micaz port now extends AbstractWakeupMote and schedules itself to execute every millisecond.

still no memory access, so simulation of micaz motes remains limited

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.motes.AbstractEmulatedMote;
-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 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) {
@@ -184,35 +176,37 @@ 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");
     } 
 
-    if (simTime + usDrift < 0) {
+    /* TODO Poll mote interfaces? */
-      return false;
+
+    /* Execute one millisecond */
+    cyclesUntil += NR_CYCLES_PER_MSEC;
+    while (cyclesExecuted < cyclesUntil) {
+      cyclesExecuted += interpreter.step();
     }
 
-    long maxSimTimeCycles = (long)(NR_CYCLES_PER_MSEC * ((simTime+usDrift+Simulation.MILLISECOND)/(double)Simulation.MILLISECOND));
+    /* TODO Poll mote interfaces? */
-    if (maxSimTimeCycles <= cycleCounter) {
-      return false;
-    }
 
-    // Leave control to emulated CPU
+    /* Schedule wakeup every millisecond */
-    cycleCounter += 1;
+    /* TODO Optimize next wakeup time */
-
+    scheduleNextWakeup(t + Simulation.MILLISECOND);
-    if (cyclesExecuted > cycleCounter) {
-      /* CPU already ticked too far - just wait it out */
-      return true;
-    }
-    myMoteInterfaceHandler.doActiveActionsBeforeTick();
-
-    cyclesExecuted += interpreter.step();
-
-    return true;
   }
   
   public boolean setConfigXML(Simulation simulation, Collection<Element> configXML, boolean visAvailable) {
@@ -242,6 +236,8 @@ public class MicaZMote implements Mote {
       }
     }
 
+    /* Schedule us immediately */
+    requestImmediateWakeup();
     return true;
   }
 

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();

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 simulation.getSimulationTime() + timeDrift;
-//    return time > 0 ? time : 0;
-    return 0;
   }
 
   public void setDrift(long drift) {
-    myMote.usDrift = drift;
+    timeDrift = drift;
   }
 
   public long getDrift() {
-    return myMote.usDrift;
+    return timeDrift;
   }
 
   public JPanel getInterfaceVisualizer() {