/*
* Initialization.
*
* minithread_system_initialize:
* This procedure should be called from your C main procedure
* to turn a single threaded UNIX process into a multithreaded
* program.
*
* Initialize any private data structures.
* Create the idle thread.
* Fork the thread which should call mainproc(mainarg)
* Start scheduling.
*
* Note that the runnable_q is protected by disabling interrupts.
* All other data structures are protected with binary semaphores.
*
*/
void
minithread_system_initialize(proc_t mainproc, arg_t mainarg) {
minithread_t clean_up_thread = NULL;
minithread_t process_packets_thread = NULL;
int a = 0;
void* dummy_ptr = NULL;
dummy_ptr = (void*)&a;
current_id = 0; // the next thread id to be assigned
id_lock = semaphore_create();
semaphore_initialize(id_lock,1);
runnable_q = multilevel_queue_new(4);
blocked_q = queue_new();
blocked_q_lock = semaphore_create();
semaphore_initialize(blocked_q_lock,1);
dead_q = queue_new();
dead_q_lock = semaphore_create();
semaphore_initialize(dead_q_lock,1);
dead_sem = semaphore_create();
semaphore_initialize(dead_sem,0);
clean_up_thread = minithread_create(clean_up, NULL);
multilevel_queue_enqueue(runnable_q,
clean_up_thread->priority,clean_up_thread);
runnable_count++;
minimsg_initialize();
process_packets_thread = minithread_create(process_packets, NULL);
multilevel_queue_enqueue(runnable_q,
process_packets_thread->priority,process_packets_thread);
runnable_count++;
minithread_clock_init(TIME_QUANTA, (interrupt_handler_t)clock_handler);
network_initialize((network_handler_t) network_handler);
init_alarm();
current_thread = minithread_create(mainproc, mainarg);
minithread_switch(&dummy_ptr, &(current_thread->stacktop));
return;
}
/*
* Initialize the system to run the first minithread at
* mainproc(mainarg). This procedure should be called from your
* main program with the callback procedure and argument specified
* as arguments.
*/
void
minithread_system_initialize(proc_t mainproc, arg_t mainarg) {
runnable_queue = multilevel_queue_new(MAX_LEVELS);
stopped_queue = queue_new();
scheduler_thread = scheduler_thread_create();
assert(scheduler_thread);
running_thread = scheduler_thread;
int res = network_initialize((network_handler_t) network_handler);
assert(res == 0);
alarm_system_initialize();
minimsg_initialize();
minisocket_initialize();
reaper_thread = minithread_create(clean_stopped_threads, NULL);
minithread_fork(mainproc, mainarg);
interrupt_level_t prev_level = set_interrupt_level(ENABLED);
minithread_clock_init(PERIOD * MILLISECOND, clock_handler);
while (1) {
if (!multilevel_queue_is_empty(runnable_queue)) {
minithread_yield();
}
}
set_interrupt_level(prev_level);
multilevel_queue_free(runnable_queue);
queue_free(stopped_queue);
}
/*
* Initialization.
* Initializes reaper and idle threads, starts and initializes main thread.
* Also creates the scheduler and other data
*
*/
void minithread_system_initialize(proc_t mainproc, arg_t mainarg) {
//allocate room for schedule data (global)
schedule_data = (scheduler *) malloc(sizeof(scheduler));
if (schedule_data == NULL) {
exit(1); //OOM
}
schedule_data->cleanup_queue = queue_new();
schedule_data->multi_run_queue = multilevel_queue_new(num_levels);
reaper_sema = semaphore_create();
semaphore_initialize(reaper_sema, 0);
// create main thread
minithread_t* main_thread = minithread_fork(mainproc, mainarg);
// initialize idle thread
idle_thread = (minithread_t *) malloc(sizeof(minithread_t));
idle_thread->stacktop = NULL;
idle_thread->thread_id = -1;
//initialize alarm bookeeping data structure (priority queue)
alarm_init();
//remove from run queue and run it
schedule_data->running_thread = main_thread;
main_thread->status = RUNNING;
multilevel_queue_dequeue(schedule_data->multi_run_queue, 0, (void *) main_thread);
//reaper thread init
reaper_thread = minithread_create(reaper_queue_cleanup, NULL);
minithread_start(reaper_thread);
//Start clock
minithread_clock_init(clock_period, clock_handler);
//Initialize network
network_initialize(network_handler);
//START MAIN PROC
//minithread_switch also enables clock interrupts
minithread_switch(&idle_thread->stacktop, &main_thread->stacktop);
//always comes back here to idle in the kernel level (allows freeing resources)
while (1) {
minithread_t* next = next_runnable();
set_interrupt_level(DISABLED);
next->status = RUNNING;
schedule_data->running_thread = next;
minithread_switch(&idle_thread->stacktop, &next->stacktop);
}
}
static void
network_constructed (GObject *object)
{
Network *self = NETWORK (object);
GError *local_error = NULL;
GError **error = &local_error;
if (!network_initialize (self, NULL, error))
goto out;
out:
if (local_error)
g_warning ("Failed to initialize network: %s", local_error->message);
g_clear_error (&local_error);
if (G_OBJECT_CLASS (network_parent_class)->constructed != NULL)
G_OBJECT_CLASS (network_parent_class)->constructed (object);
}
/*
* Initialization.
*
* minithread_system_initialize:
* This procedure should be called from your C main procedure
* to turn a single threaded UNIX process into a multithreaded
* program.
*
* Initialize any private data structures.
* Create the idle thread.
* Fork the thread which should call mainproc(mainarg)
* Start scheduling.
*
*/
void minithread_system_initialize(proc_t mainproc, arg_t mainarg) {
// create an initial TCB
minithread_t tcb = (minithread_t) malloc(sizeof(minithread));
// Create a dummy pointer that points nowhere for the idle thread's stack
stack_pointer_t* stack_top = (stack_pointer_t*) malloc(sizeof(stack_pointer_t));
// Create the ready queue
ready_queue = multilevel_queue_new(4);
// There are currently 0 ready threads
ready_threads = 0;
// Set the current level we inspect in the ML queue to 0
current_level = 0;
// The first level of the queue has quanta of 1 period
ticks_until_switch = 1;
// The number of ticks to spend in the first ML queue level
ticks_until_next_level = 80;
// Create the waiting queue
cleanup_queue = queue_new();
// Create the alarm queue
alarm_queue = queue_new();
// Create the cleanup semaphore
cleanup_sem = semaphore_create();
semaphore_initialize(cleanup_sem, 0);
// Initialize the TCB
tcb->id = 0;
tcb->priority = 0;
tcb->proc = (proc_t) minithread_idle;
tcb->arg = NULL;
tcb->dir_block_id = 0; // it'll never be used anyway
// remember to update the initialize stack call a few lines down too -
// the first 2 nulls should also be proc/arg
// Allocate the stack
tcb->stack_base = NULL; // don't need this
// just give it a dummy pointer so it can context switch
tcb->stack_top = stack_top;
// Set the global variables
idle = tcb;
running = idle;
// Setup interrupts
minithread_clock_init(&interrupt_handler);
// Setup disk interrupts
install_disk_handler((interrupt_handler_t) &disk_interrupt_handler);
// Initialize the keyboard
miniterm_initialize();
// Initialize the minimsg layer
minimsg_initialize();
// Initialize the minisocket layer
minisocket_initialize();
// Initialize the miniroute layer
miniroute_initialize();
// Before interrupts are enabled, start the network handler
network_initialize((interrupt_handler_t) &network_handler);
// Initialize the filesystem
minifile_initialize();
// Fork the mainproc(mainarg) thread
minithread_fork(mainproc, mainarg);
// Fork a cleanup thread
cleanup = minithread_fork((proc_t) minithread_cleanup, NULL);
// Enable the interrupts
set_interrupt_level(ENABLED);
// Start the idle procedure
minithread_idle(NULL);
}
void main(void)
{
static nabto_main_setup* nms;
static char versionString[NABTO_DEVICE_VERSION_MAX_SIZE];
static char idString[NABTO_DEVICE_NAME_MAX_SIZE];
#if NABTO_ENABLE_UCRYPTO
static const far rom uint8_t dummySharedSecret[16] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static const far rom uint8_t* sharedSecret;
#endif
// <editor-fold desc="Load information from bootloader and application data areas.">
// Clear the global TCP/IP data structure and load it with the boards unique preprogrammed MAC address.
memset((void*) &AppConfig, 0x00, sizeof (AppConfig));
memcpypgm2ram(&AppConfig.MyMACAddr, (const __ROM uint8_t*) bootloaderData.version1.mac, 6);
if(bootloaderData.base.bootloaderDataVersion == 1)
{
strcpypgm2ram(idString, (const far rom char*) bootloaderData.version1.serialNumber);
strcatpgm2ram(idString, ".nabduino.net");
#if NABTO_ENABLE_UCRYPTO
// sharedSecret = applicationData.sharedSecret; // the old pre-bootloader-version-2 way of storing the shared secret - obsolete!
#endif
}
else if(bootloaderData.base.bootloaderDataVersion == 2)
{
hardwareVersion = (uint8_t) bootloaderData.version2.hardwareVersionMajor;
hardwareVersion <<= 8;
hardwareVersion |= (uint8_t) bootloaderData.version2.hardwareVersionMinor;
if(hardwareVersion == 0x0004)
{
hardwareVersionIndex = 0; // first version of the board that was released.
}
else if(hardwareVersion == 0x0102)
{
hardwareVersionIndex = 1; // second version of the board that was released (yes we jumped from 0.4 beta to 1.2).
}
else if(hardwareVersion == 0x0103)
{
hardwareVersionIndex = 2; // third version of the board
}
strcpypgm2ram(idString, (const far rom char*) bootloaderData.version2.deviceId);
strcatpgm2ram(idString, (const far rom char*) bootloaderData.version2.productDomain);
#if NABTO_ENABLE_UCRYPTO
sharedSecret = bootloaderData.version2.sharedSecret;
#endif
}
else
{ // unsupported version so it's probably safe to assume that bootloader data has been wiped - please fill in the appropriate values for your Nabduino board
hardwareVersionIndex = 0; // hardware version 0.4 = 0, v1.2 = 1, v1.3 = 2
AppConfig.MyMACAddr.v[0] = 0xBC; // Nabto owned MAC OUI is BC:A4:E1
AppConfig.MyMACAddr.v[1] = 0xA4;
AppConfig.MyMACAddr.v[2] = 0xE1;
AppConfig.MyMACAddr.v[3] = 0x00;
AppConfig.MyMACAddr.v[4] = 0x00;
AppConfig.MyMACAddr.v[5] = 0x00; // If using more than one Nabduino on the same network make this byte unique for each board
strcpypgm2ram(idString, "XXX"); // replace XXX with the id of the Nabduino board
strcatpgm2ram(idString, ".nabduino.net");
#if NABTO_ENABLE_UCRYPTO
sharedSecret = dummySharedSecret;
#endif
}
// </editor-fold>
// Initialize IOs etc. taking into account the hardware version.
hal_initialize();
// Initialize the platform (timing, TCP/IP stack, DHCP and some PIC18 specific stuff)
platform_initialize();
network_initialize();
nms = unabto_init_context();
nms->id = (const char*) idString;
// build version string: <application SVN version>/<bootloader SVN version>/<hardware major version>.<hardware minor version>
itoa(RELEASE_MINOR, versionString);
strcatpgm2ram(versionString + strlen(versionString), "/");
itoa(bootloaderData.base.buildVersion, versionString + strlen(versionString));
strcatpgm2ram(versionString + strlen(versionString), "/");
itoa(hardwareVersion >> 8, versionString + strlen(versionString));
strcatpgm2ram(versionString + strlen(versionString), ".");
itoa(hardwareVersion & 0xff, versionString + strlen(versionString));
nms->version = (const char*) versionString;
#if NABTO_ENABLE_UCRYPTO
memcpypgm2ram(nms->presharedKey, (const __ROM void*) sharedSecret, 16);
nms->secureAttach = true;
nms->secureData = true;
nms->cryptoSuite = CRYPT_W_AES_CBC_HMAC_SHA256;
#endif
setup((char**) &nms->url);
unabto_init();
while(1)
{
hal_tick();
platform_tick();
network_tick();
unabto_tick();
loop();
}
}
int main (int argc,char *argv[]) {
int opt;
int ijob = -1;
int action = ACTION_NONE;
struct job job;
int nRet = 0;
if(network_initialize() != 0) {
fprintf (stderr,"Could not initialize the network: %s\n", drerrno_str());
nRet = 1;
goto cleanup;
}
while ((opt = getopt (argc,argv,"sdcktj:vh")) != -1) {
switch (opt) {
case 's':
action = ACTION_STOP;
break;
case 'd':
action = ACTION_DEL;
break;
case 'c':
action = ACTION_CONT;
break;
case 'k':
action = ACTION_HSTOP;
break;
case 't':
action = ACTION_STATUS;
break;
case 'j':
ijob = atoi (optarg);
break;
case 'v':
show_version (argv);
goto cleanup;
case '?':
case 'h':
usage();
nRet = 1;
goto cleanup;
}
}
if ((ijob == -1) || (action == ACTION_NONE)) {
usage ();
nRet = 1;
goto cleanup;
}
set_default_env();
if (!common_environment_check()) {
fprintf (stderr,"Error checking the environment: %s\n",drerrno_str());
nRet = 1;
goto cleanup;
}
switch (action) {
case ACTION_STOP:
printf ("Stopping job: %i\n",ijob);
request_job_stop((uint32_t)ijob,CLIENT);
break;
case ACTION_HSTOP:
printf ("Hard stopping job: %i\n",ijob);
request_job_hstop((uint32_t)ijob,CLIENT);
break;
case ACTION_DEL:
printf ("Deleting job: %i\n",ijob);
request_job_delete((uint32_t)ijob,CLIENT);
break;
case ACTION_CONT:
printf ("Continue job: %i\n",ijob);
request_job_continue((uint32_t)ijob,CLIENT);
break;
case ACTION_STATUS:
request_job_xfer((uint32_t)ijob,&job,CLIENT);
printf ("%s\n",job_status_string(job.status));
break;
}
cleanup:
network_shutdown();
return nRet;
}
