optempm.nc

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/*
 * Authors:   Philip Levis <[e-mail]>
 * History:   Feb 10, 2004         Inception.
 *
 */

/**
 * @author Philip Levis <[e-mail]>
 */


includes Mate;

module OPtempM {
  
  provides {
    interface StdControl;
    interface MateBytecode;
  }
  
  uses {
    interface MateStacks as Stacks;
    interface MateTypes as Types;
    interface MateQueue as Queue;
    interface MateError as Error;
    interface MateContextSynch as Synch;
    interface StdControl as PhotoControl;
    interface MateVirus as Virus;
    
    interface ADC;
  }
}

implementation {
  MateQueue senseWaitQueue;
  MateContext* sensingContext;
  
  // A pointer to the readyQueue of the VM which the context
  // mid-sensing belongs to.
  MateQueue* readyQueue;
  uint16_t reading;
  
  command result_t StdControl.init() {
    call PhotoControl.init();
    call Queue.init(&senseWaitQueue);
    atomic {
      sensingContext = NULL;
    }
    return SUCCESS;
  }
  
  command result_t StdControl.start() {
    return SUCCESS;
  }
  
  command result_t StdControl.stop() {
    return SUCCESS;
  }
  
  
  inline result_t execSense(MateContext* context) {

    MateQueue* queue = &senseWaitQueue;
    if (sensingContext != NULL) {
      context->state = MATE_STATE_SENSE_WAIT;
      call Queue.enqueue(context, queue, context);
      return SUCCESS;
    }
    else {
      result_t rval;
      dbg(DBG_USR1, "VM (%i): Sensing light.\n", (int)context->which);
      atomic {
	sensingContext = context;
        context->state = MATE_STATE_SENSE;
      }
      rval = call ADC.getData();
      if (rval == SUCCESS) {
        return SUCCESS;
      }
      else { // re-issue the instruction
	dbg(DBG_ERROR, "VM (%i): Sensor busy, reissue.\n", (int)context->which);
	atomic {
	  sensingContext = NULL;
	}
	context->pc--;
	return FAIL;
      }
    }
  }

  task void senseDoneTask();
  
  command result_t MateBytecode.execute(uint8_t instr,
                                            MateContext* context) {
    dbg(DBG_USR1, "VM (%i): Sensing light.\n", (int)context->which);
    if (execSense(context) == SUCCESS) {
      call Synch.releaseLocks(context, context);
      call Synch.yieldContext(context);
    }
    return SUCCESS;
  }

  async event result_t ADC.dataReady(uint16_t datum) {
    bool isMine;
    atomic {
      isMine = (sensingContext != NULL);
    }
    if (isMine) {
      atomic {
	reading = datum;
      }
      post senseDoneTask();
    }
    return SUCCESS;
  }

  task void senseDoneTask() {
    MateContext* senser = sensingContext;
    MateQueue* queue = &senseWaitQueue;
    uint16_t datum;
    atomic {
      datum = reading;
    }
    dbg(DBG_USR1, "VM: Sensor reading: %i\n", (int)datum);
    
    if (sensingContext != NULL) {
      // Resume the sensing context
      call Synch.resumeContext(sensingContext, sensingContext);
      call Stacks.pushReading(sensingContext, MATE_DATA_PHOTO, datum);
      atomic {
	sensingContext = NULL;
      }
    }
    if (!call Queue.empty(queue)) {
      senser = call Queue.dequeue(senser, queue);
      if (senser != NULL &&
          senser->state != MATE_STATE_SENSE_WAIT) {
        call Error.error(senser, MATE_ERROR_QUEUE_INVALID);
        return;
      }
      senser->state = MATE_STATE_RUN;
      call Synch.resumeContext(senser, senser);
    }
    return;
  }
  
  event result_t Synch.makeRunnable(MateContext* context) {
    return SUCCESS;
  }

  event result_t Virus.capsuleInstalled(MateCapsule* capsule) {
    atomic {
      sensingContext = NULL;
      call Queue.init(&senseWaitQueue);
    }
    return SUCCESS;
  }

  event result_t Virus.enableExecution() {
    return SUCCESS;
  }

  event result_t Virus.disableExecution() {
    return SUCCESS;
  }

  event result_t Virus.capsuleHeard(uint8_t type) {
    return SUCCESS;
  }

  event void Virus.capsuleForce(uint8_t type) {
    return;
  }
}