checkpoint

darcs-hash:20050906052052-5007d-55d70d3e5084d96c540c366f4a1a84e8eba31cce.gz

diff --git a/src/edu/berkeley/cs/obits/AtmelSerial.java b/src/edu/berkeley/cs/obits/AtmelSerial.java
index 08b4e48..5550225 100644 (file)
--- a/src/edu/berkeley/cs/obits/AtmelSerial.java
+++ b/src/edu/berkeley/cs/obits/AtmelSerial.java
@@ -1,5 +1,7 @@
 package edu.berkeley.cs.obits;
 
 package edu.berkeley.cs.obits;
 

+import edu.berkeley.cs.obits.device.atmel.*;
+import org.ibex.util.Log;

 import java.io.*;
 import java.util.*;
 import gnu.io.*;
 import java.io.*;
 import java.util.*;
 import gnu.io.*;

@@ -10,51 +12,11 @@ public class AtmelSerial {
         Enumeration e = CommPortIdentifier.getPortIdentifiers();
         while(e.hasMoreElements()) {
             CommPortIdentifier cpi = (CommPortIdentifier)e.nextElement();
         Enumeration e = CommPortIdentifier.getPortIdentifiers();
         while(e.hasMoreElements()) {
             CommPortIdentifier cpi = (CommPortIdentifier)e.nextElement();

-            System.err.println("trying " + cpi.getName());
+            Log.info(AtmelSerial.class, "trying " + cpi.getName());

         }
         return new RXTXPort("/dev/cu.usbserial-FTBUODP4");
     }
 
         }
         return new RXTXPort("/dev/cu.usbserial-FTBUODP4");
     }
 

-    public static class AvrDrone {
-        final DataInputStream in;
-        final DataOutputStream out;
-        final SerialPort sp;
-        public AvrDrone(SerialPort sp) throws IOException, UnsupportedCommOperationException, InterruptedException {
-            this.sp = sp;
-            sp.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
-            sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
-            this.out = new DataOutputStream(sp.getOutputStream());
-            this.in = new DataInputStream(sp.getInputStream());
-            while(in.available() > 0) in.read();
-            reset();
-            System.err.println("waiting...");
-            if (in.readByte() != (byte)'O')  throw new RuntimeException("didn't get the proper signature");
-            if (in.readByte() != (byte)'B')  throw new RuntimeException("didn't get the proper signature");
-            if (in.readByte() != (byte)'I')  throw new RuntimeException("didn't get the proper signature");
-            if (in.readByte() != (byte)'T')  throw new RuntimeException("didn't get the proper signature");
-            if (in.readByte() != (byte)'S')  throw new RuntimeException("didn't get the proper signature");
-            if (in.readByte() != (byte)'\n') throw new RuntimeException("didn't get the proper signature");
-            System.err.println("ready.");
-        }
-        public void reset() throws InterruptedException {
-            sp.setDTR(true);
-            Thread.sleep(500);
-            sp.setDTR(false);
-            Thread.sleep(3000);
-        }
-        public void mode4(int z, int y, int x, int d) throws IOException {
-            out.writeByte(1);
-            out.writeByte(z);
-            out.writeByte(y);
-            out.writeByte(x);
-            out.writeByte(d);
-        }
-        public void flush() throws IOException {
-            out.flush();
-        }
-    }
-
-

     public static void main(String[] s) throws Exception {
         AvrDrone device = new AvrDrone(detectObitsPort());
         int count = 0;
     public static void main(String[] s) throws Exception {
         AvrDrone device = new AvrDrone(detectObitsPort());
         int count = 0;

@@ -65,11 +27,11 @@ public class AtmelSerial {
                 long foo = Long.parseLong(str, 16);
                 device.mode4((int)(foo >> 24), (int)(foo >> 16), (int)(foo >>  8), (int)(foo >>  0));
                 count++;
                 long foo = Long.parseLong(str, 16);
                 device.mode4((int)(foo >> 24), (int)(foo >> 16), (int)(foo >>  8), (int)(foo >>  0));
                 count++;

-                if (count % 100 == 0) System.err.println("wrote " + count + " configuration octets");
+                if (count % 100 == 0) Log.info(AtmelSerial.class, "wrote " + count + " configuration octets");

             }
             device.flush();
             long end = System.currentTimeMillis();
             }
             device.flush();
             long end = System.currentTimeMillis();

-            System.err.println("finished in " + ((end-begin)/1000) + "s");
+            Log.info(AtmelSerial.class, "finished in " + ((end-begin)/1000) + "s");

             System.exit(0);
         } catch (Exception e) { e.printStackTrace(); }
     }
             System.exit(0);
         } catch (Exception e) { e.printStackTrace(); }
     }

diff --git a/src/edu/berkeley/cs/obits/Device.java b/src/edu/berkeley/cs/obits/Device.java
new file mode 100644 (file)
index 0000000..8f26d34
--- /dev/null
+++ b/src/edu/berkeley/cs/obits/Device.java
@@ -0,0 +1,19 @@
+package edu.berkeley.cs.obits;
+
+import java.util.*;
+
+/** a physical or virtual reconfigurable device */
+public interface Device {
+
+    /** reset the device */
+    public void reset() throws DeviceException;
+
+    /** flush any commands issued so far, blocking until they have taken effect */
+    public void flush() throws DeviceException;
+
+    public static class DeviceException extends Exception {
+        public DeviceException(String s) { super(s); }
+        public DeviceException(Throwable t) { super(t); }
+    }
+
+}

diff --git a/src/edu/berkeley/cs/obits/device/atmel/AtmelDevice.java b/src/edu/berkeley/cs/obits/device/atmel/AtmelDevice.java
new file mode 100644 (file)
index 0000000..515e9b0
--- /dev/null
+++ b/src/edu/berkeley/cs/obits/device/atmel/AtmelDevice.java
@@ -0,0 +1,7 @@
+package edu.berkeley.cs.obits.device.atmel;
+
+import edu.berkeley.cs.obits.*;
+
+public interface AtmelDevice extends Device {
+    public void mode4(int z, int y, int x, int d) throws DeviceException;
+}

diff --git a/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.java b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.java
new file mode 100644 (file)
index 0000000..c77f05c
--- /dev/null
+++ b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.java
@@ -0,0 +1,72 @@
+package edu.berkeley.cs.obits.device.atmel;
+
+import edu.berkeley.cs.obits.*;
+import org.ibex.util.Log;
+import java.io.*;
+import java.util.*;
+import gnu.io.*;
+
+/** the "host" side of the AVR Drone; see AvrDrone.c for the other side */
+public class AvrDrone implements AtmelDevice {
+
+    final DataInputStream in;
+
+    final DataOutputStream out;
+
+    final SerialPort sp;
+
+    public AvrDrone(SerialPort sp) throws IOException, UnsupportedCommOperationException, InterruptedException, DeviceException {
+        this.sp = sp;
+        sp.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
+        sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
+        this.out = new DataOutputStream(sp.getOutputStream());
+        this.in = new DataInputStream(sp.getInputStream());
+        Log.debug(this, "consuming any leftover data on the serial port");
+        while(in.available() > 0) in.read();
+        reset();
+        Log.debug(this, "waiting for device to identify itself");
+        if (in.readByte() != (byte)'O')  throw new RuntimeException("didn't get the proper signature");
+        if (in.readByte() != (byte)'B')  throw new RuntimeException("didn't get the proper signature");
+        if (in.readByte() != (byte)'I')  throw new RuntimeException("didn't get the proper signature");
+        if (in.readByte() != (byte)'T')  throw new RuntimeException("didn't get the proper signature");
+        if (in.readByte() != (byte)'S')  throw new RuntimeException("didn't get the proper signature");
+        if (in.readByte() != (byte)'\n') throw new RuntimeException("didn't get the proper signature");
+        Log.info(this, "device correctly identified itself; ready for operation");
+    }
+
+    public void reset() throws DeviceException {
+        try {
+            Log.info(this, "resetting device");
+            sp.setDTR(true);
+            Thread.sleep(500);
+            sp.setDTR(false);
+            Thread.sleep(3000);
+        } catch (InterruptedException e) { throw new DeviceException(e); }
+    }
+
+    /** issue a command to the device in Mode4 format; see Gosset's documentation for further details */
+    public void mode4(int z, int y, int x, int d) throws DeviceException {
+        try {
+            Log.debug(this, "writing configuration frame [zyxd]: " +
+                      pad(2, Integer.toString(z, 16)) + " " +
+                      pad(2, Integer.toString(y, 16)) + " " +
+                      pad(2, Integer.toString(x, 16)) + " " +
+                      pad(2, Integer.toString(d, 16))
+                      );
+            out.writeByte(1);
+            out.writeByte(z);
+            out.writeByte(y);
+            out.writeByte(x);
+            out.writeByte(d);
+        } catch (IOException e) { throw new DeviceException(e); }
+    }
+
+    public void flush() throws DeviceException {
+        try {
+            out.flush();
+        } catch (IOException e) { throw new DeviceException(e); }
+    }
+
+    private String pad(int i, String s) { if (s.length()>i) return s; return "0"+pad((i-1),s); }
+
+}