305 lines
9.9 KiB
C
305 lines
9.9 KiB
C
/*
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* Copyright (c) 2006, 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: contiki_template.c,v 1.13 2009/04/01 13:38:14 fros4943 Exp $
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*/
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/**
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* \defgroup coojacore COOJA Simulator Core
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* @{
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*/
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/**
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* \file
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* C code template for generating Contiki main startup files from
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* inside the COOJA Simulator. This file should not be compiled directly.
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* \author
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* Fredrik Osterlind <fros@sics.se>
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*/
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/*---------------------------------------------------------------------------*/
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/**
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* \page coojacore COOJA Simulator Core
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*
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* COOJA Simulator Core ("the Core") represents the entire C code part of COOJA
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* Simulator.
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* This part shortly consists of simulated sensors and actuators and code for
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* communicating with the Java part.
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*
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* Communication with the Core should always be handled via dedicated classes
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* (MoteType), and never directly. MoteType works as an interface giving access
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* to variable's values given their name (through CoreComm->Lib?).
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*
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*/
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#include <jni.h>
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#include <stdio.h>
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#include <string.h>
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#include "contiki.h"
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#include "contiki-net.h"
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#include "contiki-lib.h"
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#include "contiki-conf.h"
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#include "sys/clock.h"
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#include "sys/etimer.h"
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#include "sys/cooja_mt.h"
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#include "dev/serial-line.h"
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#include "dev/cooja-radio.h"
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#include "lib/simEnvChange.h"
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#include "lib/sensors.h"
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#include "net/init-net.h"
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#include "node-id.h"
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PROCINIT(&etimer_process,&sensors_process);
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/* Declare all sensors */
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[SENSOR_DEFINITIONS]
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/* Declare all simulation interfaces */
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[INTERFACE_DEFINITIONS]
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/* Create sensor array */
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[SENSOR_ARRAY]
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/* Create simulation interfaces array */
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[INTERFACE_ARRAY]
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/*
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* referenceVar is used for comparing absolute and process relative memory.
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* (this must not be static due to memory locations)
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*/
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long referenceVar;
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/*
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* process_run() infinite loop.
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* Is yielded at least once per function call.
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*/
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static struct cooja_mt_thread process_run_thread;
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/*---------------------------------------------------------------------------*/
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static void
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print_processes(struct process * const processes[])
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{
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/* const struct process * const * p = processes;*/
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printf("Starting");
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while(*processes != NULL) {
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printf(" '%s'", (*processes)->name);
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processes++;
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}
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putchar('\n');
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}
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/*---------------------------------------------------------------------------*/
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static void
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start_process_run_loop(void *data)
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{
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/* Initialize random generator */
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random_init(0);
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/* Start process handler */
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process_init();
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/* Start Contiki processes */
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procinit_init();
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/* Print startup information */
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printf(CONTIKI_VERSION_STRING " started. ");
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if(node_id > 0) {
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printf("Node id is set to %u.\n", node_id);
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} else {
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printf("Node id is not set.\n");
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}
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/* Initialize communication stack */
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init_net();
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/* Start serial process */
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serial_line_init();
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/* Start autostart processes (defined in Contiki application) */
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print_processes(autostart_processes);
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autostart_start(autostart_processes);
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while(1)
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{
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/* Always pretend we have processes left while inside process_run() */
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simProcessRunValue = 1;
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if (simDoReceiverCallback) {
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simDoReceiverCallback = 0;
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radio_call_receiver();
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}
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simProcessRunValue = process_run();
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// Check if we must stay awake
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if (simDontFallAsleep) {
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simDontFallAsleep=0;
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simProcessRunValue = 1;
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}
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/* Yield thread when one process_run has completed */
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cooja_mt_yield();
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}
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Initialize a mote by starting processes etc.
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*
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* This function initializes a mote by starting certain
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* processes and setting up the environment.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_se_sics_cooja_corecomm_[CLASS_NAME]_init(JNIEnv *env, jobject obj)
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{
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/* Prepare thread that will do the process_run()-loop */
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cooja_mt_start(&process_run_thread, &start_process_run_loop, NULL);
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Get a segment from the process memory.
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* \param start Start address of segment
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* \param length Size of memory segment
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* \return Java byte array containing a copy of memory segment.
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*
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* Fetches a memory segment from the process memory starting at
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* (start), with size (length). This function does not perform
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* ANY error checking, and the process may crash if addresses are
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* not available/readable.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_se_sics_cooja_corecomm_[CLASS_NAME]_getMemory(JNIEnv *env, jobject obj, jint rel_addr, jint length, jbyteArray mem_arr)
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{
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(*env)->SetByteArrayRegion(
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env,
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mem_arr,
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0,
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(size_t) length,
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(jbyte *) (((long)rel_addr) + referenceVar)
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);
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Replace a segment of the process memory with given byte array.
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* \param start Start address of segment
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* \param length Size of memory segment
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* \param mem_arr Byte array contaning new memory
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*
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* Replaces a process memory segment with given byte array.
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* This function does not perform ANY error checking, and the
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* process may crash if addresses are not available/writable.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_se_sics_cooja_corecomm_[CLASS_NAME]_setMemory(JNIEnv *env, jobject obj, jint rel_addr, jint length, jbyteArray mem_arr)
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{
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jbyte *mem = (*env)->GetByteArrayElements(env, mem_arr, 0);
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memcpy(
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(char*) (((long)rel_addr) + referenceVar),
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mem,
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length);
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(*env)->ReleaseByteArrayElements(env, mem_arr, mem, 0);
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Let mote execute one "block" of code (tick mote).
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*
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* Let mote defined by the active contiki processes and current
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* process memory execute some program code. This code must not block
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* or else this function will never return. A typical contiki
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* process will return when it executes PROCESS_WAIT..() statements.
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*
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* Before the control is left to contiki processes, any messages
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* from the Java part are handled. These may for example be
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* incoming network data. After the contiki processes return control,
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* messages to the Java part are also handled (those which may need
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* special attention).
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_se_sics_cooja_corecomm_[CLASS_NAME]_tick(JNIEnv *env, jobject obj)
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{
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/* Let all simulation interfaces act first */
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simNoYield = 1;
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doActionsBeforeTick();
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simNoYield = 0;
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/* Check if any e-timers are pending (save result for state decisions) */
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if (etimer_pending()) {
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/* Poll etimers */
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etimer_request_poll();
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simEtimerPending = 1;
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} else {
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simEtimerPending = 0;
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}
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/* Let Contiki execute one or a part of the process_run()-function via the thread.
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This call stores the process_run() return value */
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cooja_mt_exec(&process_run_thread);
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/* Let all simulation interfaces act before returning to java */
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simNoYield = 1;
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doActionsAfterTick();
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simNoYield = 0;
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/* Look for new e-timers */
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if (!simEtimerPending && etimer_pending()) {
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/* Poll etimers */
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etimer_request_poll();
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simEtimerPending = 1;
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}
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/* Save nearest event timer expiration time (0 if no timers) */
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simNextExpirationTime = etimer_next_expiration_time();
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Set the relative memory address of the reference variable.
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* \return Relative memory address.
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*
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* This is a JNI function and should only be called via the
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* responsible Java part (MoteType.java).
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*/
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JNIEXPORT void JNICALL
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Java_se_sics_cooja_corecomm_[CLASS_NAME]_setReferenceAddress(JNIEnv *env, jobject obj, jint addr)
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{
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referenceVar = (((long)&referenceVar) - ((long)addr));
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}
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/** @} */
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