/* -*- Mode: C; tab-width:2 -*- *//* ex: set ts=2 shiftwidth=2 softtabstop=2 cindent: *//* * Copyright (c) 2003 The Regents of the University of California. * 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. All advertising materials mentioning features or use of this *    software must display the following acknowledgement: *       This product includes software developed by Networked & *       Embedded Systems Lab at UCLA * 4. Neither the name of the University nor that of the Laboratory *    may be used to endorse or promote products derived from this *    software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE REGENTS 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 REGENTS * 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. * */#include <sos.h>#include <fntable_types.h>#include <message.h>#include "sensor.h"#ifndef SOS_DEBUG_SENSOR_API#undef DEBUG#define DEBUG(...)#endif//! Maximum types of sensors supported by SOS#define MAX_SENSOR_ID  10/** * @brief Private state of the sensor module */typedef struct sensor_state {	sos_pid_t pid;               //! Process id of the sensor driver	sos_pid_t client_pid;        //! Client module requesting the sensor data	void *ctx;     //! context that is saved when the sensor is registered} sensor_state_t;static sensor_state_t st[MAX_SENSOR_ID];// need to be declared seperatly because of how SOS does function mappingstatic func_cb_ptr sensor_func_ptr[MAX_SENSOR_ID];static int8_t sensor_handler(void *state, Message *msg);static sos_module_t sensor_module;static mod_header_t mod_header SOS_MODULE_HEADER ={	mod_id : KER_SENSOR_PID,	state_size : 0,	num_prov_func : 0,	num_sub_func : MAX_SENSOR_ID,	module_handler: sensor_handler,	funct : {		// sensor 0		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 1		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 2		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 3		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 4		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 5		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 6		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 7		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 8		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},		// sensor 9		{error_8, "cCw2", RUNTIME_PID, RUNTIME_FID},	},};static int8_t sensor_handler(void *state, Message *msg){	return -EINVAL;}/** * @brief Initialize the sensor interface */int8_t sensor_init() {  uint8_t i;  for (i = 0; i < MAX_SENSOR_ID; i++){		st[i].pid = NULL_PID;		st[i].client_pid = NULL_PID;		st[i].ctx = NULL;	}	sched_register_kernel_module(&sensor_module, sos_get_header_address(mod_header), sensor_func_ptr);	return SOS_OK;}/** * @brief Register a new sensor driver */int8_t ker_sensor_register(sos_pid_t calling_id, uint8_t sensor_id, uint8_t sensor_fid, void *ctx) {	if (sensor_id > MAX_SENSOR_ID) {		return -EINVAL;	}	if(st[sensor_id].pid != NULL_PID) {		return -EBUSY;	}	// try to register all necessary function calls	// if any fail do cleanup	if(ker_fntable_subscribe(KER_SENSOR_PID, calling_id, sensor_fid, sensor_id) < 0) {		return -EINVAL;	}	  st[sensor_id].ctx = ctx;  st[sensor_id].pid = calling_id;  return SOS_OK;}/** * @brief De-Register a sensor driver *///! XXX: We are not registering the get_data function, should be de-register it ?int8_t ker_sensor_deregister(sos_pid_t calling_id, uint8_t sensor_id) {	if ((sensor_id > MAX_SENSOR_ID) || (st[sensor_id].pid != calling_id)) {		return -EINVAL;	}	// disable sensor before unregistering function calls  SOS_CALL(sensor_func_ptr[sensor_id], sensor_func_t, SENSOR_DISABLE_CMD,  st[sensor_id].ctx);	//sensor_func_ptr[sensor_id] = NULL;  st[sensor_id].pid = NULL_PID;  st[sensor_id].ctx = NULL;  return SOS_OK;}/** * @brief Get the sensor data */int8_t ker_sensor_get_data(sos_pid_t calling_id, uint8_t sensor_id) {	int8_t ret;	if ((sensor_id > MAX_SENSOR_ID) || (st[sensor_id].pid == NULL_PID) || (st[sensor_id].client_pid != NULL_PID)) {		return -EINVAL;	}	st[sensor_id].client_pid = calling_id;  //changed	ret = SOS_CALL(sensor_func_ptr[sensor_id], sensor_func_t, SENSOR_GET_DATA_CMD, st[sensor_id].ctx);	if (SOS_OK != ret) {		//! XXX ????		st[sensor_id].client_pid = NULL_PID; //changed		return -EINVAL;	}	  return SOS_OK;}int8_t ker_sys_sensor_get_data( uint8_t sensor_id ){	int8_t ret;	sos_pid_t calling_id = ker_get_current_pid();	if ((sensor_id > MAX_SENSOR_ID) || (st[sensor_id].pid == NULL_PID) || (st[sensor_id].client_pid != NULL_PID)) {		return -EINVAL;	}	st[sensor_id].client_pid = calling_id;  //changed	ret = SOS_CALL(sensor_func_ptr[sensor_id], sensor_func_t, SENSOR_GET_DATA_CMD, st[sensor_id].ctx);	if (SOS_OK != ret) {		//! XXX ????		st[sensor_id].client_pid = NULL_PID; //changed		return -EINVAL;	}	return SOS_OK;}/** * @brief enable the sensor */int8_t ker_sensor_enable(sos_pid_t calling_id, uint8_t sensor_id) {	int8_t ret;	if ((sensor_id > MAX_SENSOR_ID) || (st[sensor_id].pid == NULL_PID) || (st[sensor_id].client_pid != NULL_PID)) {		return -EINVAL;	}	ret = SOS_CALL(sensor_func_ptr[sensor_id], sensor_func_t, SENSOR_ENABLE_CMD, st[sensor_id].ctx);	if (SOS_OK != ret) {		//! XXX ????		return -EINVAL;	}  return SOS_OK;}/** * @brief disable the sensor */int8_t ker_sensor_disable(sos_pid_t calling_id, uint8_t sensor_id) {	int8_t ret;	if ((sensor_id > MAX_SENSOR_ID) || (st[sensor_id].pid == NULL_PID) || (st[sensor_id].client_pid != NULL_PID)) {		return -EINVAL;	}	ret = SOS_CALL(sensor_func_ptr[sensor_id], sensor_func_t, SENSOR_DISABLE_CMD, st[sensor_id].ctx);	if (SOS_OK != ret) {		//! XXX ????		return -EINVAL;	}	st[sensor_id].client_pid = NULL_PID;  return SOS_OK;}/** * @brief reconfigure the sensor */int8_t ker_sensor_control(sos_pid_t calling_id, uint8_t sensor_id, void* sensor_new_state) {	int8_t ret;	if ((sensor_id > MAX_SENSOR_ID) || (st[sensor_id].pid == NULL_PID) || (st[sensor_id].client_pid != NULL_PID)) {		return -EINVAL;	}	ret = SOS_CALL(sensor_func_ptr[sensor_id], sensor_func_t, SENSOR_CONFIG_CMD, sensor_new_state);	if (SOS_OK != ret) {		//! XXX ????		return -EINVAL;	}  return SOS_OK;}/** * @brief The data ready message to the application */int8_t ker_sensor_data_ready(uint8_t sensor_id, uint16_t sensor_data, uint8_t status) {	if ((sensor_id > MAX_SENSOR_ID) || (NULL_PID == st[sensor_id].pid) || (NULL_PID == st[sensor_id].client_pid)) {		return -EINVAL;	}		//! There is no need to make this message a high priority one as it is the sampling which needs to be done asap and not the delivery	if ((0x3f & status) != 0) {		post_short(st[sensor_id].client_pid, KER_SENSOR_PID, MSG_ERROR, sensor_id, sensor_data, 0);	} else {		post_short(st[sensor_id].client_pid, KER_SENSOR_PID, MSG_DATA_READY, sensor_id, sensor_data, 0);	}	st[sensor_id].client_pid = NULL_PID;  return SOS_OK;}int8_t sensor_remove_all(sos_pid_t pid){	uint8_t i;	for(i = 0; i < MAX_SENSOR_ID; i++) {		if(st[i].pid == pid) {			ker_sensor_deregister(st[i].pid, i);		}	}	return SOS_OK;}#ifdef FAULT_TOLERANT_SOSint8_t sensor_micro_reboot(sos_pid_t pid){   uint8_t i;   for (i = 0; i < MAX_SENSOR_ID; i++){      if ((st[i].pid == pid) &           (st[i].client_pid != NULL_PID)){         //!XXX Ram - Need to send a response to any waiting client         // to make the recovery seamless.         // But what would be a good value to return ?         sensor_data_ready(i, 0xFFFF);         }   }   return SOS_OK;}#endif