added some basic functionality for cooja motes like save/load support, compile dialog, and configurable mote interfaces. some parts are still missing (memory r/w access and mote IDs)
+ code restructuring preparing for a generic emulated mote type layer in cooja (made avrora-based motes look more like mspsim-based motes)
This commit is contained in:
fros4943
parent
edae45a101
commit
969154c6f0
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@ -0,0 +1,101 @@
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/*
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* Copyright (c) 2009, 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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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* $Id: MicaZCompileDialog.java,v 1.1 2009/09/17 10:45:14 fros4943 Exp $
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*/
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package se.sics.cooja.avrmote;
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import java.awt.Container;
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import java.io.File;
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import org.apache.log4j.Logger;
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import se.sics.cooja.GUI;
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import se.sics.cooja.MoteInterface;
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import se.sics.cooja.MoteType;
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import se.sics.cooja.Simulation;
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import se.sics.cooja.dialogs.AbstractCompileDialog;
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public class MicaZCompileDialog extends AbstractCompileDialog {
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private static Logger logger = Logger.getLogger(MicaZCompileDialog.class);
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public static boolean showDialog(
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Container parent,
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Simulation simulation,
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MoteType moteType) {
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final AbstractCompileDialog dialog = new MicaZCompileDialog(parent, simulation, moteType);
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/* Show dialog and wait for user */
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dialog.setVisible(true); /* BLOCKS */
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if (!dialog.createdOK()) {
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return false;
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}
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/* Assume that if a firmware exists, compilation was ok */
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return true;
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}
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private MicaZCompileDialog(Container parent, Simulation simulation, MoteType moteType) {
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super(parent, simulation, moteType);
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/* Add all available MicaZ mote interfaces
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* Selected by default unless interfaces already configured */
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boolean selected = true;
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if (moteIntfBox.getComponentCount() > 0) {
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selected = false;
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}
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for (Class<? extends MoteInterface> intfClass: ((MicaZMoteType)moteType).getAllMoteInterfaceClasses()) {
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addMoteInterface(intfClass, selected);
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}
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}
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public boolean canLoadFirmware(File file) {
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if (file.getName().endsWith(".elf")) {
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return true;
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}
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return false;
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}
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public String getDefaultCompileCommands(File source) {
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/* TODO Split into String[] */
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return
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/*"make clean TARGET=micaz\n" + */
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GUI.getExternalToolsSetting("PATH_MAKE") + " " + getExpectedFirmwareFile(source).getName() + " TARGET=micaz";
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}
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public File getExpectedFirmwareFile(File source) {
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return ((MicaZMoteType)moteType).getExpectedFirmwareFile(source);
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}
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public void writeSettingsToMoteType() {
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/* Nothing to do */
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}
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}
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@ -26,16 +26,19 @@
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* $Id: MicaZMote.java,v 1.6 2009/03/19 18:58:19 joxe Exp $
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* $Id: MicaZMote.java,v 1.7 2009/09/17 10:45:14 fros4943 Exp $
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*/
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package se.sics.cooja.avrmote;
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import java.io.File;
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import java.util.Collection;
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import java.util.Observer;
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import java.util.Random;
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import java.util.Vector;
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import org.apache.log4j.Logger;
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import org.jdom.Element;
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import se.sics.cooja.Mote;
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import se.sics.cooja.MoteInterface;
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import se.sics.cooja.MoteInterfaceHandler;
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@ -46,15 +49,18 @@ import se.sics.cooja.avrmote.interfaces.MicaClock;
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import se.sics.cooja.avrmote.interfaces.MicaSerial;
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import se.sics.cooja.avrmote.interfaces.MicaZLED;
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import se.sics.cooja.avrmote.interfaces.MicaZRadio;
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import se.sics.cooja.interfaces.MoteID;
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import se.sics.cooja.interfaces.Position;
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import avrora.sim.*;
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import avrora.sim.platform.*;
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import avrora.sim.mcu.*;
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import avrora.core.*;
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import avrora.core.LoadableProgram;
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import avrora.sim.Interpreter;
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import avrora.sim.Simulator;
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import avrora.sim.State;
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import avrora.sim.mcu.Microcontroller;
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import avrora.sim.platform.MicaZ;
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import avrora.sim.platform.PlatformFactory;
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/**
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* @author Joakim Eriksson
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* @author Joakim Eriksson, Fredrik Osterlind
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*/
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public class MicaZMote implements Mote {
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private static Logger logger = Logger.getLogger(MicaZMote.class);
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@ -64,9 +70,10 @@ public class MicaZMote implements Mote {
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/* Cycle counter */
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public long cycleCounter = 0;
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public long cycleDrift = 0;
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public long usDrift = 0; /* us */
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private Simulation mySimulation = null;
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private MoteInterfaceHandler myMoteInterfaceHandler;
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private Microcontroller myCpu = null;
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private MicaZ micaZ = null;
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private LoadableProgram program = null;
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@ -77,7 +84,29 @@ public class MicaZMote implements Mote {
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/* Stack monitoring variables */
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private boolean stopNextInstruction = false;
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private MoteInterfaceHandler myMoteInterfaceHandler;
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public MicaZMote() {
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myMoteType = null;
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mySimulation = null;
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myCpu = null;
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/* TODO myMemory = null; */
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myMoteInterfaceHandler = null;
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}
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public MicaZMote(Simulation simulation, MicaZMoteType type) {
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mySimulation = simulation;
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myMoteType = type;
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}
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protected boolean initEmulator(File fileELF) {
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try {
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prepareMote(fileELF);
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} catch (Exception e) {
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logger.fatal("Error when creating MicaZ mote: ", e);
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return false;
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}
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return true;
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}
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/**
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* Abort current tick immediately.
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@ -87,40 +116,21 @@ public class MicaZMote implements Mote {
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stopNextInstruction = true;
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}
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private MoteInterfaceHandler createMoteInterfaceHandler() {
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return new MoteInterfaceHandler(this, getType().getMoteInterfaceClasses());
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}
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public MicaZ getMicaZ() {
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return micaZ;
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}
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public MicaZMote() {
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mySimulation = null;
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myCpu = null;
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myMoteInterfaceHandler = null;
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}
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public MicaZMote(Simulation simulation, MicaZMoteType type) {
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mySimulation = simulation;
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myMoteType = type;
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}
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protected void initMote() {
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if (myMoteType != null) {
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initEmulator(myMoteType.getContikiFirmwareFile().getAbsolutePath());
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initEmulator(myMoteType.getContikiFirmwareFile());
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myMoteInterfaceHandler = createMoteInterfaceHandler();
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}
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}
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protected boolean initEmulator(String fileELF) {
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//System.out.println("Loading elf file: " + fileELF);
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try {
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prepareMote(fileELF);
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} catch (Exception e) {
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logger.fatal("Error when creating MicaZ mote:", e);
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return false;
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}
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return true;
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}
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public Simulation getSimulation() {
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return mySimulation;
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}
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@ -136,7 +146,7 @@ public class MicaZMote implements Mote {
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* @param cpu MSP430 cpu
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* @throws Exception
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*/
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protected void prepareMote(String file) throws Exception {
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protected void prepareMote(File file) throws Exception {
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program = new LoadableProgram(file);
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program.load();
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PlatformFactory factory = new MicaZ.Factory();
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@ -151,8 +161,8 @@ public class MicaZMote implements Mote {
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logger.warn("MicaZ motes can't change state");
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}
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public State getState() {
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return Mote.State.ACTIVE;
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public int getID() {
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return getInterfaces().getMoteID().getMoteID();
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}
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/* called when moteID is updated */
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@ -164,13 +174,6 @@ public class MicaZMote implements Mote {
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}
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public void setType(MoteType type) {
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//myMoteType = (MspMoteType) type;
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}
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public void addStateObserver(Observer newObserver) {
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}
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public void deleteStateObserver(Observer newObserver) {
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}
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public MoteInterfaceHandler getInterfaces() {
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@ -182,24 +185,18 @@ public class MicaZMote implements Mote {
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}
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/* return false when done - e.g. true means more work to do before finished with this tick */
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private boolean firstTick = true;
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private long cyclesExecuted = 0;
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public boolean tick(long simTime) {
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if (stopNextInstruction) {
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stopNextInstruction = false;
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throw new RuntimeException("MSPSim requested simulation stop");
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throw new RuntimeException("Avrora requested simulation stop");
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}
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/* Nodes may be added in an ongoing simulation:
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* Update cycle drift to current simulation time */
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if (firstTick) {
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firstTick = false;
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cycleDrift += (-NR_CYCLES_PER_MSEC*simTime);
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if (simTime + usDrift < 0) {
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return false;
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}
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long maxSimTimeCycles = NR_CYCLES_PER_MSEC * (simTime + 1) + cycleDrift;
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long maxSimTimeCycles = (long)(NR_CYCLES_PER_MSEC * ((simTime+usDrift+Simulation.MILLISECOND)/(double)Simulation.MILLISECOND));
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if (maxSimTimeCycles <= cycleCounter) {
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return false;
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}
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@ -211,17 +208,10 @@ public class MicaZMote implements Mote {
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/* CPU already ticked too far - just wait it out */
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return true;
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}
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// myMoteInterfaceHandler.doActiveActionsBeforeTick();
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myMoteInterfaceHandler.doActiveActionsBeforeTick();
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cyclesExecuted += interpreter.step();
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//cpu.step(cycleCounter);
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/* Check if radio has pending incoming bytes */
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// if (myRadio != null && myRadio.hasPendingBytes()) {
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// myRadio.tryDeliverNextByte(cpu.cycles);
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// }
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return true;
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}
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@ -235,12 +225,7 @@ public class MicaZMote implements Mote {
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myMoteType = (MicaZMoteType) simulation.getMoteType(element.getText());
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getType().setIdentifier(element.getText());
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try {
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prepareMote(myMoteType.getContikiFirmwareFile().getAbsolutePath());
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} catch (Exception e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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initEmulator(myMoteType.getContikiFirmwareFile());
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myMoteInterfaceHandler = createMoteInterfaceHandler();
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} else if (name.equals("interface_config")) {
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@ -260,29 +245,6 @@ public class MicaZMote implements Mote {
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return true;
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}
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private MoteInterfaceHandler createMoteInterfaceHandler() {
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System.out.println("Creating mote interface handler....");
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MoteInterfaceHandler moteInterfaceHandler = new MoteInterfaceHandler();
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// Add position interface
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Position motePosition = new Position(this);
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Random random = new Random(); /* Do not use main random generator for positioning */
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motePosition.setCoordinates(random.nextDouble()*100, random.nextDouble()*100, random.nextDouble()*100);
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moteInterfaceHandler.addInterface(motePosition);
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// Add LED interface
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moteInterfaceHandler.addInterface(new MicaZLED(micaZ));
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// Add Radio interface
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moteInterfaceHandler.addInterface(new MicaZRadio(this));
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// Add Clock interface
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moteInterfaceHandler.addInterface(new MicaClock(this));
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// Add Serial interface
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moteInterfaceHandler.addInterface(new MicaSerial(this));
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return moteInterfaceHandler;
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}
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public Collection<Element> getConfigXML() {
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Vector<Element> config = new Vector<Element>();
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@ -309,10 +271,21 @@ public class MicaZMote implements Mote {
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}
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public MoteMemory getMemory() {
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/* TODO Implement */
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return null;
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}
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public void setMemory(MoteMemory memory) {
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/* TODO Implement */
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}
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public String toString() {
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MoteID moteID = getInterfaces() != null ? getInterfaces().getMoteID() : null;
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if (moteID != null) {
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return "MicaZ Mote, ID=" + moteID.getMoteID();
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} else {
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return "MicaZ Mote, ID=null";
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}
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}
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}
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File diff suppressed because it is too large
Load diff
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@ -26,7 +26,7 @@
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
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* SUCH DAMAGE.
|
||||
*
|
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* $Id: MicaClock.java,v 1.3 2009/05/26 14:35:52 fros4943 Exp $
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* $Id: MicaClock.java,v 1.4 2009/09/17 10:45:13 fros4943 Exp $
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*/
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package se.sics.cooja.avrmote.interfaces;
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@ -39,6 +39,7 @@ import org.jdom.Element;
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import se.sics.cooja.*;
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import se.sics.cooja.avrmote.MicaZMote;
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import se.sics.cooja.interfaces.Clock;
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import se.sics.cooja.mspmote.MspMote;
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/**
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@ -50,8 +51,8 @@ public class MicaClock extends Clock {
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private MicaZMote myMote;
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public MicaClock(MicaZMote mote) {
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myMote = mote;
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public MicaClock(Mote mote) {
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myMote = (MicaZMote) mote;
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}
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public void setTime(long newTime) {
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@ -59,16 +60,16 @@ public class MicaClock extends Clock {
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}
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public long getTime() {
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int time = (int) ((myMote.cycleCounter) / MicaZMote.NR_CYCLES_PER_MSEC);
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long time = (long) ((double)myMote.cycleCounter * Simulation.MILLISECOND / MspMote.NR_CYCLES_PER_MSEC);
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return time > 0 ? time : 0;
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}
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public void setDrift(long drift) {
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myMote.cycleDrift = Simulation.MILLISECOND * MicaZMote.NR_CYCLES_PER_MSEC * drift;
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myMote.usDrift = drift;
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}
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public long getDrift() {
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return (long) ((double)myMote.cycleDrift / MicaZMote.NR_CYCLES_PER_MSEC / Simulation.MILLISECOND);
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return myMote.usDrift;
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}
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public JPanel getInterfaceVisualizer() {
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|
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@ -8,11 +8,11 @@ import se.sics.cooja.dialogs.SerialUI;
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public class MicaSerial extends SerialUI {
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Mote mote;
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MicaZMote mote;
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public MicaSerial(MicaZMote micaZMote) {
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mote = micaZMote;
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MicaZ micaZ = micaZMote.getMicaZ();
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public MicaSerial(Mote micaZMote) {
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mote = (MicaZMote) micaZMote;
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MicaZ micaZ = mote.getMicaZ();
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/* this should go into some other piece of code for serial data */
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AtmelMicrocontroller mcu = (AtmelMicrocontroller) micaZ.getMicrocontroller();
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avrora.sim.mcu.USART usart = (avrora.sim.mcu.USART) mcu.getDevice("usart0");
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|
|
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@ -0,0 +1,92 @@
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/*
|
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* 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: MicaZID.java,v 1.1 2009/09/17 10:45:13 fros4943 Exp $
|
||||
*/
|
||||
|
||||
package se.sics.cooja.avrmote.interfaces;
|
||||
|
||||
import java.util.Collection;
|
||||
import java.util.Vector;
|
||||
|
||||
import javax.swing.JPanel;
|
||||
|
||||
import org.apache.log4j.Logger;
|
||||
import org.jdom.Element;
|
||||
|
||||
import se.sics.cooja.Mote;
|
||||
import se.sics.cooja.interfaces.MoteID;
|
||||
|
||||
public class MicaZID extends MoteID {
|
||||
private static Logger logger = Logger.getLogger(MicaZID.class);
|
||||
|
||||
private int moteID = -1; /* TODO Implement */
|
||||
|
||||
public MicaZID(Mote mote) {
|
||||
}
|
||||
|
||||
public int getMoteID() {
|
||||
return moteID;
|
||||
}
|
||||
|
||||
public void setMoteID(int newID) {
|
||||
moteID = newID;
|
||||
}
|
||||
|
||||
public JPanel getInterfaceVisualizer() {
|
||||
return null;
|
||||
}
|
||||
|
||||
public void releaseInterfaceVisualizer(JPanel panel) {
|
||||
}
|
||||
|
||||
public double energyConsumption() {
|
||||
return 0;
|
||||
}
|
||||
|
||||
public Collection<Element> getConfigXML() {
|
||||
Vector<Element> config = new Vector<Element>();
|
||||
Element element;
|
||||
|
||||
// Infinite boolean
|
||||
element = new Element("id");
|
||||
element.setText(Integer.toString(getMoteID()));
|
||||
config.add(element);
|
||||
|
||||
return config;
|
||||
}
|
||||
|
||||
public void setConfigXML(Collection<Element> configXML, boolean visAvailable) {
|
||||
for (Element element : configXML) {
|
||||
if (element.getName().equals("id")) {
|
||||
setMoteID(Integer.parseInt(element.getText()));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -26,22 +26,29 @@
|
|||
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
||||
* SUCH DAMAGE.
|
||||
*
|
||||
* $Id: MicaZLED.java,v 1.3 2009/03/19 18:58:19 joxe Exp $
|
||||
* $Id: MicaZLED.java,v 1.4 2009/09/17 10:45:13 fros4943 Exp $
|
||||
*/
|
||||
|
||||
package se.sics.cooja.avrmote.interfaces;
|
||||
|
||||
import java.awt.*;
|
||||
import java.util.*;
|
||||
import javax.swing.*;
|
||||
import java.awt.Color;
|
||||
import java.awt.Dimension;
|
||||
import java.awt.Graphics;
|
||||
import java.util.Collection;
|
||||
import java.util.Observable;
|
||||
import java.util.Observer;
|
||||
|
||||
import javax.swing.JPanel;
|
||||
|
||||
import org.apache.log4j.Logger;
|
||||
import org.jdom.Element;
|
||||
|
||||
import avrora.sim.FiniteStateMachine;
|
||||
import avrora.sim.mcu.AtmelMicrocontroller;
|
||||
import avrora.sim.platform.MicaZ;
|
||||
import se.sics.cooja.*;
|
||||
import se.sics.cooja.ClassDescription;
|
||||
import se.sics.cooja.Mote;
|
||||
import se.sics.cooja.avrmote.MicaZMote;
|
||||
import se.sics.cooja.interfaces.LED;
|
||||
import avrora.sim.FiniteStateMachine;
|
||||
import avrora.sim.platform.MicaZ;
|
||||
|
||||
/**
|
||||
* @author Joakim Eriksson
|
||||
|
|
@ -61,7 +68,9 @@ public class MicaZLED extends LED {
|
|||
private static final Color GREEN = new Color(0, 255, 0);
|
||||
private static final Color RED = new Color(255, 0, 0);
|
||||
|
||||
public MicaZLED(MicaZ micaZ) {
|
||||
public MicaZLED(Mote mote) {
|
||||
MicaZ micaZ = ((MicaZMote) mote).getMicaZ();
|
||||
|
||||
avrora.sim.platform.LED.LEDGroup leds =
|
||||
(avrora.sim.platform.LED.LEDGroup) micaZ.getDevice("leds");
|
||||
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@
|
|||
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
||||
* SUCH DAMAGE.
|
||||
*
|
||||
* $Id: MicaZRadio.java,v 1.3 2009/04/16 14:28:12 fros4943 Exp $
|
||||
* $Id: MicaZRadio.java,v 1.4 2009/09/17 10:45:13 fros4943 Exp $
|
||||
*/
|
||||
|
||||
package se.sics.cooja.avrmote.interfaces;
|
||||
|
|
@ -89,9 +89,9 @@ public class MicaZRadio extends Radio implements CustomDataRadio {
|
|||
Medium.Transmitter trans;
|
||||
CC2420Radio.Receiver recv;
|
||||
|
||||
public MicaZRadio(MicaZMote mote) {
|
||||
this.mote = mote;
|
||||
micaz = mote.getMicaZ();
|
||||
public MicaZRadio(Mote mote) {
|
||||
this.mote = (MicaZMote) mote;
|
||||
micaz = this.mote.getMicaZ();
|
||||
cc2420 = (CC2420Radio) micaz.getDevice("radio");
|
||||
trans = cc2420.getTransmitter();
|
||||
recv = (CC2420Radio.Receiver) cc2420.getReceiver();
|
||||
|
|
|
|||
Loading…
Reference in a new issue