improved support for checkpointing operations via serial, several minor fixes
This commit is contained in:
fros4943
parent
8ecdb07dcf
commit
540f30d855
1 changed files with 414 additions and 97 deletions
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@ -1,5 +1,5 @@
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/*
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* Copyright (c) 2009, Swedish Institute of Computer Science
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* Copyright (c) 2010, Swedish Institute of Computer Science
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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@ -33,87 +33,104 @@
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/**
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* \file
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* Checkpoint library implementation for the Tmote Sky platform.
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*
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* \author
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* Fredrik Osterlind <fros@sics.se>
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*/
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#include "contiki.h"
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#include "lib/crc16.h"
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#include "lib/checkpoint.h"
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#include "sys/rtimer.h"
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#include "sys/mt.h"
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#include "cfs/cfs.h"
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#include "cfs/cfs-coffee.h"
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#include "sys/energest.h"
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#include "sys/compower.h"
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#include "dev/leds.h"
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#include "dev/watchdog.h"
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#include "dev/serial-line.h"
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#include "dev/uart1.h"
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#include "dev/cc2420.h"
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#include "dev/button-sensor.h"
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#include "cfs/cfs.h"
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#include "cfs/cfs-coffee.h"
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#include <io.h>
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#include <signal.h>
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#include <stdio.h>
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#define DEBUG 1
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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#ifndef CHECKPOINT_ROLLBACK_BUTTON
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#define CHECKPOINT_ROLLBACK_BUTTON 1 /* rollback "cp_wdt" on button click */
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#endif /* CHECKPOINT_ROLLBACK_BUTTON */
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#if CHECKPOINT_ROLLBACK_BUTTON
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PROCESS(checkpoint_button_process, "Rollback on button");
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#endif /* CHECKPOINT_ROLLBACK_BUTTON */
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#define WITH_SERIAL_COMMANDS 0 /* checkpoint via serial port */
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#if WITH_SERIAL_COMMANDS
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#if UART1_CONF_TX_WITH_INTERRUPT
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#error TX_WITH_INTERRUPTS must be 0
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#endif /* UART1_CONF_TX_WITH_INTERRUPT */
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#define PRINTF_COMMAND(...) printf(__VA_ARGS__)
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#else /* WITH_SERIAL_COMMANDS */
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#define PRINTF_COMMAND(...)
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#endif /* WITH_SERIAL_COMMANDS */
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#define COMMAND_ROLLBACK 1
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#define COMMAND_CHECKPOINT 2
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#define COMMAND_TBR 3
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#define DATA_AS_HEX 0 /* If false, store binary data */
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#define COMMAND_METRICS 3
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#define INCLUDE_RAM 1 /* Less then 10240 bytes */
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#define INCLUDE_TIMERS 1 /* 16 bytes */
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#define INCLUDE_LEDS 1 /* 1 bytes */
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/* ... */
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/* 10kb memory */
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#define RAM_START 0x1100
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#define RAM_END 0x3900
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#define STOP_TIMERS() TACTL &= ~(MC1); TBCTL &= ~(MC1); watchdog_stop();
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#define START_TIMERS() watchdog_start(); TACTL |= MC1; TBCTL |= MC1;
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#define PAUSE_TIME() \
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TACTL &= ~(MC1); \
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TBCTL &= ~(MC1); \
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watchdog_stop();
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#define RESUME_TIME() \
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TACTL |= MC1; \
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TBCTL |= MC1; \
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watchdog_start();
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#define PAUSE_TIME_INT() \
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dint(); \
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PAUSE_TIME();
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#define RESUME_TIME_INT() \
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RESUME_TIME(); \
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eint();
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static struct mt_thread checkpoint_thread;
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static uint8_t preset_cmd;
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static int preset_fd;
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/* bookkeeping */
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static int nr_pongs=0, nr_checkpoints=0, nr_rollbacks=0, nr_metrics=0;
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/*---------------------------------------------------------------------------*/
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typedef union {
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unsigned char u8[2];
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unsigned short u16;
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} word_union_t;
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/*---------------------------------------------------------------------------*/
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static void
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static int
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write_byte(int fd, uint8_t c)
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{
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#if DATA_AS_HEX
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uint8_t hex[2];
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sprintf(hex, "%02x", c);
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if(cfs_write(fd, hex, 2) != 2) {
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printf("err #1\n");
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}
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#else /* DATA_AS_HEX */
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if(cfs_write(fd, &c, 1) != 1) {
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printf("err #2\n");
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}
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#endif /* DATA_AS_HEX */
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}/*---------------------------------------------------------------------------*/
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#if 0
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static void
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write_array(int fd, unsigned char *mem, uint16_t len)
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{
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#if DATA_AS_HEX
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int i;
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for(i = 0; i < len; i++) {
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write_byte(fd, mem[i]);
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}
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#else /* DATA_AS_HEX */
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cfs_write(fd, mem, len);
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#endif /* DATA_AS_HEX */
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return cfs_write(fd, &c, 1);
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}
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#endif /* 0 */
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/*---------------------------------------------------------------------------*/
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static void
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write_word(int fd, uint16_t w)
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@ -127,31 +144,9 @@ write_word(int fd, uint16_t w)
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static uint8_t
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read_byte(int fd)
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{
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#if DATA_AS_HEX
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uint8_t hex[2];
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cfs_read(fd, hex, 2);
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if(hex[0] >= 'A' && hex[0] <= 'F') {
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hex[0] = (hex[0] - 'A' + 0xa);
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} else if(hex[0] >= 'a' && hex[0] <= 'f') {
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hex[0] = (hex[0] - 'a' + 0xa);
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} else {
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hex[0] = (hex[0] - '0');
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}
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if(hex[1] >= 'A' && hex[1] <= 'F') {
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hex[1] = (hex[1] - 'A' + 0xa);
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} else if(hex[1] >= 'a' && hex[1] <= 'f') {
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hex[1] = (hex[1] - 'a' + 0xa);
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} else {
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hex[1] = (hex[1] - '0');
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}
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return (uint8_t)((hex[0]<<4)&0xf0) | (hex[1]&0x0f);
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#else /* DATA_AS_HEX */
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uint8_t c;
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cfs_read(fd, &c, 1);
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return c;
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#endif /* DATA_AS_HEX */
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}
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/*---------------------------------------------------------------------------*/
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static uint16_t
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@ -175,33 +170,31 @@ thread_checkpoint(int fd)
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unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
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#endif /* INCLUDE_RAM */
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/*printf("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
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/*printf("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
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/*PRINTF("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
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/*PRINTF("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
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/* RAM */
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#if INCLUDE_RAM
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for(addr = (unsigned char *)RAM_START;
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addr < (unsigned char *)RAM_END;
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addr++) {
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addr < (unsigned char *)RAM_END;
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addr++) {
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if((addr >= thread_mem_start && addr <= thread_mem_end)) {
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/* Writing dummy memory */
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/*write_byte(fd, 1);*/
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/* Skip */
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continue;
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}
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if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
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/* Writing dummy memory */
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/*write_byte(fd, 2);*/
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/* Skip */
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continue;
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}
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/* TODO Use write_array() */
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write_byte(fd, *addr);
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if(((int)addr % 512) == 0) {
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/*if(((int)addr % 512) == 0) {
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PRINTF(".");
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}
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}*/
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}
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#endif /* INCLUDE_RAM */
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@ -243,33 +236,26 @@ thread_rollback(int fd)
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unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
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#endif /* INCLUDE_RAM */
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/*printf("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
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/*printf("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
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/*PRINTF("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
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/*PRINTF("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
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/* RAM */
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#if INCLUDE_RAM
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for(addr = (unsigned char *)RAM_START;
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addr < (unsigned char *)RAM_END;
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addr++) {
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addr < (unsigned char *)RAM_END;
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addr++) {
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if((addr >= thread_mem_start && addr <= thread_mem_end)) {
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/* Ignoring incoming memory */
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/*read_byte(fd);*/
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/* Skip */
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continue;
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}
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if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
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/* Ignoring incoming memory */
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/*read_byte(fd);*/
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/* Skip */
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continue;
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}
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*addr = read_byte(fd);
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if(((int)addr % 512) == 0) {
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PRINTF(".");
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}
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}
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#endif /* INCLUDE_RAM */
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/* Timers */
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@ -297,8 +283,34 @@ thread_rollback(int fd)
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read_byte(fd); /* Coffee padding byte */
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}
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/*---------------------------------------------------------------------------*/
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static uint32_t
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thread_metric_tx(void)
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{
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energest_flush();
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return energest_type_time(ENERGEST_TYPE_TRANSMIT);
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}
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/*---------------------------------------------------------------------------*/
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static uint32_t
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thread_metric_rx(void)
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{
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energest_flush();
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return energest_type_time(ENERGEST_TYPE_LISTEN);
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}
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/*---------------------------------------------------------------------------*/
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static void
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thread_loop(void *data)
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thread_metrics(void)
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{
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PRINTF_COMMAND("METRICS:START\n");
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PRINTF_COMMAND("M:RTIMER_NOW:%u\n", RTIMER_NOW()); /* TODO extract */
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PRINTF_COMMAND("M:ENERGY_TX:%lu\n", thread_metric_tx());
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PRINTF_COMMAND("M:ENERGY_RX:%lu\n", thread_metric_rx());
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PRINTF_COMMAND("M:RTIMER_NOW2:%u\n", RTIMER_NOW());
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nr_metrics++;
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PRINTF_COMMAND("METRICS:DONE %u\n", nr_metrics);
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}
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/*---------------------------------------------------------------------------*/
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static void
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checkpoint_thread_loop(void *data)
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{
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uint8_t cmd;
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int fd;
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@ -310,22 +322,24 @@ thread_loop(void *data)
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/* Handle command */
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if(cmd == COMMAND_ROLLBACK) {
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PRINTF("Rolling back");
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PRINTF_COMMAND("RB:START\n");
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thread_rollback(fd);
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PRINTF(" done!\n");
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nr_rollbacks++;
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PRINTF_COMMAND("RB:DONE %u\n", nr_rollbacks);
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/* TODO Synch before leaving this thread. */
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} else if(cmd == COMMAND_CHECKPOINT) {
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PRINTF("Checkpointing");
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PRINTF_COMMAND("CP:START\n");
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thread_checkpoint(fd);
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PRINTF(" done!\n");
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} else if(cmd == COMMAND_TBR) {
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PRINTF("Writing TBR");
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write_word(fd, TBR);
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PRINTF(" done!\n");
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thread_metrics();
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nr_checkpoints++;
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PRINTF_COMMAND("CP:DONE %u\n", nr_checkpoints);
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} else if(cmd == COMMAND_METRICS) {
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thread_metrics();
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} else {
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printf("Error: unknown command: %u\n", cmd);
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printf("ERROR: Unknown thread command: %u\n", cmd);
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}
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/* Return to main Contiki thread */
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/* Return to Contiki */
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mt_yield();
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}
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}
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@ -339,34 +353,337 @@ checkpoint_arch_size()
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void
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checkpoint_arch_checkpoint(int fd)
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{
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STOP_TIMERS();
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PAUSE_TIME_INT();
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preset_cmd = COMMAND_CHECKPOINT;
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preset_fd = fd;
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mt_exec(&checkpoint_thread);
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START_TIMERS();
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RESUME_TIME_INT();
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}
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/*---------------------------------------------------------------------------*/
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void
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checkpoint_arch_rollback(int fd)
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{
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STOP_TIMERS();
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PAUSE_TIME_INT();
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preset_cmd = COMMAND_ROLLBACK;
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preset_fd = fd;
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mt_exec(&checkpoint_thread);
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START_TIMERS();
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RESUME_TIME_INT();
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}
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/*---------------------------------------------------------------------------*/
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static uint8_t inited = 0;
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void
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checkpoint_arch_init(void)
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{
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if(inited) {
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return;
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}
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mt_init();
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mt_start(&checkpoint_thread, thread_loop, NULL);
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mt_start(&checkpoint_thread, checkpoint_thread_loop, NULL);
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inited = 1;
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#if CHECKPOINT_ROLLBACK_BUTTON
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process_start(&checkpoint_button_process, NULL);
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#endif /* CHECKPOINT_ROLLBACK_BUTTON */
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/*mt_stop(&checkpoint_thread);*/
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/*mt_remove();*/
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}
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/*---------------------------------------------------------------------------*/
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struct power_log {
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uint32_t transmit;
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uint32_t listen;
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};
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/*---------------------------------------------------------------------------*/
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#if WITH_SERIAL_COMMANDS
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static void
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serial_interrupt_checkpoint()
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{
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int fd = 0;
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PAUSE_TIME();
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if(SPI_IS_ENABLED()) {
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/* SPI is busy, abort */
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PRINTF_COMMAND("CP:SPIBUSY\n");
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RESUME_TIME();
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return;
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}
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/* Open file */
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cfs_remove("cp");
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cfs_coffee_reserve("cp", checkpoint_arch_size());
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fd = cfs_open("cp", CFS_WRITE);
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if(fd < 0) {
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printf("ERROR: No file access (cp)\n");
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RESUME_TIME();
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return;
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}
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/* Checkpoint */
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preset_cmd = COMMAND_CHECKPOINT;
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preset_fd = fd;
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mt_exec(&checkpoint_thread);
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/* Close file */
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cfs_close(fd);
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RESUME_TIME();
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}
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/*---------------------------------------------------------------------------*/
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static void
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serial_interrupt_rollback()
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{
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int fd = 0;
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PAUSE_TIME();
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if(SPI_IS_ENABLED()) {
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/* SPI is busy, abort */
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PRINTF_COMMAND("RB:SPIBUSY\n");
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RESUME_TIME();
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return;
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}
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/* Open file */
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fd = cfs_open("cp", CFS_READ);
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if(fd < 0) {
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printf("ERROR: No file access (rb)\n");
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RESUME_TIME();
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return;
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}
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/* Rollback */
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preset_cmd = COMMAND_ROLLBACK;
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preset_fd = fd;
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mt_exec(&checkpoint_thread);
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/* Close file */
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cfs_close(fd);
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RESUME_TIME();
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}
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/*---------------------------------------------------------------------------*/
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static void
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serial_interrupt_metrics()
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{
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PAUSE_TIME();
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preset_cmd = COMMAND_METRICS;
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preset_fd = -1;
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mt_exec(&checkpoint_thread);
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RESUME_TIME();
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}
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/*---------------------------------------------------------------------------*/
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static const unsigned char command_checkpoint[] = { 'c', 'p', '\n' };
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static const unsigned char command_rollback[] = { 'r', 'b', '\n' };
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static const unsigned char command_metrics[] = { 'm', 't', '\n' };
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static volatile int command_checkpoint_state = 0;
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static volatile int command_rollback_state = 0;
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static volatile int command_metrics_state = 0;
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/*---------------------------------------------------------------------------*/
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static int
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serial_input_byte_intercept(unsigned char c)
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{
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/* Detect checkpoint request */
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if(command_checkpoint[command_checkpoint_state] == c) {
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command_checkpoint_state++;
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if(command_checkpoint_state == sizeof(command_checkpoint)) {
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serial_interrupt_checkpoint();
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command_checkpoint_state = 0;
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}
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} else {
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command_checkpoint_state = 0;
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}
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/* Detect rollback request */
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if(command_rollback[command_rollback_state] == c) {
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command_rollback_state++;
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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 */
|
||||
|
|
|
|||
Loading…
Reference in a new issue