//This function terminates a PCB
void TerminateProcess(struct Process_Control_Block *PCB) {
//check if PCB passed into, and terminate only if not NULL
if (PCB != NULL) {
//set PCB state
PCB->ProcessState = PCB_STATE_TERMINATE;
pcbTable->Terminated_Number += 1;
//terminate if more than one runnable PCBs, otherwise halt
if (PCBLiveNumber() >= 1) {
//do more actions when terminating current PCB
if (PCB == CurrentPCB()) {
//if uniprocessor, start a new PCB
if (ProcessorMode == Uniprocessor) {
Dispatcher();
}
//if multiprocessor, suspend itself
else {
OSSuspendCurrentProcess();
}
}
}
else {
HaltProcess();
}
}
}
bool PhysicsEngine::Init(double dGravity, double dTimeStep,
double nMaxSubSteps){
timestep_ = dTimeStep;
gravity_acc_ = dGravity;
time_max_substeps_ = nMaxSubSteps;
// Physics stuff
// See http://bulletphysics.org/mediawiki-1.5.8/index.php/Hello_World
std::shared_ptr<btCollisionDispatcher> Dispatcher(
new btCollisionDispatcher(&collision_configuration_) );
bt_dispatcher_ = Dispatcher;
std::shared_ptr<btDbvtBroadphase> Broadphase( new btDbvtBroadphase );
bt_broadphase_ = Broadphase;
std::shared_ptr<btSequentialImpulseConstraintSolver> Solver(
new btSequentialImpulseConstraintSolver );
bt_solver_ = Solver;
std::shared_ptr<btDiscreteDynamicsWorld> DWorld(
new btDiscreteDynamicsWorld(bt_dispatcher_.get(),
bt_broadphase_.get(),
bt_solver_.get(),
&collision_configuration_) );
dynamics_world_ = DWorld;
dynamics_world_->setGravity( btVector3(0, 0, gravity_acc_) );
dynamics_world_->setDebugDrawer( &debug_drawer_ );
dynamics_world_->getDebugDrawer()->
setDebugMode(btIDebugDraw::DBG_DrawWireframe +
btIDebugDraw::DBG_FastWireframe +
btIDebugDraw::DBG_DrawConstraints);
vehicle_raycaster_ = new btDefaultVehicleRaycaster(dynamics_world_.get());
return true;
}
void EditBoxCollection::SendKey(const char *key)
{
KeyInfo k;
k.skey = shIsCtrl;
strcpy(k.KeyName, key);
Dispatcher(k);
}
void makeCurrentToWaitingMegPCB(INT32 process_id, INT32 *error_ptr)
{
if(process_id == -1)
{
{
makeWaitngMegPCBToS = current_PCB_PTR;
addToWaitingMegPCBQ(makeWaitngMegPCBToS);
*error_ptr = ERR_SUCCESS;
Dispatcher();
}
}
}
//This function suspends a PCB
void SuspendProcess(struct Process_Control_Block *PCB) {
//check input PCB, suspend only if it's not NULL
if (PCB != NULL) {
//suspend only if there're other PCBs alive
if (PCBLiveNumber() > 1) {
//set PCB state
PCB->ProcessState = PCB_STATE_SUSPEND;
pcbTable->Suspended_Number += 1;
//if suspend current PCB, start a new one
if (PCB == CurrentPCB()) {
Dispatcher();
}
}
}
}
void os_suspend_process(INT32 process_id, INT32 *error_ptr)
{
if(process_id == -1)
{
if((timerHead == NULL && readyHead == NULL))
{
*error_ptr = ERROR;
printf("Suspend the Only Process.\n");
}
else
{
makeSuspend = current_PCB_PTR;
lockSuspend();
addToSuspendQ(makeSuspend);
unlockSuspend();
*error_ptr = ERR_SUCCESS;
Dispatcher();
}
}
else if(process_id != -1)
{
makeReadyToSuspend(process_id,error_ptr);
if(*error_ptr != ERROR)
{
schedular_printer(SUSPEND);
addToSuspendQ(makeSuspend);
*error_ptr = ERR_SUCCESS;
}
}
{
makeWaitngMegPCBToSuspend(process_id,error_ptr);
if(*error_ptr != ERROR)
{
schedular_printer(SUSPEND);
makeWaitngMegPCBToS->p_meg_status = CHANGE;
addToSuspendQ(makeWaitngMegPCBToS);
change_waiting_meg_status(makeWaitngMegPCBToS->p_id);
*error_ptr = ERR_SUCCESS;
}
}
}
void rr::CallDispatcher()
{
Dispatcher();
}
bool blinkDashLight(Task*) {
if (!Dispatcher().isEnabled()) {
// Only send light if not enabled
Frame dashMessage = { .id=VCU_ID, .body={BLINK_LIGHT}, .len=1};
CAN().write(dashMessage);
}
bool requestPermanentUpdatesRight(Task*) {
Dispatcher().requestRightMotorUpdates();
return false;
}
// Request message from both motors
void requestMotorHeartbeat(Task*) {
Dispatcher().requestMotorHeartbeat();
}
void osInit(int argc, char *argv[]) {
INT32 i;
MEMORY_MAPPED_IO mmio;
long a;
long b;
long* arg0=(long*)"test2a"; //default ruuning test
long* arg1=(long*)test2a;
long* arg2=(long*)10;
long* arg3=& a;
long* arg4=& b;
// Demonstrates how calling arguments are passed thru to here
printf( "Program called with %d arguments:", argc );
for ( i = 0; i < argc; i++ )
printf( " %s", argv[i] );
printf( "\n" );
printf( "Calling with argument 'sample' executes the sample program.\n" );
// Here we check if a second argument is present on the command line.
// If so, run in multiprocessor mode
if ( argc > 2 ){
printf("Simulation is running as a MultProcessor\n\n");
mmio.Mode = Z502SetProcessorNumber;
mmio.Field1 = MAX_NUMBER_OF_PROCESSORS;
mmio.Field2 = (long) 0;
mmio.Field3 = (long) 0;
mmio.Field4 = (long) 0;
MEM_WRITE(Z502Processor, &mmio); // Set the number of processors
}
else {
printf("Simulation is running as a UniProcessor\n");
printf("Add an 'M' to the command line to invoke multiprocessor operation.\n\n");
}
// Setup so handlers will come to code in base.c
TO_VECTOR[TO_VECTOR_INT_HANDLER_ADDR ] = (void *) InterruptHandler;
TO_VECTOR[TO_VECTOR_FAULT_HANDLER_ADDR ] = (void *) FaultHandler;
TO_VECTOR[TO_VECTOR_TRAP_HANDLER_ADDR ] = (void *) svc;
if((argc > 1) && (strcmp(argv[1], "test1a") == 0)){
arg0=(long*)"test1a";
arg1=(long*)test1a;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1b") == 0)){
arg0=(long*)"test1b";
arg1=(long*)test1b;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1c") == 0)){
arg0=(long*)"test1c";
arg1=(long*)test1c;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1d") == 0)){
arg0=(long*)"test1d";
arg1=(long*)test1d;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1e") == 0)){
arg0=(long*)"test1e";
arg1=(long*)test1e;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1f") == 0)){
arg0=(long*)"test1f";
arg1=(long*)test1f;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1g") == 0)){
arg0=(long*)"test1g";
arg1=(long*)test1g;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1h") == 0)){
arg0=(long*)"test1h";
arg1=(long*)test1h;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1i") == 0)){
arg0=(long*)"test1i";
arg1=(long*)test1i;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1j") == 0)){
arg0=(long*)"test1j";
arg1=(long*)test1j;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test1k") == 0)){
arg0=(long*)"test1k";
arg1=(long*)test1k;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
/*project2*/
if((argc > 1) && (strcmp(argv[1], "test2a") == 0)){
arg0=(long*)"test2a";
arg1=(long*)test2a;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2b") == 0)){
arg0=(long*)"test2b";
arg1=(long*)test2b;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2c") == 0)){
arg0=(long*)"test2c";
arg1=(long*)test2c;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2d") == 0)){
arg0=(long*)"test2d";
arg1=(long*)test2d;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2e") == 0)){
arg0=(long*)"test2e";
arg1=(long*)test2e;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2f") == 0)){
arg0=(long*)"test2f";
arg1=(long*)test2f;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2g") == 0)){
arg0=(long*)"test2g";
arg1=(long*)test2g;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
if((argc > 1) && (strcmp(argv[1], "test2h") == 0)){
arg0=(long*)"test2h";
arg1=(long*)test2h;
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
else{
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
Dispatcher();
}
} // End of osInit
void svc(SYSTEM_CALL_DATA *SystemCallData) {
short call_type;
static short do_print = 10;
short i;
INT32 Time;
int Status;
void *PageTable;
char* processName;
MEMORY_MAPPED_IO mmio;
call_type = (short) SystemCallData->SystemCallNumber;
if (do_print > 0) {
printf("SVC handler: %s\n", call_names[call_type]);
for (i = 0; i < SystemCallData->NumberOfArguments - 1; i++) {
//Value = (long)*SystemCallData->Argument[i];
printf("Arg %d: Contents = (Decimal) %8ld, (Hex) %8lX\n", i,
(unsigned long) SystemCallData->Argument[i],
(unsigned long) SystemCallData->Argument[i]);
}
do_print--;
}
// printf((char *) SystemCallData->Argument[i]);
switch (call_type) {
//get time service call
case SYSNUM_GET_TIME_OF_DAY:
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Clock, &mmio);
*(long *) SystemCallData->Argument[0] = mmio.Field1;
break;
//system sleep call
case SYSNUM_SLEEP:
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Clock, &mmio);
Time = (long) SystemCallData->Argument[0];
pcb = FindCurrent(runningProcessPid);
pcb->wakeUpTimer = Time;
EnTimerQueue(&pcb_timer_queue, pcb);
//start timer
headPCB = GetHead(&pcb_timer_queue)->data;
if (pcb == headPCB) {
mmio.Mode = Z502Start;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = mmio.Field3 = 0;
MEM_WRITE(Z502Timer, &mmio);
}
Dispatcher();
break;
//system create process
case SYSNUM_CREATE_PROCESS:
if ((long) SystemCallData->Argument[2] < 0) {
*SystemCallData->Argument[4] = ERR_BAD_PARAM;
} else {
PageTable = (void *) calloc(2, NUMBER_VIRTUAL_PAGES);
mmio.Mode = Z502InitializeContext;
mmio.Field1 = 0;
mmio.Field2 = (long) SystemCallData->Argument[1];
mmio.Field3 = (long) PageTable;
MEM_WRITE(Z502Context, &mmio);
pcb = OSCreateProcess((char*) SystemCallData->Argument[0],
(long) mmio.Field1, (long) SystemCallData->Argument[2],
(long) SystemCallData->Argument[3],
(long) SystemCallData->Argument[4]);
if (pcb != NULL) {
EnQueue(&pcb_ready_queue, (void*) pcb);
*SystemCallData->Argument[3] = pcb->pid;
*SystemCallData->Argument[4] = ERR_SUCCESS;
} else {
*SystemCallData->Argument[4] = ERR_BAD_PARAM;
}
}
break;
//system get process id
case SYSNUM_GET_PROCESS_ID:
processName = (char*) SystemCallData->Argument[0];
if (strlen(processName) == 0) {
*SystemCallData->Argument[1] = runningProcessPid;
*SystemCallData->Argument[2] = ERR_SUCCESS;
} else {
pcb = FindPCBByName(processName);
}
if (pcb != NULL) {
*SystemCallData->Argument[1] = pcb->pid;
*SystemCallData->Argument[2] = ERR_SUCCESS;
} else {
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
}
break;
case SYSNUM_PHYSICAL_DISK_READ:
do {
mmio.Mode = Z502Status;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Disk, &mmio);
CALL(WasteTime());
} while (mmio.Field2 != DEVICE_FREE);
pcb = FindCurrent(runningProcessPid);
if (pcb != NULL) {
pcb->diskID = (int) SystemCallData->Argument[0];
pcb->sectorID = (int) SystemCallData->Argument[1];
pcb->memoryBuffer = (void*) SystemCallData->Argument[2];
EnQueue(&(pcb_disk_queue[pcb->diskID]), (void*) pcb);
}
mmio.Mode = Z502DiskRead;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = (long) SystemCallData->Argument[1];
mmio.Field3 = (long) SystemCallData->Argument[2];
mmio.Field4 = 0;
MEM_READ(Z502Disk, &mmio);
do {
mmio.Mode = Z502Status;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Disk, &mmio);
CALL(WasteTime());
} while (mmio.Field2 != DEVICE_FREE);
Dispatcher();
break;
case SYSNUM_PHYSICAL_DISK_WRITE:
do {
mmio.Mode = Z502Status;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Disk, &mmio);
CALL(WasteTime());
} while (mmio.Field2 != DEVICE_FREE);
pcb = FindCurrent(runningProcessPid);
if (pcb != NULL) {
pcb->diskID = (int) SystemCallData->Argument[0];
pcb->sectorID = (int) SystemCallData->Argument[1];
pcb->memoryBuffer = (void*) SystemCallData->Argument[2];
EnQueue(&(pcb_disk_queue[pcb->diskID]), (void*) pcb);
}
mmio.Mode = Z502DiskWrite;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = (long) SystemCallData->Argument[1];
mmio.Field3 = (long) SystemCallData->Argument[2];
MEM_WRITE(Z502Disk, &mmio);
// mmio.Mode = Z502Action;
// mmio.Field1 = mmio.Field2 = mmio.Field3 = 0;
// MEM_WRITE(Z502Idle, &mmio);
do {
mmio.Mode = Z502Status;
mmio.Field1 = (long) SystemCallData->Argument[0];
mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Disk, &mmio);
CALL(WasteTime());
} while (mmio.Field2 != DEVICE_FREE);
Dispatcher();
break;
//system terminate call
case SYSNUM_TERMINATE_PROCESS:
//If ProcessID = -1, then terminate self
if ((long) SystemCallData->Argument[0] == -1) {
pcb = FindCurrent(runningProcessPid);
if (pcb != NULL) {
// ReleasePCB();
// RemovePCB(&pcb_ready_queue,(void*)pcb);
// RemovePCB(&pcb_timer_queue,(void*)pcb);
// *SystemCallData->Argument[1] = ERR_SUCCESS;
if (pcb_ready_queue.size == 0 && pcb_timer_queue.size == 0) {
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = mmio.Field4 = 0;
MEM_WRITE(Z502Halt, &mmio);
*SystemCallData->Argument[1] = ERR_SUCCESS;
} else {
Dispatcher();
}
} else {
ReleasePCB();
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = mmio.Field4 = 0;
MEM_WRITE(Z502Halt, &mmio);
*SystemCallData->Argument[1] = ERR_SUCCESS;
}
} else if ((long) SystemCallData->Argument[0] == -2) {
// terminite all halt
ReleasePCB();
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = mmio.Field4 = 0;
MEM_WRITE(Z502Halt, &mmio);
*SystemCallData->Argument[1] = ERR_SUCCESS;
// pcb = FindCurrent(runningProcessPid);
// RemovePCB(&pcb_ready_queue, (void*) pcb);
// RemovePCB(&pcb_timer_queue, (void*) pcb);
// RemovePCB(&pcb_ready_queue, (void*) pcb->childProcesses);
// RemovePCB(&pcb_timer_queue, (void*) pcb->childProcesses);
} else {
pcb = FindPCBByPID(SystemCallData->Argument[0]);
RemovePCB(&pcb_ready_queue, (void*) pcb);
*SystemCallData->Argument[1] = ERR_SUCCESS;
}
break;
defaut: printf("ERROR! call_type not recognized!\n");
printf("Call_type is %i\n", call_type);
}
} // End of svc
void osInit(int argc, char *argv[]) {
void *PageTable = (void *) calloc(2, VIRTUAL_MEM_PAGES);
INT32 i;
MEMORY_MAPPED_IO mmio;
//init Queues
initPCBTable();
initTimerQueue();
initReadyQueue();
initMessageTable();
// Demonstrates how calling arguments are passed thru to here
printf( "Program called with %d arguments:", argc );
for ( i = 0; i < argc; i++ )
printf( " %s", argv[i] );
printf( "\n" );
printf( "Calling with argument 'sample' executes the sample program.\n" );
// Here we check if a second argument is present on the command line.
// If so, run in multiprocessor mode
if ( argc > 2 ){
printf("Simulation is running as a MultProcessor\n\n");
mmio.Mode = Z502SetProcessorNumber;
mmio.Field1 = MAX_NUMBER_OF_PROCESSORS;
mmio.Field2 = (long) 0;
mmio.Field3 = (long) 0;
mmio.Field4 = (long) 0;
MEM_WRITE(Z502Processor, &mmio); // Set the number of processors
}
else {
printf("Simulation is running as a UniProcessor\n");
printf("Add an 'M' to the command line to invoke multiprocessor operation.\n\n");
}
// Setup so handlers will come to code in base.c
TO_VECTOR[TO_VECTOR_INT_HANDLER_ADDR ] = (void *) InterruptHandler;
TO_VECTOR[TO_VECTOR_FAULT_HANDLER_ADDR ] = (void *) FaultHandler;
TO_VECTOR[TO_VECTOR_TRAP_HANDLER_ADDR ] = (void *) svc;
// Determine if the switch was set, and if so go to demo routine.
PageTable = (void *) calloc(2, VIRTUAL_MEM_PAGES);
if ((argc > 1) && (strcmp(argv[1], "sample") == 0)) {
mmio.Mode = Z502InitializeContext;
mmio.Field1 = 0;
mmio.Field2 = (long) SampleCode;
mmio.Field3 = (long) PageTable;
MEM_WRITE(Z502Context, &mmio); // Start of Make Context Sequence
mmio.Mode = Z502StartContext;
// Field1 contains the value of the context returned in the last call
mmio.Field2 = START_NEW_CONTEXT_AND_SUSPEND;
MEM_WRITE(Z502Context, &mmio); // Start up the context
} // End of handler for sample code - This routine should never return here
/****************************Parse Input******************************/
long *TestToRun;
switch (argc){
case 2:
TestToRun = TestParser(argv[1]);
ProcessorMode = Uniprocessor;
break;
case 3:
TestToRun = TestParser(argv[1]);
ProcessorMode = Multiprocessor;
break;
default:
TestToRun = test1c;
ProcessorMode = Uniprocessor;
break;
}
/********************************************************************/
long ErrorReturned;
long newPID;
struct Process_Control_Block *newPCB = OSCreateProcess((long*)"test1", TestToRun, (long*)3, (long*)&newPID, (long*)&ErrorReturned);
if (newPCB != NULL) {
enPCBTable(newPCB);
enReadyQueue(newPCB);
}
Dispatcher();
} // End of osInit
void svc(SYSTEM_CALL_DATA *SystemCallData) {
short call_type;
static short do_print = 10;
short i;
//for hardware interface
MEMORY_MAPPED_IO mmio;
//for GET_TIME_OF_DAY
INT32 Temp_Clock;
//for SLEEP
long Sleep_Time;
struct Process_Control_Block *sleepPCB;
//for RESTART_PROCESS
long PID_restart;
struct Process_Control_Block *restartPCB;
struct Process_Control_Block *recreatedPCB;
//for CREATE_PROCESS
struct Process_Control_Block *newPCB;
//for TERMINATE_PROCESS
long termPID;
struct Process_Control_Block *termPCB;
//for GET_PROCESS_ID
int ReturnedPID;
char* ProcessName;
struct Process_Control_Block *PCBbyProcessName;
//for SUSPEND_PROCESS
int suspendPID;
struct Process_Control_Block *suspendPCB;
//for RESUME_PROCESS
int resumePID;
struct Process_Control_Block *resumePCB;
//for CHANGE_PRIORITY
int changePrioPID;
struct Process_Control_Block *changePrioPCB;
int newPriority;
//for SEND_MESSAGE
long TargetPID;
char *MessageBuffer;
long SendLength;
struct Message *MessageCreated;
long *ErrorReturned_SendMessage;
//for RECEIVE_MESSAGE
long SourcePID;
char *ReceiveBuffer;
long ReceiveLength;
long *ActualSendLength;
long *ActualSourcePID;
long *ErrorReturned_ReceiveMessage;
struct Process_Control_Block *Mess_PCB;
call_type = (short) SystemCallData->SystemCallNumber;
if (do_print > 0) {
printf("SVC handler: %s\n", call_names[call_type]);
for (i = 0; i < SystemCallData->NumberOfArguments - 1; i++) {
//Value = (long)*SystemCallData->Argument[i];
printf("Arg %d: Contents = (Decimal) %8ld, (Hex) %8lX\n", i,
(unsigned long) SystemCallData->Argument[i],
(unsigned long) SystemCallData->Argument[i]);
}
do_print--;
}
switch (call_type) {
//get and return current system time
case SYSNUM_GET_TIME_OF_DAY:
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Clock, &mmio);
Temp_Clock = mmio.Field1;
*SystemCallData->Argument[0] = Temp_Clock;
break;
//create a new PCB and put it into pcb table and ready queue
case SYSNUM_CREATE_PROCESS:
//create a new PCB
newPCB = OSCreateProcess(SystemCallData->Argument[0], SystemCallData->Argument[1],
SystemCallData->Argument[2], SystemCallData->Argument[3],
SystemCallData->Argument[4]);
//if create successfully, put it into PCB table and ready queue
if (newPCB != NULL) {
SchedularPrinter("Create", newPCB->ProcessID);//print states
enPCBTable(newPCB);
enReadyQueue(newPCB);
}
break;
//return PID regarding process name
case SYSNUM_GET_PROCESS_ID:
ProcessName = (char*)SystemCallData->Argument[0];
//if no input process name, return the current running PID
if (strcmp(ProcessName, "") == 0) {
PCBbyProcessName = CurrentPCB();
*SystemCallData->Argument[1] = PCBbyProcessName->ProcessID;
*SystemCallData->Argument[2] = ERR_SUCCESS;
}
//find the PCB in PCB table and return PID if found
else {
PCBbyProcessName = findPCBbyProcessName(ProcessName);
//if found, return PID
if (PCBbyProcessName != NULL) {
ReturnedPID = PCBbyProcessName->ProcessID;
*SystemCallData->Argument[1] = ReturnedPID;
*SystemCallData->Argument[2] = ERR_SUCCESS;
}
//if not found, return error
else {
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
}
}
break;
//if a PCB wanna sleep, put itself into timer queue and start
//a new PCB
case SYSNUM_SLEEP:
//print states
SchedularPrinter("Sleep", CurrentPID());
//Calculate WakeUpTime for PCB
Sleep_Time = (long)SystemCallData->Argument[0];
sleepPCB = CurrentPCB();
sleepPCB->WakeUpTime = CurrentTime() + Sleep_Time;
//Put current running PCB into timer queue and reset time
lockTimer();
enTimerQueue(sleepPCB);
if (sleepPCB == timerQueue->First_Element->PCB){
SetTimer(Sleep_Time);
}
unlockTimer();
//in uniprocessor, start a new PCB
//in multiprocessor, only suspend itself
if (ProcessorMode == Uniprocessor) {
//first PCB in Ready Queue starts
Dispatcher();
}
else {
OSSuspendCurrentProcess();
}
break;
//restart a PCB by terminate itself and created a new PCB with everything the same except PID
case SYSNUM_RESTART_PROCESS:
//initial return error
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
PID_restart = (long)SystemCallData->Argument[0];
//if not restart itself
if (PID_restart != CurrentPID()){
//find restarted PCB
restartPCB = findPCBbyProcessID(PID_restart);
//if PCB found, terminate itself and create a new one
if (restartPCB != NULL){
TerminateProcess(restartPCB);
recreatedPCB = OSCreateProcess(restartPCB->ProcessName, restartPCB->TestToRun,
restartPCB->Priority, SystemCallData->Argument[1], SystemCallData->Argument[2]);
//if create successfully, put it into PCB table and ready queue
if (recreatedPCB != NULL) {
*SystemCallData->Argument[2] = ERR_SUCCESS;
SchedularPrinter("Create", recreatedPCB->ProcessID);//print states
enPCBTable(recreatedPCB);
enReadyQueue(recreatedPCB);
SchedularPrinter("Restart", restartPCB->ProcessID);
}
}
else{
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
}
}
else{
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
}
break;
//terminate a process
case SYSNUM_TERMINATE_PROCESS:
termPID = (long)SystemCallData->Argument[0];
//if PID = -1, terminate current running PCB
if (termPID == -1) {
if (PCBLiveNumber() > 1) {
*SystemCallData->Argument[1] = ERR_SUCCESS;
//print states
SchedularPrinter("Terminate", termPID);
//terminate current PCB
TerminateProcess(CurrentPCB());
}
else {
*SystemCallData->Argument[1] = ERR_SUCCESS;
HaltProcess();
}
}
//if PID = -2, terminate OS
if (termPID == -2) {
*SystemCallData->Argument[1] = ERR_SUCCESS;
HaltProcess();
}
//if PID positive, terminate specified PID
else {
termPCB = findPCBbyProcessID((long)SystemCallData->Argument[0]);
//if PCB found, terminate it
if (termPCB != NULL) {
*SystemCallData->Argument[1] = ERR_SUCCESS;
//if more than one PCB alive, simply terminate it
if (PCBLiveNumber() > 1) {
//print states
SchedularPrinter("Terminate", termPID);
//terminate specified PCB
TerminateProcess(termPCB);
}
//if last alive PCB, terminate OS
else {
HaltProcess();
}
}
else {
*SystemCallData->Argument[1] = ERR_BAD_PARAM;
}
}
break;
//suspend a PCB, which can be resumed
case SYSNUM_SUSPEND_PROCESS:
suspendPID = (int)SystemCallData->Argument[0];
//if PID = -1, suspend current running PCB
if (suspendPID == -1) {
//if more than one PCB alive, suspend it
if (PCBLiveNumber() > 1) {
*SystemCallData->Argument[1] = ERR_SUCCESS;
//print states
SchedularPrinter("Suspend", suspendPID);
//Suspend Current Process
SuspendProcess(CurrentPCB());
}
//if last one PCB alive, return error
else {
*SystemCallData->Argument[1] = ERR_BAD_PARAM;
}
}
//if PID positive, suspend specified PCB
else {
suspendPCB = findPCBbyProcessID((int)suspendPID);
//if PCB found
if (suspendPCB != NULL) {
//if more than one PCB alive, suspend it
if (suspendPCB->ProcessState == PCB_STATE_LIVE && PCBLiveNumber() > 1) {
*SystemCallData->Argument[1] = ERR_SUCCESS;
//print states
SchedularPrinter("Suspend", suspendPID);
//Suspend specified process
SuspendProcess(suspendPCB);
}
//if last one PCB alive, return error
else {
*SystemCallData->Argument[1] = ERR_BAD_PARAM;
}
}
else {
*SystemCallData->Argument[1] = ERR_BAD_PARAM;
}
}
break;
//resumes a previously suspended PCB
case SYSNUM_RESUME_PROCESS:
resumePID = (int)SystemCallData->Argument[0];
resumePCB = findPCBbyProcessID(resumePID);
//if PCB found
if (resumePCB != NULL) {
//if PCB is previously suspended
if (resumePCB->ProcessState == PCB_STATE_SUSPEND) {
*SystemCallData->Argument[1] = ERR_SUCCESS;
//print states
SchedularPrinter("Resume", resumePID);
//Resume specified process
ResumeProcess(resumePCB);
}
else {
*SystemCallData->Argument[1] = ERR_BAD_PARAM;
}
}
else {
*SystemCallData->Argument[1] = ERR_BAD_PARAM;
}
break;
//change the priority of a PCB
case SYSNUM_CHANGE_PRIORITY:
changePrioPID = (int)SystemCallData->Argument[0];
changePrioPCB = findPCBbyProcessID((int)changePrioPID);
newPriority = (int)SystemCallData->Argument[1];
//if legal priority
if (newPriority<=40 && newPriority>=0) {
if (changePrioPCB != NULL) {
*SystemCallData->Argument[2] = ERR_SUCCESS;
//print states
printf("Before changing Priority\n");
SchedularPrinter("ChangePrio", changePrioPID);
//if PCB in ready queue, change order in ready queue
if (changePrioPCB->ProcessLocation == PCB_LOCATION_READY_QUEUE
&& newPriority != changePrioPCB->Priority) {
changePrioPCB = deCertainPCBFromReadyQueue(changePrioPID);
changePrioPCB->Priority = newPriority;
enReadyQueue(changePrioPCB);
}
else {
changePrioPCB->Priority = newPriority;
}
//print states
printf("After changing Priority\n");
SchedularPrinter("ChangePrio", changePrioPID);
}
else {
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
}
}
else {
*SystemCallData->Argument[2] = ERR_BAD_PARAM;
}
break;
//PCB stores a message in message table
case SYSNUM_SEND_MESSAGE:
TargetPID = (long)SystemCallData->Argument[0];
MessageBuffer = (char*)SystemCallData->Argument[1];
SendLength = (long)SystemCallData->Argument[2];
ErrorReturned_SendMessage = SystemCallData->Argument[3];
//create a message
MessageCreated = CreateMessage(TargetPID, MessageBuffer,
SendLength, ErrorReturned_SendMessage);
//if successfully create a message, put it into message table
if (MessageCreated != NULL) {
SchedularPrinter("SendMsg", TargetPID);
enMessageTable(MessageCreated);
}
break;
//retrive a message in message table
case SYSNUM_RECEIVE_MESSAGE:
SourcePID = (long)SystemCallData->Argument[0];
ReceiveBuffer = (char*)SystemCallData->Argument[1];
ReceiveLength = (long)SystemCallData->Argument[2];
ActualSendLength = SystemCallData->Argument[3];
ActualSourcePID = SystemCallData->Argument[4];
ErrorReturned_ReceiveMessage = SystemCallData->Argument[5];
Mess_PCB = CurrentPCB();
Mess_PCB->ProcessState = PCB_STATE_MSG_SUSPEND;
pcbTable->Msg_Suspended_Number += 1;
//PCB kept suspended by sleep until find a message
while (findMessage(SourcePID, ReceiveBuffer, ReceiveLength,
ActualSendLength, ActualSourcePID, ErrorReturned_ReceiveMessage) == 0) {
Mess_PCB->WakeUpTime = CurrentTime() + 10;
//Put current running PCB into timer queue and reset time
enTimerQueue(Mess_PCB);
if (Mess_PCB == timerQueue->First_Element->PCB) {
SetTimer(10);
}
//first PCB in Ready Queue starts
Dispatcher();
}
Mess_PCB->ProcessState = PCB_STATE_LIVE;
pcbTable->Msg_Suspended_Number -= 1;
SchedularPrinter("ReceiveMsg", CurrentPID());
break;
default:
printf("ERROR! call_type not recognized!\n");
printf("Call_type is - %i\n", call_type);
}
} // End of svc
void rr::on_StepSim_clicked()
{
if(CheckQValueBeforeStart())
Dispatcher();
}
/************************************************************************
INTERRUPT_HANDLER
When the Z502 gets a hardware interrupt, it transfers control to
this routine in the OS.
************************************************************************/
void InterruptHandler(void) {
INT32 DeviceID;
INT32 Status;
INT32 ErrorState;
INT32 CurrentTime;
INT32 diskID;
QueuePtr node;
MEMORY_MAPPED_IO mmio; // Enables communication with hardware
PCB* nextPcb;
QueuePtr TEMPnode;
QueuePtr TempDnode;
static BOOL remove_this_in_your_code = TRUE; /** TEMP **/
static INT32 how_many_interrupt_entries = 0; /** TEMP **/
// Get cause of interrupt
mmio.Mode = Z502GetInterruptInfo;
mmio.Field1 = mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502InterruptDevice, &mmio);
DeviceID = mmio.Field1; //diskid
Status = mmio.Field2;
ErrorState = mmio.Field4;
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = mmio.Field4 = 0;
MEM_READ(Z502Clock, &mmio);
CurrentTime = mmio.Field1;
if (ErrorState == ERR_SUCCESS) {
switch (DeviceID) {
case TIMER_INTERRUPT :
node = DeQueue(&pcb_timer_queue);
if(node == NULL){
Dispatcher();
} else{
PCB* pcb = (PCB*) node->data;
if (pcb != NULL) {
EnQueue(&(pcb_ready_queue), (void*) pcb);
}
TEMPnode = GetHead(&pcb_timer_queue);
if (TEMPnode != NULL) {
nextPcb = TEMPnode->data;
if (nextPcb->wakeUpTimer > CurrentTime) {
mmio.Mode = Z502Start;
mmio.Field1 = (long) (nextPcb->wakeUpTimer - CurrentTime);
mmio.Field2 = mmio.Field3 = 0;
MEM_WRITE(Z502Timer, &mmio);
} else {
node = DeQueue(&pcb_timer_queue);
EnQueue(&pcb_ready_queue, (void*) node->data);
}
}
}
break;
case DISK_INTERRUPT_DISK0 :
case DISK_INTERRUPT_DISK1 :
case DISK_INTERRUPT_DISK2 :
case DISK_INTERRUPT_DISK3 :
case DISK_INTERRUPT_DISK4 :
case DISK_INTERRUPT_DISK5 :
case DISK_INTERRUPT_DISK6 :
case DISK_INTERRUPT_DISK7 :
diskID = DeviceID - DISK_INTERRUPT;
TempDnode = DeQueue(&pcb_disk_queue[diskID]);
PCB* diskPCB = (PCB*) TempDnode->data;
if (diskPCB != NULL) {
EnQueue(&pcb_ready_queue, diskPCB);
printf("");
}
break;
default:
break;
}
}
// if (ErrorState == ERR_BAD_PARAM) {
// printf("Illegal disk ID or Illegal sector");
// } else if (ErrorState == ERR_NO_PREVIOUS_WRITE) {
// printf("Reading form no previously written sector");
// } else if (ErrorState == ERR_DISK_IN_USE) {
// printf("Disk in use");
// }
// Clear out this device - we're done with it
mmio.Mode = Z502ClearInterruptStatus;
mmio.Field1 = DeviceID;
mmio.Field2 = mmio.Field3 = mmio.Field4 = 0;
MEM_WRITE(Z502InterruptDevice, &mmio);
} // End of InterruptHandler
// Handle messages as fast as possible
void dispatchPointer(Task*) {
Dispatcher().dispatch();
}
INT32 os_create_process(char *name, void *test_name, INT32 initial_prriority,INT32 *pid_ptr,INT32 *p_error_prt, INT32 status)
{
S_PCB *PCB_PTR = NULL;
if(initial_prriority == ILLEGAL)
{
*p_error_prt = ERR_BAD_PARAM;
return -1;
}
if(readyHead != NULL)
{
S_PCB *temp =readyHead;
while(temp != NULL)
{
if(strcmp(temp->p_name, name) == 0)
{
printf("same name error");
(*p_error_prt) = ERR_BAD_PARAM;
return -1;
}
else
{
temp = temp->next;
}
}
}
if(timerHead != NULL)
{
S_PCB *temp =timerHead;
while(temp != NULL)
{
if(strcmp(temp->p_name, name) == 0)
{
printf("same name error");
(*p_error_prt) = ERR_BAD_PARAM;
return -1;
}
else
{
temp = temp->next;
}
}}
//check total pid
(*p_error_prt) = ERR_BAD_PARAM;
PCB_PTR = (S_PCB*)(malloc(sizeof(S_PCB)));
PCB_PTR-> p_time = 0;
PCB_PTR->p_status = status;
PCB_PTR->p_position = CREATE;
PCB_PTR->p_id = PCBSTRARTID;
(*pid_ptr) = PCBSTRARTID;
PCBSTRARTID++;
PCB_PTR->p_time = 0;
PCB_PTR->p_priority = initial_prriority;
strcpy(PCB_PTR->p_name, name);
if(PCBSTRARTID >MAXPROCESS)
{
*p_error_prt = TOOMUCHPROCESSES;
return -1;
}
make_context(PCB_PTR, test_name);
if(status == RUN)
{
addToReadyQ(PCB_PTR);
Dispatcher();
}
else
{
addToReadyQ(PCB_PTR);
*p_error_prt = ERR_SUCCESS;
}
return 0;
}
// Check for faults at 10Hz
void checkFaults(Task*) {
Dispatcher().handleFaultPins();
}
void svc( SYSTEM_CALL_DATA *SystemCallData ) {
short call_type;
static short do_print = 10;
short i;
INT32 Time;
static long SleepTimer;
INT32 atLock = -1;
call_type = (short)SystemCallData->SystemCallNumber;
if ( do_print > 0 ) {
printf( "SVC handler: %s\n", call_names[call_type]);
for (i = 0; i < SystemCallData->NumberOfArguments - 1; i++ ){
//Value = (long)*SystemCallData->Argument[i];
printf( "Arg %d: Contents = (Decimal) %8ld, (Hex) %8lX\n", i,
(unsigned long )SystemCallData->Argument[i],
(unsigned long )SystemCallData->Argument[i]);
}
do_print--;
}
switch (call_type){
//get time service call
case SYSNUM_GET_TIME_OF_DAY: //This value is found in syscalls.h
CALL(MEM_READ( Z502ClockStatus, &Time ));
*SystemCallData->Argument[0] = Time;
break;
//terminate system call
case SYSNUM_TERMINATE_PROCESS:
CALL(MEM_READ( Z502ClockStatus, &Time ));
if(SystemCallData->Argument[0] == -1)
{
if(current_PCB_PTR->p_id==0)
{
CALL(Z502Halt());
break;
}
else
if(timerHead != NULL)
{
if(Time>TimerStatusTime)
{
start_timer(5);
CALL(Dispatcher());
break;
}
else
CALL(Dispatcher());
break;
}
else{
CALL(Dispatcher());
break;}
break;
}
else if(SystemCallData->Argument[0] == -2)
{
*SystemCallData->Argument[1] = ERR_SUCCESS;
CALL(Z502Halt());
break;
}
else
{
S_PCB *temp = readyHead;
S_PCB *prev = NULL;
while(temp != NULL)
{
if(temp->p_id ==SystemCallData->Argument[0])
{
if(temp->next == NULL)
{
*SystemCallData->Argument[1] = ERR_SUCCESS;
break;
}
else
{
*SystemCallData->Argument[1] = ERR_SUCCESS;
prev->next = temp->next;
break;
}
}
else
{
prev = temp;
temp = temp->next;
*SystemCallData->Argument[1] = ERR_SUCCESS;
break;
}
}
if(temp == NULL)
{
*SystemCallData->Argument[1] = CANNOTTERMINATE ;
}
}
break;
case SYSNUM_SLEEP:
//overTimeModify();
schedular_printer(SLEEP);
SleepTimer = SystemCallData->Argument[0];
CALL(MEM_READ( Z502ClockStatus, &Time ));
current_PCB_PTR->p_time = Time + SleepTimer;
lockTimer();
CALL(addToTimerQ(current_PCB_PTR));
unlockTimer();
if(Time<(timerHead->p_time)) //compare the wake time with current time
{
CALL(start_timer(SleepTimer));
CALL(Dispatcher());
}
else{ //if wake time is smaller than now, it need wake up immedately
CALL(start_timer(5));
CALL(Dispatcher());
}
break;
case SYSNUM_CREATE_PROCESS:
os_create_process(SystemCallData->Argument[0], SystemCallData->Argument[1],SystemCallData->Argument[2],SystemCallData->Argument[3],SystemCallData->Argument[4],NOTRUN);
break;
case SYSNUM_GET_PROCESS_ID:
os_get_process_id(SystemCallData->Argument[0], SystemCallData->Argument[1],SystemCallData->Argument[2]);
break;
case SYSNUM_SUSPEND_PROCESS:
os_suspend_process(SystemCallData->Argument[0], SystemCallData->Argument[1]);
break;
case SYSNUM_RESUME_PROCESS:
os_resume_process(SystemCallData->Argument[0], SystemCallData->Argument[1]);
break;
case SYSNUM_CHANGE_PRIORITY:
os_change_priority(SystemCallData->Argument[0], SystemCallData->Argument[1],SystemCallData->Argument[2]);
break;
case SYSNUM_SEND_MESSAGE:
os_send_message(SystemCallData->Argument[0], SystemCallData->Argument[1],SystemCallData->Argument[2],SystemCallData->Argument[3]);
break;
case SYSNUM_RECEIVE_MESSAGE:
os_receive_message(SystemCallData->Argument[0], SystemCallData->Argument[1],SystemCallData->Argument[2],SystemCallData->Argument[3],SystemCallData->Argument[4],SystemCallData->Argument[5]);
break;
default:
printf( "ERROR! Call type not reconginzed!\n");
printf( "Call_type is - %i\n", call_type);
}
}
void svc(SYSTEM_CALL_DATA *SystemCallData) {
MEMORY_MAPPED_IO mmio;
short call_type;
static short do_print = 10;
INT32 Time;
INT32 Status;
short i;
long* arg0=SystemCallData->Argument[0];
long* arg1=SystemCallData->Argument[1];
long* arg2=SystemCallData->Argument[2];
long* arg3=SystemCallData->Argument[3];
long* arg4=SystemCallData->Argument[4];
long *arg5=SystemCallData->Argument[5];
call_type = (short) SystemCallData->SystemCallNumber;
if (do_print > 0) {
printf("SVC handler: %s\n", call_names[call_type]);
for (i = 0; i < SystemCallData->NumberOfArguments - 1; i++) {
printf("Arg %d: Contents = (Decimal) %8ld, (Hex) %8lX\n", i,
(unsigned long) SystemCallData->Argument[i],
(unsigned long) SystemCallData->Argument[i]);
}
do_print--;
}
switch (call_type) {
// Get time service call
case SYSNUM_GET_TIME_OF_DAY:
mmio.Mode = Z502ReturnValue;
mmio.Field1 = mmio.Field2 = mmio.Field3 = 0;
MEM_READ(Z502Clock, &mmio);//hardware call
Time = mmio.Field1;
(SystemCallData->Argument[0])=(long*)&Time;
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
break;
// get the Timer start and generate idle.
case SYSNUM_SLEEP:
startTimer(arg0);
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
Dispatcher();//call dispatcher
break;
// create process
case SYSNUM_CREATE_PROCESS:
OSCreateProcess(arg0,arg1,arg2,arg3,arg4);
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
break;
// get process id
case SYSNUM_GET_PROCESS_ID:
getProcessID(arg0,arg1,arg2);
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
break;
// suspend process
case SYSNUM_SUSPEND_PROCESS:
suspendProcess(arg0, arg1);
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
break;
// resume the process
case SYSNUM_RESUME_PROCESS:
resumeProcess(arg0, arg1);
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
break;
// change priority;
case SYSNUM_CHANGE_PRIORITY:
changePriority(arg0,arg1,arg2);
//statePrinter(call_type,arg0, arg1, arg2, arg3, arg4);
break;
// terminate system call
case SYSNUM_TERMINATE_PROCESS:
terminateSysProcess(arg0,arg1);
break;
case SYSNUM_SEND_MESSAGE:
Send_message(arg0, arg1, arg2, arg3);
break;
case SYSNUM_RECEIVE_MESSAGE:
ReceiveMessage(arg0, arg1, arg2, arg3, arg4, arg5);
break;
case SYSNUM_DISK_WRITE:
DiskWrite(arg0, arg1, arg2);
break;
case SYSNUM_DISK_READ:
DiskRead(arg0, arg1, arg2);
break;
case SYSNUM_DEFINE_SHARED_AREA:
DefineSharedArea(arg0, arg1, arg2,arg3,arg4);
break;
default:
printf( "ERROR! call_type not recognized!\n" );
printf( "Call_type is - %i\n", call_type);
}
} // End of svc
