//-------------------------------------------------------------------------
// FUNCTION DECLARATION
//-------------------------------------------------------------------------
void hardware_init(void){
// Starting the evaluation
EVAL_START();
// LEDS
led_init();
// SYSTEM TIMER
timer_hardware_init(DEFAULT_INTERVAL, DEFAULT_SCALE);
// UART
ker_push_current_pid(KER_UART_PID);
uart_system_init();
ker_pop_current_pid();
#ifndef NO_SOS_UART
//! Initalize uart comm channel
ker_push_current_pid(KER_UART_PID);
sos_uart_init();
ker_pop_current_pid();
#endif
}
/**
* @brief dispatch short message
* This is used by the callback that was register by interrupt handler
*/
void sched_dispatch_short_message(sos_pid_t dst, sos_pid_t src,
uint8_t type, uint8_t byte,
uint16_t word, uint16_t flag)
{
sos_module_t *handle;
msg_handler_t handler;
void *handler_state;
MsgParam *p;
handle = ker_get_module(dst);
if( handle == NULL ) { return; }
handler = (msg_handler_t)sos_read_header_ptr(handle->header,
offsetof(mod_header_t,
module_handler));
handler_state = handle->handler_state;
p = (MsgParam*)(short_msg.data);
short_msg.did = dst;
short_msg.sid = src;
short_msg.type = type;
p->byte = byte;
p->word = word;
short_msg.flag = flag;
/*
* Update current pid
*/
// curr_pid = dst;
ker_log( SOS_LOG_HANDLE_MSG, curr_pid, type );
ker_push_current_pid(dst);
handler(handler_state, &short_msg);
ker_pop_current_pid();
ker_log( SOS_LOG_HANDLE_MSG_END, curr_pid, type );
}
static void do_dispatch()
{
Message *e; // Current message being dispatched
sos_module_t *handle; // Pointer to the control block of the destination module
Message *inner_msg = NULL; // Message sent as a payload in MSG_PKT_SENDDONE
sos_pid_t senddone_dst_pid = NULL_PID; // Destination module ID for the MSG_PKT_SENDDONE
uint8_t senddone_flag = SOS_MSG_SEND_FAIL; // Status information for the MSG_PKT_SENDDONE
SOS_MEASUREMENT_DEQUEUE_START();
e = mq_dequeue(&schedpq);
SOS_MEASUREMENT_DEQUEUE_END();
handle = ker_get_module(e->did);
// Destination module might muck around with the
// type field. So we check type before dispatch
if(e->type == MSG_PKT_SENDDONE) {
inner_msg = (Message*)(e->data);
}
// Check for reliable message delivery
if(flag_msg_reliable(e->flag)) {
senddone_dst_pid = e->sid;
}
// Deliver message to the monitor
// Ram - Modules might access kernel domain here
monitor_deliver_incoming_msg_to_monitor(e);
if(handle != NULL) {
if(sched_message_filtered(handle, e) == false) {
int8_t ret;
msg_handler_t handler;
void *handler_state;
DEBUG("###################################################################\n");
DEBUG("MESSAGE FROM %d TO %d OF TYPE %d\n", e->sid, e->did, e->type);
DEBUG("###################################################################\n");
// Get the function pointer to the message handler
handler = (msg_handler_t)sos_read_header_ptr(handle->header,
offsetof(mod_header_t,
module_handler));
// Get the pointer to the module state
handler_state = handle->handler_state;
// Change ownership if the release flag is set
// Ram - How to deal with memory blocks that are not released ?
if(flag_msg_release(e->flag)){
ker_change_own(e->data, e->did);
}
DEBUG("RUNNING HANDLER OF MODULE %d \n", handle->pid);
// curr_pid = handle->pid;
ker_log( SOS_LOG_HANDLE_MSG, curr_pid, e->type );
ker_push_current_pid(handle->pid);
ret = handler(handler_state, e);
ker_pop_current_pid();
ker_log( SOS_LOG_HANDLE_MSG_END, curr_pid, e->type );
DEBUG("FINISHED HANDLER OF MODULE %d \n", handle->pid);
if (ret == SOS_OK) senddone_flag = 0;
}
} else {
//XXX no error notification for now.
DEBUG("Scheduler: Unable to find module\n");
}
if(inner_msg != NULL) {
//! this is SENDDONE message
msg_dispose(inner_msg);
msg_dispose(e);
} else {
if(senddone_dst_pid != NULL_PID) {
if(post_long(senddone_dst_pid,
KER_SCHED_PID,
MSG_PKT_SENDDONE,
sizeof(Message), e,
senddone_flag) < 0) {
msg_dispose(e);
}
} else {
//! return message back to the pool
msg_dispose(e);
}
}
}
/**
* @brief de-register a task (module)
* @param pid task id to be removed
* Note that this function cannot be used inside interrupt handler
*/
int8_t ker_deregister_module(sos_pid_t pid)
{
HAS_CRITICAL_SECTION;
uint8_t bins = hash_pid(pid);
sos_module_t *handle;
sos_module_t *prev_handle = NULL;
msg_handler_t handler;
/**
* Search the bins while save previous node
* Once found the module, connect next module to previous one
* put module back to freelist
*/
handle = mod_bin[bins];
while(handle != NULL) {
if(handle->pid == pid) {
break;
} else {
prev_handle = handle;
handle = handle->next;
}
}
if(handle == NULL) {
// unable to find the module
return -EINVAL;
}
handler = (msg_handler_t)sos_read_header_ptr(handle->header,
offsetof(mod_header_t,
module_handler));
if(handler != NULL) {
void *handler_state = handle->handler_state;
Message msg;
// sos_pid_t prev_pid = curr_pid;
//curr_pid = handle->pid;
ker_push_current_pid(handle->pid);
msg.did = handle->pid;
msg.sid = KER_SCHED_PID;
msg.type = MSG_FINAL;
msg.len = 0;
msg.data = NULL;
msg.flag = 0;
handler(handler_state, &msg);
ker_pop_current_pid();
// curr_pid = prev_pid;
}
// First remove handler from the list.
// link the bin back
ENTER_CRITICAL_SECTION();
if(prev_handle == NULL) {
mod_bin[bins] = handle->next;
} else {
prev_handle->next = handle->next;
}
LEAVE_CRITICAL_SECTION();
// remove the thread pid allocation
if(handle->pid >= SCHED_MIN_THREAD_PID) {
uint8_t i = handle->pid - SCHED_MIN_THREAD_PID;
pid_pool[i/8] &= ~(1 << (i % 8));
}
// remove system services
timer_remove_all(pid);
// sensor_remove_all(pid);
// ker_timestamp_deregister(pid);
fntable_remove_all(handle);
// free up memory
// NOTE: we can only free up memory at the last step
// because fntable is using the state
if((SOS_KER_STATIC_MODULE & (handle->flag)) == 0) {
ker_free(handle);
}
mem_remove_all(pid);
return 0;
}
