346 lines
13 KiB
Python
346 lines
13 KiB
Python
import re
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import socket
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import threads
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import xml.dom.minidom
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import thread
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import chakana.error
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import chakana.event
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import chakana.monitor
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import chakana.threads
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import chakana.utils
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from chakana.debug import *
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class Shepherd:
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"""The shepherd is a singleton class that manages the connection to COOJA
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and keeps track of user monitor threads. The user initialises a
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debugging scenario by creating a Shepherd object, and then calls the
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newMonitor method to create Monitor objects, one for each causal
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path through the system that he wishes to monitor.
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The monitor threads automatically register with the shepherd. The user
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can use the debugger instances to probe variables or create eventpoints.
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When the monitor thread routine decides that is ready for simulation to
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proceed, it calls the waitFor method to block until one of the
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eventpoints occur.
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When a Monitor object enters waitFor, it informs shepherd about the
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eventpoints that the user is waiting for, and waits for the eventpoints
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to happen. When all threads enter waiting state, the shepherd asks COOJA
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to resume simulation. When an eventpoint is hit, the shepherd wakes the
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Monitor that is waiting for that eventpoint.
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"""
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def __init__(self, threadManager, port, coojaHost = "localhost"):
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debug(MajorEvent, "Creating shepherd")
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self._pollConnLock = threading.Lock()
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self._threadManager = threadManager
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self._port = port
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self._monitors = []
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self._waitingMonitors = []
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# Only basic eventpoints in these lists
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self._eventpoints = []
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self._waitingEventpoints = []
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self._coojaContinueEvent = threading.Event()
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self._waitMap = {}
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self._coojaHost = coojaHost
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self._coojaConnection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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debug(MajorEvent, "Connecting to COOJA at " + coojaHost + ":" +
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str(self._port))
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self._connectionLock = threading.Lock()
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self._coojaConnection.connect((self._coojaHost, self._port))
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self._coojaStream = self._coojaConnection.makefile()
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self._coojaConnection.close()
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del self._coojaConnection
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self._connectionLock.acquire()
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hello = self.readFromCooja()
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debug(Debug, hello.toprettyxml())
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self._connectionLock.release()
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self._shepherdThread = threads.ManagedThread(
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self._threadManager, target = self._shepherdMainLoop)
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self._shepherdThread.start()
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debug(Debug, "Shepherd created:\n" + repr(self))
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def _shepherdMainLoop(self):
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debug(Event, "Starting shepherd main loop")
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while 1:
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debug(Debug, "Waiting for eventpoints to enter wait state")
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debug(Debug2, repr(self))
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self._coojaContinueEvent.wait()
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self._coojaContinueEvent.clear()
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if self._coojaStream.closed:
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debug(Event, "Terminating shepherd main loop")
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return
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debug(Debug, "Resuming COOJA")
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assert(len(self._eventpoints) == len(self._waitingEventpoints))
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response = self.runCommand("CONTROL_SIM", { "RESUME" : None })
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id = int(response.documentElement.childNodes[0].nodeValue)
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debug(MinorEvent, "Eventpoint " + str(id) + " was triggered")
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# Wake up triggered eventpoint
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self._waitMap[id][1].set()
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# Allow new main loop startups
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self._pollConnLock.release()
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def quit(self):
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"""Send a termination request to the debugger broker, and discard all
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debuggers."""
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debug(Information, "Terminating the shepherd session")
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self.runCommand("EXIT_COOJA")
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self._connectionLock.acquire()
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self._coojaStream.close()
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self._connectionLock.release()
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self._coojaContinueEvent.set()
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debug(Information, "Number of PID errors reported: " + str(self.threadManager().nrPIDerrors()))
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for (eventpoint, event) in self._waitMap.values():
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debug(Debug2, "Awakening eventpoint at exit: " + repr(eventpoint))
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event.set()
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def loadConfiguration(self, fileName):
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return self.runCommand(
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"CREATE_SIM", xmlContent = chakana.utils.readFile(fileName))
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def loadConfigurationXML(self, xmlContent):
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return self.runCommand(
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"CREATE_SIM", xmlContent = xmlContent)
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def setConfigurationXML(self, xmlContent):
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return self.runCommand(
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"CONF_SIM", xmlContent = xmlContent)
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def setPluginsXML(self, xmlContent):
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return self.runCommand(
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"CONF_PLUGINS", xmlContent = xmlContent)
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def newMonitor(self, routine, * args, ** kwArgs):
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return self.newCustomMonitor(
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chakana.monitor.Monitor, routine, * args, ** kwArgs)
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def newCustomMonitor(self, Type, routine = None, * args, ** kwArgs):
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"""Start a new monitor thread running routine, with * args and ** kwArgs
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as arguments."""
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debug(Debug, "Creating new monitor of type " + Type.__name__)
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debug(Debug3, "Routine: " + repr(routine) + ", arguments: " + repr(args) +
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", keyword arguments: " + repr(kwArgs))
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thread = Type(self, routine, * args, ** kwArgs)
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debug(MinorEvent, "New monitor thread created: " + repr(thread))
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return thread
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def newTimeoutMonitor(self, eventpoint, timeout, routine = None):
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return self.newCustomMonitor(
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chakana.monitor.TimeoutWrapperMonitor, routine, eventpoint = eventpoint, timeout = timeout)
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def threadManager(self):
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return self._threadManager
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def registerMonitor(self, monitor):
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debug(Debug, "Registering monitor: " + repr(monitor))
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assert(isinstance(monitor, chakana.monitor.Monitor))
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assert(not (monitor in self._monitors))
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assert(not (monitor in self._waitingMonitors))
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self._monitors.append(monitor)
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self._monitors.sort()
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debug(Debug2, repr(self))
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def unregisterMonitor(self, monitor):
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debug(Debug, "Unregistering monitor: " + repr(monitor))
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assert(isinstance(monitor, chakana.monitor.Monitor))
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assert(monitor in self._monitors)
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assert(not (monitor in self._waitingMonitors))
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self._monitors.remove(monitor)
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def registerWaitingMonitor(self, monitor):
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debug(Debug, "Registering waiting monitor: " + repr(monitor))
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assert(isinstance(monitor, chakana.monitor.Monitor))
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assert(monitor in self._monitors)
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assert(not (monitor in self._waitingMonitors))
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self._waitingMonitors.append(monitor)
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self._waitingMonitors.sort()
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debug(Debug2, repr(self))
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def unregisterWaitingMonitor(self, monitor):
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debug(Debug, "Unregistering waiting monitor: " + repr(monitor))
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assert(isinstance(monitor, chakana.monitor.Monitor))
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assert(monitor in self._monitors)
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assert(monitor in self._waitingMonitors)
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self._waitingMonitors.remove(monitor)
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debug(Debug2, repr(self))
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def registerBasicEventpoint(self, eventpoint):
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debug(Debug2, "Registering basic eventpoint: " + repr(eventpoint))
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assert(isinstance(eventpoint, chakana.event.BasicEventpoint))
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assert(not (eventpoint in self._eventpoints))
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self._eventpoints.append(eventpoint)
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self._eventpoints.sort()
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debug(Debug2, repr(self))
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def unregisterBasicEventpoint(self, eventpoint):
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debug(Debug2, "Unregistering basic eventpoint: " + repr(eventpoint))
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assert(not (eventpoint in self._waitingEventpoints))
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assert(eventpoint in self._eventpoints)
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self._eventpoints.remove(eventpoint)
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debug(Debug2, repr(self))
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def _registerWaitingEventpoint(self, eventpoint):
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debug(Debug2, "Registering waiting eventpoint: " + repr(eventpoint))
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assert(not (eventpoint in self._waitingEventpoints))
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assert(eventpoint in self._eventpoints)
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self._waitingEventpoints.append(eventpoint)
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self._waitingEventpoints.sort()
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def _unregisterWaitingEventpoint(self, eventpoint):
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debug(Debug2, "Unregistering waiting eventpoint: " + repr(eventpoint))
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assert(eventpoint in self._waitingEventpoints)
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assert(eventpoint in self._eventpoints)
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self._waitingEventpoints.remove(eventpoint)
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debug(Debug2, repr(self))
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def pollContinuation(self):
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self._pollConnLock.acquire()
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if len(self._waitingMonitors) != len(self._monitors):
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self._pollConnLock.release()
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return
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for monitor in self._monitors:
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if not monitor._ready:
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self._pollConnLock.release()
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return
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for monitor in self._monitors:
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assert(not monitor._discarded)
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for eventpoint in self._eventpoints:
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assert(not eventpoint._discarded)
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assert(self._waitingMonitors == self._monitors)
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assert(self._waitingEventpoints == self._eventpoints)
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debug(MinorEvent, "All monitors are waiting, activating COOJA")
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assert(not self._coojaContinueEvent.isSet())
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self._coojaContinueEvent.set()
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def waitForCoojaEventpoint(self, eventpoint):
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response = self.runCommand("ADD_EVENTPOINT", eventpoint.coojaArguments())
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id = int(response.documentElement.childNodes[0].nodeValue)
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debug(Debug, "Waiting for COOJA eventpoint " + str(id))
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resourceAllocated = 0
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while resourceAllocated == 0:
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try:
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self._waitMap[id] = (eventpoint, threading.Event())
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resourceAllocated = 1
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except thread.error:
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resourceAllocated = 0
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self.threadManager().registerPIDerror()
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self._registerWaitingEventpoint(eventpoint)
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eventpoint._isWaitingEvent.set()
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resourceAllocated = 0
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while resourceAllocated == 0:
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try:
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self._waitMap[id][1].wait()
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resourceAllocated = 1
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except thread.error:
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resourceAllocated = 0
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self.threadManager().registerPIDerror()
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del self._waitMap[id]
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self._unregisterWaitingEventpoint(eventpoint)
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try:
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self.runCommand("DELETE_EVENTPOINT", { "id" : id })
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debug(Debug, "COOJA event " + str(id) + " has occurred")
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except chakana.error.CoojaExit:
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pass
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except socket.error:
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pass
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def runCommand(self, name, args = None, xmlContent = ""):
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debug(Debug3, "Running cooja command " + name + ", args: " + repr(args) +
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" xml content: " + repr(xmlContent))
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if args is None:
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args = {}
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self._connectionLock.acquire()
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try:
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if self._coojaStream.closed:
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raise chakana.error.CoojaExit()
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command = ['<command value="' + name + '">']
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for (key, value) in args.items():
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if value is None:
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command.append('<' + key + '/>')
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else:
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command.append('<' + key + '>' + str(value) + '</' + key + '>')
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command.append(xmlContent + '</command>')
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commandStr = "\n".join(command + ['\n'])
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debug(MinorEvent, '--> ' + commandStr)
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self._coojaStream.write(commandStr)
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self._coojaStream.flush()
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response = self.readFromCooja()
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debug(Debug, response.toprettyxml())
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if response.documentElement.tagName == 'error':
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raise chakana.error.CoojaError(response)
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return response
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except socket.error:
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debug(MajorEvent, 'Socket error catched')
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finally:
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self._connectionLock.release()
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def readFromCooja(self):
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# XXX: Assume message ends with a newline
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debug(Debug, "Reading message from COOJA")
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responseLines = [self._coojaStream.readline()]
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debug(Debug2, "First line: " + repr(responseLines[0]))
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(rootElement, slash) = re.match(r"^\s*<(\w+)(/?)>",
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responseLines[0]).groups()
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debug(Debug3, "Root element: " + rootElement)
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if slash != "/":
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while 1:
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if re.search("</" + re.escape(rootElement) + ">$", responseLines[-1],
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re.M):
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break
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responseLines.append(self._coojaStream.readline())
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debug(Debug3, "Read line: " + repr(responseLines[-1]))
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result = "".join(responseLines)
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debug(MinorEvent, '<-- ' + result)
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return xml.dom.minidom.parseString(result)
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def readVariable(self, variable, ** kwArgs):
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response = self.readMemory(
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type = "variable", variable = variable, ** kwArgs)
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arrayString = response.documentElement.childNodes[0].nodeValue.split()
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bytes = map(eval, arrayString)
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debug(Debug, "Read variable " + variable + " as byte array: " +
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repr(bytes))
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return bytes
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def readInt(self, ** kwArgs):
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response = self.readMemory(type = "int", ** kwArgs)
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return eval(response.documentElement.childNodes[0].nodeValue)
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def readMemory(self, ** kwArgs):
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return self.runCommand("READ_MEMORY", kwArgs)
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def killNodesInInterval(self, ** kwArgs):
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return self.runCommand("KILL_NODES", kwArgs)
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def sendCustomCommand(self, ** kwArgs):
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return self.runCommand("CUSTOM_COMMAND", kwArgs)
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def getSimulationInfo(self, ** kwArgs):
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response = self.runCommand("GET_INFO", kwArgs)
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return eval(response.documentElement.childNodes[0].nodeValue)
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def __repr__(self):
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return "\n ".join([
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"Shepherd:",
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"Port: " + repr(self._port),
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"Monitors: " + repr(self._monitors),
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"Waiting monitors: " + repr(self._waitingMonitors),
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"Basic eventpoints: [" + "\n".join(map(repr, self._eventpoints)) + "]",
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"Waiting eventpoints: [" + "\n".join(
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map(repr, self._waitingEventpoints)) + "]",
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"Wait map: " + repr(self._waitMap),
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])
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