src/sim/sim-hardware.h

   1 /* Code to manage the interface between the simulator and the kernel.
   2 Copyright (C) 2005-2008, Jonathan Bachrach, Jacob Beal, and contributors
   3 listed in the AUTHORS file in the MIT Proto distribution's top directory.
   4
   5 This file is part of MIT Proto, and is distributed under the terms of
   6 the GNU General Public License, with a linking exception, as described
   7 in the file LICENSE in the MIT Proto distribution's top directory. */
   8
   9 #ifndef __SIM_HARDWARE__
  10 #define __SIM_HARDWARE__
  11
  12 #include "proto.h"
  13
  14 // posts data without pretty nesting
  15 void post_stripped_data_to (char *str, DATA *d);
  16
  17 // HardwarePatch is a class that Layers should extend in order to make
  18 // their dynamics available to the kernel.
  19 class HardwarePatch {
  20 public:
  21   void hardware_error(char* name) {
  22     uerror("Attempt to use unimplemented hardware function '%s'",name);
  23   }
  24
  25   virtual void mov (VEC_VAL *val) { hardware_error("mov"); }
  26   virtual void flex (NUM_VAL val) { hardware_error("flex"); }
  27   virtual void die (NUM_VAL val) { hardware_error("die"); }
  28   virtual void clone_machine (NUM_VAL val) { hardware_error("clone_machine"); }
  29
  30   virtual NUM_VAL cam_get (int k) { hardware_error("cam_get"); }
  31   virtual NUM_VAL radius_get (VOID) { hardware_error("radius_get"); }
  32   virtual NUM_VAL radius_set (NUM_VAL val) { hardware_error("radius_set"); }
  33
  34   virtual void set_r_led (NUM_VAL val) { hardware_error("set_r_led"); }
  35   virtual void set_g_led (NUM_VAL val) { hardware_error("set_g_led"); }
  36   virtual void set_b_led (NUM_VAL val) { hardware_error("set_b_led"); }
  37   virtual void set_probe (DATA* d, uint8_t p) { hardware_error("set_probe"); }
  38   virtual void set_speak (NUM_VAL period) { hardware_error("set_speak"); }
  39
  40   virtual NUM_VAL set_dt (NUM_VAL dt) { hardware_error("set_dt"); }
  41
  42   virtual void set_is_folding (BOOL val, int k)
  43   { hardware_error("set_is_folding"); }
  44   virtual BOOL read_fold_complete (int val)
  45   { hardware_error("read_fold_complete"); }
  46
  47   virtual NUM_VAL set_channel (NUM_VAL diffusion, int k)
  48   { hardware_error("set_channel"); }
  49   virtual NUM_VAL read_channel (int k) { hardware_error("read_channel"); }
  50   virtual NUM_VAL drip_channel (NUM_VAL val, int k)
  51   { hardware_error("drip_channel"); }
  52   virtual VEC_VAL *grad_channel (int k) { hardware_error("grad_channel"); }
  53
  54   virtual NUM_VAL read_radio_range (VOID) {hardware_error("read_radio_range");}
  55   virtual NUM_VAL read_light_sensor(VOID){hardware_error("read_light_sensor");}
  56   virtual NUM_VAL read_microphone (VOID) { hardware_error("read_microphone"); }
  57   virtual NUM_VAL read_temp (VOID) { hardware_error("read_temp"); }
  58   virtual NUM_VAL read_short (VOID) { hardware_error("read_short"); }
  59   virtual NUM_VAL read_sensor (uint8_t n) { hardware_error("read_sensor"); }
  60   virtual VEC_VAL *read_coord_sensor(VOID)
  61   { hardware_error("read_coord_sensor"); }
  62   virtual VEC_VAL *read_mouse_sensor(VOID)
  63   { hardware_error("read_mouse_sensor"); }
  64   virtual VEC_VAL *read_ranger (VOID) { hardware_error("read_ranger"); }
  65   virtual NUM_VAL read_bearing (VOID) { hardware_error("read_bearing"); }
  66   virtual NUM_VAL read_speed (VOID) { hardware_error("read_speed"); }
  67   virtual NUM_VAL read_bump (VOID) { hardware_error("read_bump"); }
  68   virtual NUM_VAL read_button (uint8_t n) { hardware_error("read_button"); }
  69   virtual NUM_VAL read_slider (uint8_t ikey, uint8_t dkey, NUM_VAL init,
  70                                NUM_VAL incr, NUM_VAL min, NUM_VAL max)
  71   { hardware_error("read_slider"); }
  72
  73   virtual int radio_send_export (uint8_t version, uint8_t timeout, uint8_t n,
  74                                   uint8_t len, COM_DATA *buf)
  75   { hardware_error("radio_send_export"); }
  76   virtual int radio_send_script_pkt (uint8_t version, uint16_t n,
  77                                       uint8_t pkt_num, uint8_t *script)
  78   { hardware_error("radio_send_script_pkt"); }
  79   virtual int radio_send_digest (uint8_t version, uint16_t script_len,
  80                                  uint8_t *digest)
  81   { hardware_error("radio_send_digest"); }
  82 };
  83
  84 // A list of all the functions that can be supplied with a HardwarePatch,
  85 // for use in applying the patches in a SimulatedHardware
  86 enum HardwareFunction {
  87   MOV_FN, FLEX_FN, DIE_FN, CLONE_MACHINE_FN,
  88   CAM_GET_FN, RADIUS_GET_FN, RADIUS_SET_FN,
  89   SET_R_LED_FN, SET_G_LED_FN, SET_B_LED_FN, SET_PROBE_FN, SET_SPEAK_FN,
  90   SET_DT_FN, SET_IS_FOLDING_FN, READ_FOLD_COMPLETE_FN,
  91   SET_CHANNEL_FN, READ_CHANNEL_FN, DRIP_CHANNEL_FN, GRAD_CHANNEL_FN,
  92   READ_RADIO_RANGE_FN, READ_LIGHT_SENSOR_FN, READ_MICROPHONE_FN,
  93   READ_TEMP_FN, READ_SHORT_FN, READ_SENSOR_FN, READ_COORD_SENSOR_FN,
  94   READ_MOUSE_SENSOR_FN, READ_RANGER_FN, READ_BEARING_FN, READ_SPEED_FN,
  95   READ_BUMP_FN, READ_BUTTON_FN, READ_SLIDER_FN,
  96   RADIO_SEND_EXPORT_FN, RADIO_SEND_SCRIPT_PKT_FN, RADIO_SEND_DIGEST_FN,
  97   NUM_HARDWARE_FNS
  98 };
  99
 100 // This class dispatches kernel hardware calls to the appropriate patches
 101 class Device;
 102 class SimulatedHardware {
 103 public:
 104   BOOL is_kernel_debug, is_kernel_trace, is_kernel_debug_script;
 105   HardwarePatch base;
 106   HardwarePatch* patch_table[NUM_HARDWARE_FNS];
 107
 108   SimulatedHardware();
 109   void patch(HardwarePatch* p, HardwareFunction fn); // instantiate a fn
 110   void set_vm_context(Device* d); // prepare globals for kernel execution
 111 };
 112
 113 // globals that carry the VM context for kernel hardware calls
 114 // HardwarePatch classes can count on them being set to correct values
 115 extern SimulatedHardware* hardware;
 116 extern Device* device;
 117
 118 // Construction and destruction within a device object
 119 extern MACHINE* allocate_machine();
 120 extern void deallocate_machine(MACHINE** vm);
 121
 122 #endif //__SIM_HARDWARE__