/*									tab:4 * * * "Copyright (c) 2000-2002 The Regents of the University  of California.   * All rights reserved. * * Permission to use, copy, modify, and distribute this software and * its documentation for any purpose, without fee, and without written * agreement is hereby granted, provided that the above copyright * notice, the following two paragraphs and the author appear in all * copies of this software. *  * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY * PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL * DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS * DOCUMENTATION, EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *  * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES, * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE * PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF * CALIFORNIA HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, * UPDATES, ENHANCEMENTS, OR MODIFICATIONS." * *//*									tab:4 *									 *  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. *  By downloading, copying, installing or using the software you *  agree to this license.  If you do not agree to this license, do *  not download, install, copy or use the software. * *  Intel Open Source License  * *  Copyright (c) 2002 Intel Corporation  *  All rights reserved.  *  Redistribution and use in source and binary forms, with or without *  modification, are permitted provided that the following conditions are *  met: *  *	Redistributions of source code must retain the above copyright *  notice, this list of conditions and the following disclaimer. *	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. *      Neither the name of the Intel Corporation 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 COPYRIGHT HOLDERS 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 INTEL OR ITS *  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. *  *  *//* * Authors:   Philip Levis <pal@cs.berkeley.edu> * History:   Apr 14, 2003         Inception. * *//** * @author Philip Levis <pal@cs.berkeley.edu> */includes Bombilla;module OPsenseM {    provides {    interface StdControl;    interface BombillaBytecode;  }    uses {    interface BombillaStacks as Stacks;    interface BombillaTypes as Types;    interface BombillaQueue as Queue;    interface BombillaError as Error;    interface BombillaContextSynch as Synch;    interface StdControl as PhotoControl;    interface BombillaVirus as Virus;        interface ADC as Sensors[uint8_t types];  }}implementation {#define NO_SUCH_SENSOR 34  BombillaQueue senseWaitQueue;  BombillaContext* sensingContext;  uint8_t waitingSensor;    // A pointer to the readyQueue of the VM which the context  // mid-sensing belongs to.  BombillaQueue* readyQueue;  uint16_t reading;    command result_t StdControl.init() {    call PhotoControl.init();    call Queue.init(&senseWaitQueue);    atomic {      sensingContext = NULL;      waitingSensor = 255;    }    return SUCCESS;  }    command result_t StdControl.start() {    return SUCCESS;  }    command result_t StdControl.stop() {    return SUCCESS;  }      inline result_t execSense(BombillaContext* context,                            uint8_t which) {    BombillaQueue* queue = &senseWaitQueue;    if (sensingContext != NULL) {      call Stacks.pushValue(context, which);      context->state = BOMB_STATE_SENSE_WAIT;      call Queue.enqueue(context, queue, context);      return SUCCESS;    }    else {      result_t rval;      dbg(DBG_USR1, "VM (%i): Sensing %i.\n", (int)context->which, (int)which);      rval = call Sensors.getData[which]();      if (rval == SUCCESS) {        atomic {	  waitingSensor = which;	  sensingContext = context;	}        context->state = BOMB_STATE_SENSE;        return SUCCESS;      }      else if (rval == NO_SUCH_SENSOR) {	dbg(DBG_ERROR, "VM (%i): Sensor type %i not supported yet.\n", (int)context->which, (int)which);	call Error.error(context, BOMB_ERROR_INVALID_SENSOR);	return FAIL;      }      else { // re-issue the instruction	dbg(DBG_ERROR, "VM (%i): Sensor busy, reissue.\n", (int)context->which);	call Stacks.pushValue(context, which);	context->pc--;	return FAIL;      }    }  }  task void senseDoneTask();    command result_t BombillaBytecode.execute(uint8_t instr,                                            BombillaContext* context) {    BombillaStackVariable* arg = call Stacks.popOperand(context);    dbg(DBG_USR1, "VM (%i): Sensing.\n", (int)context->which);    if (!call Types.checkTypes(context, arg, BOMB_VAR_V)) {return FAIL;}        // select a sensor here    if (execSense(context, arg->value.var) == SUCCESS) {      call Synch.releaseLocks(context, context);      call Synch.yieldContext(context);    }    return SUCCESS;  }  async event result_t Sensors.dataReady[uint8_t id](uint16_t datum) {    bool isMine;    atomic {      isMine = (id == waitingSensor) && (sensingContext != NULL);    }    if (isMine) {      atomic {	reading = datum;      }      post senseDoneTask();    }    return SUCCESS;  }  task void senseDoneTask() {    BombillaContext* senser = sensingContext;    BombillaQueue* queue = &senseWaitQueue;    uint16_t datum;    atomic {      datum = reading;    }    dbg(DBG_USR1, "VM: Sensor reading: %i\n", (int)datum);        if (sensingContext != NULL) {      // Resume the sensing context      call Synch.resumeContext(sensingContext, sensingContext);      call Stacks.pushReading(sensingContext, waitingSensor, datum);      atomic {	sensingContext = NULL;      }    }    if (!call Queue.empty(queue)) {      senser = call Queue.dequeue(senser, queue);      if (senser != NULL &&          senser->state != BOMB_STATE_SENSE_WAIT) {        call Error.error(senser, BOMB_ERROR_QUEUE_INVALID);        return;      }      senser->state = BOMB_STATE_RUN;      call Synch.resumeContext(senser, senser);    }    return;  }    default async command result_t Sensors.getData[uint8_t which]() {    return NO_SUCH_SENSOR;  }  event result_t Synch.makeRunnable(BombillaContext* context) {    return SUCCESS;  }  event result_t Virus.capsuleInstalled(BombillaCapsule* capsule) {    atomic {      sensingContext = NULL;      waitingSensor = 255;      call Queue.init(&senseWaitQueue);    }    return SUCCESS;  }  event result_t Virus.enableExecution() {    return SUCCESS;  }  event result_t Virus.disableExecution() {    return SUCCESS;  }  event result_t Virus.capsuleHeard(uint8_t type) {    return SUCCESS;  }  event void Virus.capsuleForce(uint8_t type) {    return;  }}