improved support for checkpointing operations via serial, several minor fixes

This commit is contained in:
fros4943 2010-03-29 09:48:06 +00:00
parent 8ecdb07dcf
commit 540f30d855

View file

@ -1,5 +1,5 @@
/*
* Copyright (c) 2009, Swedish Institute of Computer Science
* Copyright (c) 2010, Swedish Institute of Computer Science
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
@ -33,87 +33,104 @@
/**
* \file
* Checkpoint library implementation for the Tmote Sky platform.
*
* \author
* Fredrik Osterlind <fros@sics.se>
*/
#include "contiki.h"
#include "lib/crc16.h"
#include "lib/checkpoint.h"
#include "sys/rtimer.h"
#include "sys/mt.h"
#include "cfs/cfs.h"
#include "cfs/cfs-coffee.h"
#include "sys/energest.h"
#include "sys/compower.h"
#include "dev/leds.h"
#include "dev/watchdog.h"
#include "dev/serial-line.h"
#include "dev/uart1.h"
#include "dev/cc2420.h"
#include "dev/button-sensor.h"
#include "cfs/cfs.h"
#include "cfs/cfs-coffee.h"
#include <io.h>
#include <signal.h>
#include <stdio.h>
#define DEBUG 1
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
#ifndef CHECKPOINT_ROLLBACK_BUTTON
#define CHECKPOINT_ROLLBACK_BUTTON 1 /* rollback "cp_wdt" on button click */
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
#if CHECKPOINT_ROLLBACK_BUTTON
PROCESS(checkpoint_button_process, "Rollback on button");
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
#define WITH_SERIAL_COMMANDS 0 /* checkpoint via serial port */
#if WITH_SERIAL_COMMANDS
#if UART1_CONF_TX_WITH_INTERRUPT
#error TX_WITH_INTERRUPTS must be 0
#endif /* UART1_CONF_TX_WITH_INTERRUPT */
#define PRINTF_COMMAND(...) printf(__VA_ARGS__)
#else /* WITH_SERIAL_COMMANDS */
#define PRINTF_COMMAND(...)
#endif /* WITH_SERIAL_COMMANDS */
#define COMMAND_ROLLBACK 1
#define COMMAND_CHECKPOINT 2
#define COMMAND_TBR 3
#define DATA_AS_HEX 0 /* If false, store binary data */
#define COMMAND_METRICS 3
#define INCLUDE_RAM 1 /* Less then 10240 bytes */
#define INCLUDE_TIMERS 1 /* 16 bytes */
#define INCLUDE_LEDS 1 /* 1 bytes */
/* ... */
/* 10kb memory */
#define RAM_START 0x1100
#define RAM_END 0x3900
#define STOP_TIMERS() TACTL &= ~(MC1); TBCTL &= ~(MC1); watchdog_stop();
#define START_TIMERS() watchdog_start(); TACTL |= MC1; TBCTL |= MC1;
#define PAUSE_TIME() \
TACTL &= ~(MC1); \
TBCTL &= ~(MC1); \
watchdog_stop();
#define RESUME_TIME() \
TACTL |= MC1; \
TBCTL |= MC1; \
watchdog_start();
#define PAUSE_TIME_INT() \
dint(); \
PAUSE_TIME();
#define RESUME_TIME_INT() \
RESUME_TIME(); \
eint();
static struct mt_thread checkpoint_thread;
static uint8_t preset_cmd;
static int preset_fd;
/* bookkeeping */
static int nr_pongs=0, nr_checkpoints=0, nr_rollbacks=0, nr_metrics=0;
/*---------------------------------------------------------------------------*/
typedef union {
unsigned char u8[2];
unsigned short u16;
} word_union_t;
/*---------------------------------------------------------------------------*/
static void
static int
write_byte(int fd, uint8_t c)
{
#if DATA_AS_HEX
uint8_t hex[2];
sprintf(hex, "%02x", c);
if(cfs_write(fd, hex, 2) != 2) {
printf("err #1\n");
}
#else /* DATA_AS_HEX */
if(cfs_write(fd, &c, 1) != 1) {
printf("err #2\n");
}
#endif /* DATA_AS_HEX */
}/*---------------------------------------------------------------------------*/
#if 0
static void
write_array(int fd, unsigned char *mem, uint16_t len)
{
#if DATA_AS_HEX
int i;
for(i = 0; i < len; i++) {
write_byte(fd, mem[i]);
}
#else /* DATA_AS_HEX */
cfs_write(fd, mem, len);
#endif /* DATA_AS_HEX */
return cfs_write(fd, &c, 1);
}
#endif /* 0 */
/*---------------------------------------------------------------------------*/
static void
write_word(int fd, uint16_t w)
@ -127,31 +144,9 @@ write_word(int fd, uint16_t w)
static uint8_t
read_byte(int fd)
{
#if DATA_AS_HEX
uint8_t hex[2];
cfs_read(fd, hex, 2);
if(hex[0] >= 'A' && hex[0] <= 'F') {
hex[0] = (hex[0] - 'A' + 0xa);
} else if(hex[0] >= 'a' && hex[0] <= 'f') {
hex[0] = (hex[0] - 'a' + 0xa);
} else {
hex[0] = (hex[0] - '0');
}
if(hex[1] >= 'A' && hex[1] <= 'F') {
hex[1] = (hex[1] - 'A' + 0xa);
} else if(hex[1] >= 'a' && hex[1] <= 'f') {
hex[1] = (hex[1] - 'a' + 0xa);
} else {
hex[1] = (hex[1] - '0');
}
return (uint8_t)((hex[0]<<4)&0xf0) | (hex[1]&0x0f);
#else /* DATA_AS_HEX */
uint8_t c;
cfs_read(fd, &c, 1);
return c;
#endif /* DATA_AS_HEX */
}
/*---------------------------------------------------------------------------*/
static uint16_t
@ -175,33 +170,31 @@ thread_checkpoint(int fd)
unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
#endif /* INCLUDE_RAM */
/*printf("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
/*printf("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
/*PRINTF("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
/*PRINTF("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
/* RAM */
#if INCLUDE_RAM
for(addr = (unsigned char *)RAM_START;
addr < (unsigned char *)RAM_END;
addr++) {
addr < (unsigned char *)RAM_END;
addr++) {
if((addr >= thread_mem_start && addr <= thread_mem_end)) {
/* Writing dummy memory */
/*write_byte(fd, 1);*/
/* Skip */
continue;
}
if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
/* Writing dummy memory */
/*write_byte(fd, 2);*/
/* Skip */
continue;
}
/* TODO Use write_array() */
write_byte(fd, *addr);
if(((int)addr % 512) == 0) {
/*if(((int)addr % 512) == 0) {
PRINTF(".");
}
}*/
}
#endif /* INCLUDE_RAM */
@ -243,33 +236,26 @@ thread_rollback(int fd)
unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
#endif /* INCLUDE_RAM */
/*printf("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
/*printf("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
/*PRINTF("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
/*PRINTF("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
/* RAM */
#if INCLUDE_RAM
for(addr = (unsigned char *)RAM_START;
addr < (unsigned char *)RAM_END;
addr++) {
addr < (unsigned char *)RAM_END;
addr++) {
if((addr >= thread_mem_start && addr <= thread_mem_end)) {
/* Ignoring incoming memory */
/*read_byte(fd);*/
/* Skip */
continue;
}
if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
/* Ignoring incoming memory */
/*read_byte(fd);*/
/* Skip */
continue;
}
*addr = read_byte(fd);
if(((int)addr % 512) == 0) {
PRINTF(".");
}
}
#endif /* INCLUDE_RAM */
/* Timers */
@ -297,8 +283,34 @@ thread_rollback(int fd)
read_byte(fd); /* Coffee padding byte */
}
/*---------------------------------------------------------------------------*/
static uint32_t
thread_metric_tx(void)
{
energest_flush();
return energest_type_time(ENERGEST_TYPE_TRANSMIT);
}
/*---------------------------------------------------------------------------*/
static uint32_t
thread_metric_rx(void)
{
energest_flush();
return energest_type_time(ENERGEST_TYPE_LISTEN);
}
/*---------------------------------------------------------------------------*/
static void
thread_loop(void *data)
thread_metrics(void)
{
PRINTF_COMMAND("METRICS:START\n");
PRINTF_COMMAND("M:RTIMER_NOW:%u\n", RTIMER_NOW()); /* TODO extract */
PRINTF_COMMAND("M:ENERGY_TX:%lu\n", thread_metric_tx());
PRINTF_COMMAND("M:ENERGY_RX:%lu\n", thread_metric_rx());
PRINTF_COMMAND("M:RTIMER_NOW2:%u\n", RTIMER_NOW());
nr_metrics++;
PRINTF_COMMAND("METRICS:DONE %u\n", nr_metrics);
}
/*---------------------------------------------------------------------------*/
static void
checkpoint_thread_loop(void *data)
{
uint8_t cmd;
int fd;
@ -310,22 +322,24 @@ thread_loop(void *data)
/* Handle command */
if(cmd == COMMAND_ROLLBACK) {
PRINTF("Rolling back");
PRINTF_COMMAND("RB:START\n");
thread_rollback(fd);
PRINTF(" done!\n");
nr_rollbacks++;
PRINTF_COMMAND("RB:DONE %u\n", nr_rollbacks);
/* TODO Synch before leaving this thread. */
} else if(cmd == COMMAND_CHECKPOINT) {
PRINTF("Checkpointing");
PRINTF_COMMAND("CP:START\n");
thread_checkpoint(fd);
PRINTF(" done!\n");
} else if(cmd == COMMAND_TBR) {
PRINTF("Writing TBR");
write_word(fd, TBR);
PRINTF(" done!\n");
thread_metrics();
nr_checkpoints++;
PRINTF_COMMAND("CP:DONE %u\n", nr_checkpoints);
} else if(cmd == COMMAND_METRICS) {
thread_metrics();
} else {
printf("Error: unknown command: %u\n", cmd);
printf("ERROR: Unknown thread command: %u\n", cmd);
}
/* Return to main Contiki thread */
/* Return to Contiki */
mt_yield();
}
}
@ -339,34 +353,337 @@ checkpoint_arch_size()
void
checkpoint_arch_checkpoint(int fd)
{
STOP_TIMERS();
PAUSE_TIME_INT();
preset_cmd = COMMAND_CHECKPOINT;
preset_fd = fd;
mt_exec(&checkpoint_thread);
START_TIMERS();
RESUME_TIME_INT();
}
/*---------------------------------------------------------------------------*/
void
checkpoint_arch_rollback(int fd)
{
STOP_TIMERS();
PAUSE_TIME_INT();
preset_cmd = COMMAND_ROLLBACK;
preset_fd = fd;
mt_exec(&checkpoint_thread);
START_TIMERS();
RESUME_TIME_INT();
}
/*---------------------------------------------------------------------------*/
static uint8_t inited = 0;
void
checkpoint_arch_init(void)
{
if(inited) {
return;
}
mt_init();
mt_start(&checkpoint_thread, thread_loop, NULL);
mt_start(&checkpoint_thread, checkpoint_thread_loop, NULL);
inited = 1;
#if CHECKPOINT_ROLLBACK_BUTTON
process_start(&checkpoint_button_process, NULL);
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
/*mt_stop(&checkpoint_thread);*/
/*mt_remove();*/
}
/*---------------------------------------------------------------------------*/
struct power_log {
uint32_t transmit;
uint32_t listen;
};
/*---------------------------------------------------------------------------*/
#if WITH_SERIAL_COMMANDS
static void
serial_interrupt_checkpoint()
{
int fd = 0;
PAUSE_TIME();
if(SPI_IS_ENABLED()) {
/* SPI is busy, abort */
PRINTF_COMMAND("CP:SPIBUSY\n");
RESUME_TIME();
return;
}
/* Open file */
cfs_remove("cp");
cfs_coffee_reserve("cp", checkpoint_arch_size());
fd = cfs_open("cp", CFS_WRITE);
if(fd < 0) {
printf("ERROR: No file access (cp)\n");
RESUME_TIME();
return;
}
/* Checkpoint */
preset_cmd = COMMAND_CHECKPOINT;
preset_fd = fd;
mt_exec(&checkpoint_thread);
/* Close file */
cfs_close(fd);
RESUME_TIME();
}
/*---------------------------------------------------------------------------*/
static void
serial_interrupt_rollback()
{
int fd = 0;
PAUSE_TIME();
if(SPI_IS_ENABLED()) {
/* SPI is busy, abort */
PRINTF_COMMAND("RB:SPIBUSY\n");
RESUME_TIME();
return;
}
/* Open file */
fd = cfs_open("cp", CFS_READ);
if(fd < 0) {
printf("ERROR: No file access (rb)\n");
RESUME_TIME();
return;
}
/* Rollback */
preset_cmd = COMMAND_ROLLBACK;
preset_fd = fd;
mt_exec(&checkpoint_thread);
/* Close file */
cfs_close(fd);
RESUME_TIME();
}
/*---------------------------------------------------------------------------*/
static void
serial_interrupt_metrics()
{
PAUSE_TIME();
preset_cmd = COMMAND_METRICS;
preset_fd = -1;
mt_exec(&checkpoint_thread);
RESUME_TIME();
}
/*---------------------------------------------------------------------------*/
static const unsigned char command_checkpoint[] = { 'c', 'p', '\n' };
static const unsigned char command_rollback[] = { 'r', 'b', '\n' };
static const unsigned char command_metrics[] = { 'm', 't', '\n' };
static volatile int command_checkpoint_state = 0;
static volatile int command_rollback_state = 0;
static volatile int command_metrics_state = 0;
/*---------------------------------------------------------------------------*/
static int
serial_input_byte_intercept(unsigned char c)
{
/* Detect checkpoint request */
if(command_checkpoint[command_checkpoint_state] == c) {
command_checkpoint_state++;
if(command_checkpoint_state == sizeof(command_checkpoint)) {
serial_interrupt_checkpoint();
command_checkpoint_state = 0;
}
} else {
command_checkpoint_state = 0;
}
/* Detect rollback request */
if(command_rollback[command_rollback_state] == c) {
command_rollback_state++;
if(command_rollback_state == sizeof(command_rollback)) {
serial_interrupt_rollback();
command_rollback_state = 0;
}
} else {
command_rollback_state = 0;
}
/* Detect metrics request */
if(command_metrics[command_metrics_state] == c) {
command_metrics_state++;
if(command_metrics_state == sizeof(command_metrics)) {
serial_interrupt_metrics();
command_metrics_state = 0;
}
} else {
command_metrics_state = 0;
}
/* Forward to serial line input byte */
return serial_line_input_byte(c);
}
/*---------------------------------------------------------------------------*/
static void
handle_get_command(void)
{
int fd = 0;
fd = cfs_open("cp", CFS_READ);
if(fd < 0) {
printf("ERROR: No file access (get)\n");
} else {
PRINTF_COMMAND("GET:START\n");
char data[8];
int offset=0, size=0, read=8;
unsigned short crc = 0;
cfs_seek(fd, offset, CFS_SEEK_SET);
while (read == 8) {
int i;
/*if(offset != cfs_seek(fd, offset, CFS_SEEK_SET)) {
printf("bad seek, breaking\n");
break;
}*/
read = cfs_read(fd, data, 8);
size += read;
printf("%04i: ", offset); /*REMOVE*/
for (i=0; i < read; i++) {
crc = crc16_add((uint8_t) data[i], crc);
printf("%02x", (uint8_t) (0xff&data[i]));
}
printf("\n");
offset += 8;
}
PRINTF_COMMAND("GET:DONE CRC=%u\n", crc);
cfs_close(fd);
}
}
/*---------------------------------------------------------------------------*/
static int
hex_decode_char(char c)
{
if(c >= 'A' && c <= 'F') {
return c - 'A' + 10;
} else if(c >= 'a' && c <= 'f') {
return c - 'a' + 10;
} else if(c >= '0' && c <= '9') {
return c - '0';
} else {
printf("WARN: bad hex: %c\n", c);
return 0;
}
}
/*---------------------------------------------------------------------------*/
PROCESS(checkpoint_serial_process, "Checkpoint via serial commands");
PROCESS_THREAD(checkpoint_serial_process, ev, data)
{
static int set_fd = -1;
static int set_count = -1;
PROCESS_BEGIN();
/* Note: 'cp', 'rb', and 'mt' commands are intercepted */
PROCESS_PAUSE();
uart1_set_input(serial_input_byte_intercept);
/* Format Coffee? */
PRINTF("Formatting Coffee\n");
cfs_coffee_format();
PRINTF("Formatting Coffee... done!\n");
while(1) {
PROCESS_WAIT_EVENT_UNTIL(ev == serial_line_event_message && data != NULL);
if(strcmp("set", data) == 0) {
/* TODO Handle set command */
/* Open file */
cfs_remove("cp");
cfs_coffee_reserve("cp", checkpoint_arch_size());
set_fd = cfs_open("cp", CFS_WRITE);
set_count = 0;
if(set_fd < 0) {
printf("SET:FSBUSY\n");
} else {
printf("SET:LINE\n");
}
} else if(set_fd >= 0 && strcmp("set:done", data) == 0) {
cfs_close(set_fd);
set_fd = -1;
if(set_count == 9862) {
printf("SET:DONE\n");
} else {
printf("SET:WRONGSIZE\n");
}
} else if(set_fd >= 0) {
/* We are ready for another line */
printf("SET:LINE\n");
/* Set command: parse hex data */
int len = strlen((char*)data);
if(len > 16 || (len%2)!=0) {
printf("WARN: bad set data: %s\n", (char*)data);
} else {
int i;
for (i=0; i < len; i+=2) {
uint8_t b =
(hex_decode_char(((char*)data)[i]) << 4) +
(hex_decode_char(((char*)data)[i+1]));
PRINTF("Parsing set command: writing to CFS: %02x\n", b);
write_byte(set_fd, b); /* TODO Check return value */
set_count++;
}
}
} else if(strcmp("", data) == 0 ||
strcmp("cp", data) == 0 ||
strcmp("rb", data) == 0 ||
strcmp("mt", data) == 0) {
/* ignore commands: handled by interrupt */
} else if(strcmp("ping", data) == 0) {
nr_pongs++;
printf("pong %u\n", nr_pongs);
} else if(strcmp("get", data) == 0) {
handle_get_command();
} else {
printf("WARN: Unknown command: '%s'\n", (char*)data);
}
}
PROCESS_END();
}
#endif /* WITH_SERIAL_COMMANDS */
/*---------------------------------------------------------------------------*/
#if CHECKPOINT_ROLLBACK_BUTTON
PROCESS_THREAD(checkpoint_button_process, ev, data)
{
PROCESS_BEGIN();
button_sensor.configure(SENSORS_ACTIVE, 1);
while(1) {
PROCESS_WAIT_EVENT();
if(ev == sensors_event && data == &button_sensor) {
int fd = 0;
/* Rollback from Coffee file "cp_wdt" */
fd = cfs_open("cp_wdt", CFS_READ);
if(fd >= 0) {
checkpoint_rollback(fd);
cfs_close(fd);
}
}
}
PROCESS_END();
}
#endif /* CHECKPOINT_ROLLBACK_BUTTON */