractEmulatedMote;
import se.sics.cooja.mspmote.interfaces.MspSerial;
import se.sics.cooja.mspmote.interfaces.Msp802154Radio;
import se.sics.cooja.mspmote.plugins.CodeVisualizerSkin;
import se.sics.cooja.mspmote.plugins.MspBreakpoint;
import se.sics.cooja.plugins.Visualizer;
import se.sics.mspsim.cli.CommandContext;
import se.sics.mspsim.cli.CommandHandler;
import se.sics.mspsim.cli.LineListener;
import se.sics.mspsim.cli.LineOutputStream;
import se.sics.mspsim.core.EmulationException;
import se.sics.mspsim.core.MSP430;
import se.sics.mspsim.platform.GenericNode;
import se.sics.mspsim.ui.JFrameWindowManager;
import se.sics.mspsim.util.ComponentRegistry;
import se.sics.mspsim.util.ConfigManager;
import se.sics.mspsim.util.DebugInfo;
import se.sics.mspsim.util.ELF;
import se.sics.mspsim.util.MapEntry;
import se.sics.mspsim.util.MapTable;
import se.sics.mspsim.util.SimpleProfiler;
/**
* @author Fredrik Osterlind
*/
public abstract class MspMote extends AbstractEmulatedMote implements Mote, WatchpointMote {
private static Logger logger = Logger.getLogger(MspMote.class);
private final static int EXECUTE_DURATION_US = 1; /* We always execute in 1 us steps */
{
Visualizer.registerVisualizerSkin(CodeVisualizerSkin.class);
}
private CommandHandler commandHandler;
private MSP430 myCpu = null;
private MspMoteType myMoteType = null;
private MspMoteMemory myMemory = null;
private MoteInterfaceHandler myMoteInterfaceHandler = null;
public ComponentRegistry registry = null;
/* Stack monitoring variables */
private boolean stopNextInstruction = false;
private boolean monitorStackUsage = false;
private int stackPointerLow = Integer.MAX_VALUE;
private int heapStartAddress;
private StackOverflowObservable stackOverflowObservable = new StackOverflowObservable();
public MspMote(MspMoteType moteType, Simulation simulation) {
this.simulation = simulation;
myMoteType = moteType;
/* Schedule us immediately */
requestImmediateWakeup();
}
protected void initMote() {
if (myMoteType != null) {
initEmulator(myMoteType.getContikiFirmwareFile());
myMoteInterfaceHandler = createMoteInterfaceHandler();
/* TODO Setup COOJA-specific window manager */
registry.registerComponent("windowManager", new JFrameWindowManager());
try {
debuggingInfo = ((MspMoteType)getType()).getFirmwareDebugInfo();
} catch (IOException e) {
throw (RuntimeException) new RuntimeException("Error: " + e.getMessage()).initCause(e);
}
}
}
/**
* Abort execution immediately.
* May for example be called by a breakpoint handler.
*/
public void stopNextInstruction() {
stopNextInstruction = true;
getCPU().stop();
}
protected MoteInterfaceHandler createMoteInterfaceHandler() {
return new MoteInterfaceHandler(this, getType().getMoteInterfaceClasses());
}
/**
* @return MSP430 CPU
*/
public MSP430 getCPU() {
return myCpu;
}
public void setCPU(MSP430 cpu) {
myCpu = cpu;
}
public MoteMemory getMemory() {
return myMemory;
}
public void setMemory(MoteMemory memory) {
myMemory = (MspMoteMemory) memory;
}
/* Stack monitoring variables */
public class StackOverflowObservable extends Observable {
public void signalStackOverflow() {
setChanged();
notifyObservers();
}
}
/**
* Enable/disable stack monitoring
*
* @param monitoring Monitoring enabled
*/
public void monitorStack(boolean monitoring) {
this.monitorStackUsage = monitoring;
resetLowestStackPointer();
}
/**
* @return Lowest SP since stack monitoring was enabled
*/
public int getLowestStackPointer() {
return stackPointerLow;
}
/**
* Resets lowest stack pointer variable
*/
public void resetLowestStackPointer() {
stackPointerLow = Integer.MAX_VALUE;
}
/**
* @return Stack overflow observable
*/
public StackOverflowObservable getStackOverflowObservable() {
return stackOverflowObservable;
}
/**
* Prepares CPU, memory and ELF module.
*
* @param fileELF ELF file
* @param cpu MSP430 cpu
* @throws IOException Preparing mote failed
*/
protected void prepareMote(File fileELF, GenericNode node) throws IOException {
this.commandHandler = new CommandHandler(System.out, System.err);
node.setCommandHandler(commandHandler);
ConfigManager config = new ConfigManager();
node.setup(config);
this.myCpu = node.getCPU();
this.myCpu.setMonitorExec(true);
this.myCpu.setTrace(0); /* TODO Enable */
logger.info("Loading firmware from: " + fileELF.getAbsolutePath());
GUI.setProgressMessage("Loading " + fileELF.getName());
node.loadFirmware(((MspMoteType)getType()).getELF());
/* Throw exceptions at bad memory access */
/*myCpu.setThrowIfWarning(true);*/
/* Create mote address memory */
MapTable map = ((MspMoteType)getType()).getELF().getMap();
MapEntry[] allEntries = map.getAllEntries();
myMemory = new MspMoteMemory(this, allEntries, myCpu);
heapStartAddress = map.heapStartAddress;
myCpu.reset();
}
public CommandHandler getCLICommandHandler() {
return commandHandler;
}
/* called when moteID is updated */
public void idUpdated(int newID) {
}
public MoteType getType() {
return myMoteType;
}
public void setType(MoteType type) {
myMoteType = (MspMoteType) type;
}
public MoteInterfaceHandler getInterfaces() {
return myMoteInterfaceHandler;
}
public void setInterfaces(MoteInterfaceHandler moteInterfaceHandler) {
myMoteInterfaceHandler = moteInterfaceHandler;
}
/**
* Initializes emulator by creating CPU, memory and node object.
*
* @param ELFFile ELF file
* @return True if successful
*/
protected abstract boolean initEmulator(File ELFFile);
private boolean booted = false;
public void simTimeChanged(long diff) {
/* Compensates for simulation time changes (without simulation execution) */
lastExecute -= diff;
nextExecute -= diff;
scheduleNextWakeup(nextExecute);
}
private long lastExecute = -1; /* Last time mote executed */
private long nextExecute;
public void execute(long time) {
execute(time, EXECUTE_DURATION_US);
}
public void execute(long t, int duration) {
/* Wait until mote boots */
if (!booted && myMoteInterfaceHandler.getClock().getTime() < 0) {
scheduleNextWakeup(t - myMoteInterfaceHandler.getClock().getTime());
return;
}
booted = true;
if (stopNextInstruction) {
stopNextInstruction = false;
scheduleNextWakeup(t);
throw new RuntimeException("MSPSim requested simulation stop");
}
if (lastExecute < 0) {
/* Always execute one microsecond the first time */
lastExecute = t;
}
if (t < lastExecute) {
throw new RuntimeException("Bad event ordering: " + lastExecute + " < " + t);
}
/* Execute MSPSim-based mote */
/* TODO Try-catch overhead */
try {
nextExecute =
t + duration +
myCpu.stepMicros(t - lastExecute, duration);
lastExecute = t;
} catch (EmulationException e) {
String trace = e.getMessage() + "\n\n" + getStackTrace();
throw (ContikiError)
new ContikiError(trace).initCause(e);
}
/* Schedule wakeup */
if (nextExecute < t) {
throw new RuntimeException(t + ": MSPSim requested early wakeup: " + nextExecute);
}
/*logger.debug(t + ": Schedule next wakeup at " + nextExecute);*/
scheduleNextWakeup(nextExecute);
if (stopNextInstruction) {
stopNextInstruction = false;
throw new RuntimeException("MSPSim requested simulation stop");
}
/* XXX TODO Reimplement stack monitoring using MSPSim internals */
/*if (monitorStackUsage) {
int newStack = cpu.reg[MSP430.SP];
if (newStack < stackPointerLow && newStack > 0) {
stackPointerLow = cpu.reg[MSP430.SP];
// Check if stack is writing in memory
if (stackPointerLow < heapStartAddress) {
stackOverflowObservable.signalStackOverflow();
stopNextInstruction = true;
getSimulation().stopSimulation();
}
}
}*/
}
public String getStackTrace() {
return executeCLICommand("stacktrace");
}
public int executeCLICommand(String cmd, CommandContext context) {
return commandHandler.executeCommand(cmd, context);
}
public String executeCLICommand(String cmd) {
final StringBuilder sb = new StringBuilder();
LineListener ll = new LineListener() {
public void lineRead(String line) {
sb.append(line).append("\n");
}
};
PrintStream po = new PrintStream(new LineOutputStream(ll));
CommandContext c = new CommandContext(commandHandler, null, "", new String[0], 1, null);
c.out = po;
c.err = po;
if (0 != executeCLICommand(cmd, c)) {
sb.append("\nWarning: command failed");
}
return sb.toString();
}
public int getCPUFrequency() {
return myCpu.getDCOFrequency();
}
public int getID() {
return getInterfaces().getMoteID().getMoteID();
}
public boolean setConfigXML(Simulation simulation, Collection<Element> configXML, boolean visAvailable) {
setSimulation(simulation);
if (myMoteInterfaceHandler == null) {
myMoteInterfaceHandler = createMoteInterfaceHandler();
}
try {
debuggingInfo = ((MspMoteType)getType()).getFirmwareDebugInfo();
} catch (IOException e) {
throw (RuntimeException) new RuntimeException("Error: " + e.getMessage()).initCause(e);
}
for (Element element: configXML) {
String name = element.getName();
if (name.equals("motetype_identifier")) {
/* Ignored: handled by simulation */
} else if ("breakpoints".equals(element.getName())) {
setWatchpointConfigXML(element.getChildren(), visAvailable);
} else if (name.equals("interface_config")) {
String intfClass = element.getText().trim();
if (intfClass.equals("se.sics.cooja.mspmote.interfaces.MspIPAddress")) {
intfClass = IPAddress.class.getName();
}
if (intfClass.equals("se.sics.cooja.mspmote.interfaces.ESBLog")) {
intfClass = MspSerial.class.getName();
}
if (intfClass.equals("se.sics.cooja.mspmote.interfaces.SkyByteRadio")) {
intfClass = Msp802154Radio.class.getName();
}
if (intfClass.equals("se.sics.cooja.mspmote.interfaces.SkySerial")) {
intfClass = MspSerial.class.getName();
}
Class<? extends MoteInterface> moteInterfaceClass = simulation.getGUI().tryLoadClass(
this, MoteInterface.class, intfClass);
if (moteInterfaceClass == null) {
logger.fatal("Could not load mote interface class: " + intfClass);
return false;
}
MoteInterface moteInterface = getInterfaces().getInterfaceOfType(moteInterfaceClass);
if (moteInterface == null) {
logger.fatal("Could not find mote interface of class: " + moteInterfaceClass);
return false;
}
moteInterface.setConfigXML(element.getChildren(), visAvailable);
}
}
/* Schedule us immediately */
requestImmediateWakeup();
return true;
}
public Collection<Element> getConfigXML() {
ArrayList<Element> config = new ArrayList<Element>();
Element element;
/* Breakpoints */
element = new Element("breakpoints");
element.addContent(getWatchpointConfigXML());
config.add(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 String getExecutionDetails() {
return executeCLICommand("stacktrace");
}
public String getPCString() {
int pc = myCpu.getPC();
ELF elf = myCpu.getRegistry().getComponent(ELF.class);
DebugInfo di = elf.getDebugInfo(pc);
/* Following code examples from MSPsim, DebugCommands.java */
if (di == null) {
di = elf.getDebugInfo(pc + 1);
}
if (di == null) {
/* Return PC value */
SimpleProfiler sp = (SimpleProfiler)myCpu.getProfiler();
try {
MapEntry mapEntry = sp.getCallMapEntry(0);
if (mapEntry != null) {
String file = mapEntry.getFile();
if (file != null) {
if (file.indexOf('/') >= 0) {
file = file.substring(file.lastIndexOf('/')+1);
}
}
String name = mapEntry.getName();
return file + ":?:" + name;
}
return String.format("*%02x", pc);
} catch (Exception e) {
return null;
}
}
int lineNo = di.getLine();
String file = di.getFile();
file = file==null?"?":file;
if (file.contains("/")) {
/* strip path */
file = file.substring(file.lastIndexOf('/')+1, file.length());
}
String function = di.getFunction();
function = function==null?"":function;
if (function.contains(":")) {
/* strip arguments */
function = function.substring(0, function.lastIndexOf(':'));
}
if (function.equals("* not available")) {
function = "?";
}
return file + ":" + lineNo + ":" + function;
/*return executeCLICommand("line " + myCpu.getPC());*/
}
/* WatchpointMote */
private ArrayList<WatchpointListener> watchpointListeners = new ArrayList<WatchpointListener>();
private ArrayList<MspBreakpoint> watchpoints = new ArrayList<MspBreakpoint>();
private Hashtable<File, Hashtable<Integer, Integer>> debuggingInfo = null;
public void addWatchpointListener(WatchpointListener listener) {
watchpointListeners.add(listener);
}
public void removeWatchpointListener(WatchpointListener listener) {
watchpointListeners.remove(listener);
}
public WatchpointListener[] getWatchpointListeners() {
return watchpointListeners.toArray(new WatchpointListener[0]);
}
public Watchpoint addBreakpoint(File codeFile, int lineNr, int address) {
MspBreakpoint bp = new MspBreakpoint(this, address, codeFile, new Integer(lineNr));
watchpoints.add(bp);
for (WatchpointListener listener: watchpointListeners) {
listener.watchpointsChanged();
}
return bp;
}
public void removeBreakpoint(Watchpoint watchpoint) {
((MspBreakpoint)watchpoint).unregisterBreakpoint();
watchpoints.remove(watchpoint);
for (WatchpointListener listener: watchpointListeners) {
listener.watchpointsChanged();
}
}
public Watchpoint[] getBreakpoints() {
return watchpoints.toArray(new Watchpoint[0]);
}
public boolean breakpointExists(int address) {
if (address < 0) {
return false;
}
for (Watchpoint watchpoint: watchpoints) {
if (watchpoint.getExecutableAddress() == address) {
return true;
}
}
return false;
}
public boolean breakpointExists(File file, int lineNr) {
for (Watchpoint watchpoint: watchpoints) {
if (watchpoint.getCodeFile() == null) {
continue;
}
if (watchpoint.getCodeFile().compareTo(file) != 0) {
continue;
}
if (watchpoint.getLineNumber() != lineNr) {
continue;
}
return true;
}
return false;
}
public int getExecutableAddressOf(File file, int lineNr) {
if (file == null || lineNr < 0 || debuggingInfo == null) {
return -1;
}
/* Match file */
Hashtable<Integer, Integer> lineTable = debuggingInfo.get(file);
if (lineTable == null) {
for (File f: debuggingInfo.keySet()) {
if (f != null && f.getName().equals(file.getName())) {
lineTable = debuggingInfo.get(f);
break;
}
}
}
if (lineTable == null) {
return -1;
}
/* Match line number */
Integer address = lineTable.get(lineNr);
if (address != null) {
for (Integer l: lineTable.keySet()) {
if (l != null && l.intValue() == lineNr) {
/* Found line address */
return lineTable.get(l);
}
}
}
return -1;
}
private long lastBreakpointCycles = -1;
public void signalBreakpointTrigger(MspBreakpoint b) {
if (lastBreakpointCycles == myCpu.cycles) {
return;
}
lastBreakpointCycles = myCpu.cycles;
if (b.stopsSimulation() && getSimulation().isRunning()) {
/* Stop simulation immediately */
stopNextInstruction();
}
/* Notify listeners */
WatchpointListener[] listeners = getWatchpointListeners();
for (WatchpointListener listener: listeners) {
listener.watchpointTriggered(b);
}
}
public Collection<Element> getWatchpointConfigXML() {
ArrayList<Element> config = new ArrayList<Element>();
Element element;
for (MspBreakpoint breakpoint: watchpoints) {
element = new Element("breakpoint");
element.addContent(breakpoint.getConfigXML());
config.add(element);
}
return config;
}
public boolean setWatchpointConfigXML(Collection<Element> configXML, boolean visAvailable) {
for (Element element : configXML) {
if (element.getName().equals("breakpoint")) {
MspBreakpoint breakpoint = new MspBreakpoint(this);
if (!breakpoint.setConfigXML(element.getChildren(), visAvailable)) {
logger.warn("Could not restore breakpoint: " + breakpoint);
} else {
watchpoints.add(breakpoint);
}
}
}
return true;
}
}