osd-contiki/tools/cooja/config/code_main_template

/*
 * Copyright (c) 2006, 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: code_main_template,v 1.5 2006/10/02 15:07:33 fros4943 Exp $
 */

/**
 * \defgroup coojacore COOJA Simulator Core
 * @{
 */

/**
 * \file
 *         C code template for generating contiki source code files from COOJA
 *         Simulator. This file should not be compiled directly.
 * \author
 *         Fredrik Osterlind <fros@sics.se>
 */

/*---------------------------------------------------------------------------*/
/**
 * \page coojacore COOJA Simulator Core
 *
 * COOJA Simulator Core ("the Core") represents the entire C code part of COOJA
 * Simulator.
 * This part shortly consists of simulated sensors and actuators and code for
 * communicating with the Java part.
 *
 * Communication with the Core should always be handled via dedicated classes
 * (MoteType), and never directly. MoteType works as an interface giving access
 * to variable's values given their name (through CoreComm->Lib?).
 *
 */

#include <jni.h>
#include <stdio.h>
#include <string.h>
#include "contiki.h"
#include "contiki-net.h"
#include "contiki-lib.h"
#include "contiki-conf.h"
#include "sys/clock.h"

#include "lib/simEnvChange.h"
#include "lib/sensors.h"
#include "net/uip.h"
#include "dev/radio-arch.h"
#include "sys/etimer.h"
#include "sys/cooja_mt.h"

/* Declare all initialization processes */
[PROCESS_DEFINITIONS]

/* Declare all sensors */
[SENSOR_DEFINITIONS]

/* Declare all simulation interfaces */
[INTERFACE_DEFINITIONS]


/* Create initialization process array */
[PROCESS_ARRAY]

/* Create sensor array */
[SENSOR_ARRAY]

/* Create simulation interfaces array */
[INTERFACE_ARRAY]

// Default network interface
static struct uip_fw_netif simNetworkIF =
  {UIP_FW_NETIF(0,0,0,0, 0,0,0,0, simDoSend)};

/*
 * referenceVar is used for comparing absolute and process relative memory.
 * (this must not be static due to memory locations)
 */
int referenceVar;

/*
 * process_run() infinite loop.
 * Is yielded at least once per function call.
 */
static struct cooja_mt_thread process_run_thread;

static void
start_process_run_loop(void *data)
{
	while(1)
	{
		/* Always pretend we have processes left while inside process_run() */
		simProcessRunValue = 1;

		// Busy-wait while receiving
		while (busyWaitNext) {
			busyWaitNext--;
			cooja_mt_yield();
		}

		simProcessRunValue = process_run();

		/* Yield thread when one process_run has completed */
		cooja_mt_yield();
	}
}

extern unsigned long _end;

/*---------------------------------------------------------------------------*/
/**
 * \brief      Initialize a mote by starting processes etc.
 *
 *             This function initializes a mote by starting certain
 *             processes and setting up the environment.
 *
 *             This is a JNI function and should only be called via the
 *             responsible Java part (MoteType.java).
 */
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_[CLASS_NAME]_init(JNIEnv *env, jobject obj)
{
  /* Initialize random generator */
  random_init(0);

  /* Start process handler */
  process_init();

  /* Start Contiki processes */
  procinit_init();

  /* Initialize uIP */
  uip_init();
  uip_fw_init();

  /* Register network interface */
  uip_fw_default(&simNetworkIF);

  /* Start user applications */
  autostart_start((struct process **) autostart_processes);
  
  /* Prepare thread that will do the process_run()-loop */
  cooja_mt_start(&process_run_thread, &start_process_run_loop, NULL);
 }
/*---------------------------------------------------------------------------*/
/**
 * \brief      Get a segment from the process memory.
 * \param start Start address of segment
 * \param length Size of memory segment
 * \return     Java byte array containing a copy of memory segment.
 *
 *             Fetches a memory segment from the process memory starting at
 *             (start), with size (length). This function does not perform
 *             ANY error checking, and the process may crash if addresses are
 *             not available/readable.
 *
 *             This is a JNI function and should only be called via the
 *             responsible Java part (MoteType.java).
 */
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_[CLASS_NAME]_getMemory(JNIEnv *env, jobject obj, jint start, jint length, jbyteArray mem_arr)
{
  (*env)->SetByteArrayRegion(env, mem_arr, 0, (size_t) length, (jbyte *) start);
}
/*---------------------------------------------------------------------------*/
/**
 * \brief      Replace a segment of the process memory with given byte array.
 * \param start Start address of segment
 * \param length Size of memory segment
 * \param mem_arr Byte array contaning new memory
 *
 *             Replaces a process memory segment with given byte array.
 *             This function does not perform ANY error checking, and the
 *             process may crash if addresses are not available/writable.
 *
 *             This is a JNI function and should only be called via the
 *             responsible Java part (MoteType.java).
 */
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_[CLASS_NAME]_setMemory(JNIEnv *env, jobject obj, jint start, jint length, jbyteArray mem_arr)
{
  jbyte *mem = (*env)->GetByteArrayElements(env, mem_arr, 0);
  memcpy((void *) start, mem, length);
  (*env)->ReleaseByteArrayElements(env, mem_arr, mem, 0);
}
/*---------------------------------------------------------------------------*/
/**
 * \brief      Let mote execute one "block" of code (tick mote).
 *
 *             Let mote defined by the active contiki processes and current
 *             process memory execute some program code. This code must not block
 *             or else this function will never return. A typical contiki
 *             process will return when it executes PROCESS_WAIT..() statements.
 *
 *             Before the control is left to contiki processes, any messages
 *             from the Java part are handled. These may for example be
 *             incoming network data. After the contiki processes return control,
 *             messages to the Java part are also handled (those which may need
 *             special attention).
 *
 *             This is a JNI function and should only be called via the
 *             responsible Java part (MoteType.java).
 */
JNIEXPORT void JNICALL
Java_se_sics_cooja_corecomm_[CLASS_NAME]_tick(JNIEnv *env, jobject obj)
{
  /* Let all simulation interfaces act first */
  doActionsBeforeTick();

  /* Check if any e-timers are pending (save result for state decisions) */
  if (etimer_pending()) {
    /* Poll etimers */
    etimer_request_poll();
    simEtimerPending = 1;
  } else {
    simEtimerPending = 0;
  }

  /* Let Contiki execute one or a part of the process_run()-function via the thread.
  	This call stores the process_run() return value */
  cooja_mt_exec(&process_run_thread);

  /* Let all simulation interfaces act before returning to java */
  doActionsAfterTick();

  /* Look for new e-timers */
  if (!simEtimerPending && etimer_pending()) {
    /* Poll etimers */
    etimer_request_poll();
    simEtimerPending = 1;
  }

  /* Save nearest event timer expiration time (0 if no timers) */
  simNextExpirationTime = etimer_next_expiration_time();
}
/*---------------------------------------------------------------------------*/
/**
 * \brief      Get the absolute memory address of a special variable.
 * \return     Absolute memory address.
 *
 *             Returns the absolute memory address of a special variable
 *             "referenceVar". By comparing this address with the relative
 *             address (from the map file) for referenceVar, an runtime offset
 *             can be calculated.
 *
 *             This is a JNI function and should only be called via the
 *             responsible Java part (MoteType.java).
 */
JNIEXPORT jint JNICALL
Java_se_sics_cooja_corecomm_[CLASS_NAME]_getReferenceAbsAddr(JNIEnv *env, jobject obj)
{
  return (jint) &referenceVar;
}

/** @} */