1. ® 3-2 WindSh and Browser 3.1WindSh Browser

2. ® 3-3 WindSh Interactive C-expression interpreter allows: –Accessing VxWorks facilities –Downloading and invoking code –Creating and examining variables Interactive Tcl interpreter allows: –Defining user commands –Automating interactions with target. Launcher For UNIX hosts, invoke from the Launcher. (UNIX Host) Tools For PC host, invoke from the Tornado development environment Tools menu or launch toolbar. (PC Host)

3. ® 3-4 How the Shell Interprets Commands WindSh uses the target server’s system symbol table and the following rules to interpret names in expressions: -> retVal = printf (“Foo is %d\n”, foo) -> i (tWdbTask) 1.Use a WindSh built-in command in preference to a target symbol of the same name. 2.Look for symbol in the symbol table. 3.Look for _symbol in the symbol table. 4.Convert a task name to a task ID. 5.Create symbol if it is to the left of ‘=‘ and does not exist in the symbol table or as a task name.

4. ® 3-5 System Symbol Table -> x = 10 new symbol "x" added to symbol table. x = 0xda188: value = 10 = 0xa

5. ® 3-6 WindSh as a C Interpreter Shell command syntax is generally the same as the C programming language: -> x = (8 * 6) / 4 x = 0x20ff378: value = 12 = 0xc -> Nom = “Nelson” new symbol “Nom” added to symbol table. Nom = 0x23fe798: value = 37742496 = 0x23fe7a0 = Nom + 0x8 -> printf (“Hello %s, number is %d.\n”, Nom, 0x20) Hello Nelson, number is 32. value = 28 = 0x1c -> &x value = 34599800 = 0x20ff378 = x

6. ® 3-7 Syntax Quirks WindSh built-in functions screen target symbols of the same name. To access the target symbol rather than the built-in, prefix its name with ‘@’ : -> @i = @i + 3 Target functions are always called (spawned) with 10 integer arguments. For example, -> 2 * foo (&mac, 27) -> 2 * foo (&mac, 27) is really -> 2 * foo (&mac, 27, 0,0,0,0,0,0,0,0) If the entire expression is a function call, with the function name first on the line, parentheses may be omitted: -> foo &mac, 27 -> foo &mac, 27 but not -> 2 * foo &mac, 27

7. ® 3-8 Caveat - Examining Variables The shell interprets all variables as 32-bit integers unless specified otherwise. Casts must be used to tell the shell how to interpret non-integer types. -> z = (short) 0x90 z = 0x20ff370: value =144 = 0x90 -> (short) z z = 0x20ff370: value = 144 = 0x90 -> z z = 0x20ff370: value = 9498350 = 0x90eeee All variables created in the WindSh are allocated 8 bytes of target memory, to preserve space in case the variable’s value is changed to a double.

8. ® 3-9 Caveat - Data Structures The shell does not recognize data structures. To view and manipulate data structures, use a source-level debugger. To display memory: -> d pMyBuf 003fe770 0023 09ea e030 2647 a682 eeee * #...0&G....* 003fe780 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe790 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe7a0 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe7b0 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe7c0 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe7d0 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe7e0 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe7f0 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe800 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe810 eeee eeee eeee eeee eeee eeee eeee eeee *................* 003fe820 eeee eeee eeee eeee eeee eeee eeee eeee *................*

9. ® 3-10 Caveat - Macros The shell does not recognize symbolic macros (defined for the C preprocessor with #define directives). Must examine header files to find the value corresponding to a symbolic constant.

10. ® 3-11 Symbol Table Look Up Display symbols matching a regular expresson with lkup( ). -> lkup (“stuff”) _stuff0xda1a0data(foo.o) value = 0 = 0x0 -> lkup (“^_print”) _printf0x00029622text(vxWorks) _printErr0x00029640text(vxWorks) _printExc0x0002965etext(vxWorks) value = 0 = 0x0 -> lkup "^x$" x0x000da188 bss() value = 0 = 0x0

11. ® 3-12 Shell Line Editing History mechanism like the UNIX Korn Shell’s. h Type h to see list of previous commands. esc Press esc to enter line editing mode. return Accept changes by hitting return. To quit, type ^U. Editing mode uses vi-like commands, including: hjlk

12. ® 3-13 Shell Special Characters CharacterDescription ^C (UNIX)Terminate a function call and ^-Break (PC)return shell prompt. ^X (UNIX)Reboot VxWorks target. ^D, TABSymbol and filename completion; command synopses. ^WShow HTML help for command. EscEnter Vi-like editing mode from input mode. ^UDelete an entire line, return to normal input mode.

13. ® 3-14 Shell Built-in Commands WindSh provides common commands needed for development: –spCreate a task with default options. –tdDelete a task. –ts/trSuspend/resume a task. –bSet or display break points. –s/cStep/continue a task. –ttTrace a task’s stack. –i/tiGive (detailed) task information. –w/twShow which objects are tasks waiting for. –ld/unldLoad/unload a module. –showDisplay object information in WindSh.

14. ® 3-15 WindSh Primitives and Target Resources Shell built-in commands execute as C-interpreter primitives on the host when possible. –Example: the built-in lkup( ) executes entirely on the host. No communication with the target is required. Some built-in commands require modules to be loaded into target memory. _periodHost –The shell primitive period( ) executes as a function _periodHost on the target. _repeatHost –The shell primitive repeat( ) executes as function _repeatHost on the target.

15. ® 3-16 Changing Directories Use cd( ) to set WindSh’s working directory (on the host). -> cd "/u/team3"(quotes required) pwd( ) shows the current working directory. Use ls( ) to show contents of the directory. These functions are WindSh primitives.

16. ® 3-17 Downloading via WindSh Downloading via WindSh ld (addSyms) < fileName Loads object module fileName into the target server’s memory pool on the target. Adds global symbols to host-resident symbol table (default). If addSyms == 1, load static symbols also. Resolves undefined symbols as module is loaded. If loader is unable to resolve an external reference, then ld( ) issues a warning; however the load does not fail and the loaded module is present on the target. Returns ERROR on error, or a nonzero host-based module ID on success. Unloads old version of module if it exists.

17. ® 3-18 WindSh Loading Example -> ld 1 < foo.o Loading /folk/swagon/prog/foo.o | value = 402912 = 0x625e0 -> moduleShow MODULE NAME MODULE ID GROUP TEXT START DATA START BSS START ----------- ---------- ------- ---------- ---------- ---------- vxWorks 0x5b588 1 0x10074 0x9ae90 0xa0228 foo.o 0x62878 2 0xd76c0 0xd7930 0xd7bb4 value = 0 = 0x0 -> fooInit ### Warning: Snafu #6. Continuing anyway... value = 0 = 0x0 ->... -> unld "foo.o" value = 0 = 0x0 -> moduleShow MODULE NAME MODULE ID GROUP TEXT START DATA START BSS START ----------- ---------- ------- ---------- ---------- ---------- vxWorks 0x5b588 1 0x10074 0x9ae90 0xa0228 value = 0 = 0x0 ->

18. ® 3-19 Function Call Execution From WindSh: WindSh blocks until demo returns. Standard I/O of tN is redirected to WindSh (default).

19. ® 3-20 Spawning tasks with sp() As a task: WindSh returns immediately after spawning the task “sM u N”. This task’s I/O is not redirected to the shell.

20. ® 3-21 The i function To display task information: i (taskNameOrId) Example: -> i (tNetTask) NAME ENTRY TID PRI STATUS PC SP ERRNO DELAY -------- --------- ------ --- ------- ------ ------- ------ ----- tNetTask _netTask 3e1d28 50 READY 261e4 3e1cc0 0 0 value = 0 = 0x0 If taskNameOrId = 0, display information for all tasks. Use ti( ) for detailed task information.

21. ® 3-22 WindSh Assembly Level Debugging Example: If a task halts unexpectedly, tt( ) can be used to find out what routine failed. -> b (printf) -> sp (stuff) task spawned: id = 0x23e0a3c, name = s1u3 value = 37620284 = 0x23e0a3c Break at 0x2005f78: _printf Task: 0x23e0a3c (s1u3) -> tt( ) 20461b8_vxTaskEntry+10 : _stuff (0, 0, 0, 0, 0, 0, 0, 0, 0, 0) 23feb4a_stuff+12 : _func1 (1) 23febf2_func1+18 : _printf (23fec39, 23fec2e) value = 0 = 0x0 -> c value = 0 = 0x0

22. ® 3-23 Tcl and WindSh Customization Tcl is a powerful scripting language which: –Is interpreted –Allows commands to take arguments –Has standard flow-control structures –Has powerful string manipulation facilities To toggle between WindSh’s C and Tcl modes, enter ‘?’ at the prompt: -> ? tcl> proc myCmd {...} {...} To run a single Tcl command from WindSh, preface the command with a ‘?’: -> ?myCmd

23. ® 3-24 Shell Configuration Variables The WindSh has a few configuration variables which govern some aspects of its operation. -> ?shConfig DSM_HEX_MODE = off LD_CALL_XTORS = target LD_COMMON_MATCH_ALL = on LD_PATH =. LD_SEND_MODULES = on SH_GET_TASK_IO = on -> The above are the default values. To change a value: ?shConfig SH_GET_TASK_IO off -> ?shConfig SH_GET_TASK_IO off ->

24. ® 3-25 Virtual I/O By default, a target’s standard input, output, and error are directed to the console used to set boot parameters. Use Virtual I/O to associate the target’s input/output with a Virtual Console. Once a Virtual I/O channel is opened, it behaves like a normal character (stream) I/O device. Useful if target lacks an serial I/O channel, or if developing remotely. Click the Virtual Console and Target I/O Redirect checkboxes when configuring the target server.

25. ® 3-26 Shell Host I/O Redirection Shell input can be redirected to come from a file. -> < script Shell output can be redirected to a file. -> h( ) > hfile Caveat: I/O can only be redirected to files accessible to the WindSh process running on the development host, not to local devices on the target!

26. ® 3-27 Target-resident Tools Target-resident tools are available: –loadLibDynamic module loading. –unldLibDynamic module unloading. –shellLibTarget-resident C interpreter. –usrLibUseful utilities like cd, copy, etc. –dbgLibNative debug library. The tools require a target-resident symbol table. Caveats: –These tools consume target resources (RAM). –Be cautious using these tools in conjunction with Tornado host- based tools! See the manuals for details.

27. ® 3-28 Symbol Table Synchronization When using both host-based and target-based tools, the host and target symbol tables can become inconsistent. To prevent this, enable symbol table synchronization: development tool components > symbol table components > synchronize host and target symbol tables –Include the component development tool components > symbol table components > synchronize host and target symbol tables in VxWorks. -s –Launch the target server with the -s option The task tSymSync is spawned. It does the following: –Makes modules or symbols loaded on target before target server attached visible to target server. –When host symbol table changed, updates the target symbol table; when target symbol table changed, informs the target server.

28. ® 3-29 WindSh and Browser WindSh 3.2Browser

29. ® 3-30 Browser Overview Graphical tool for displaying target information: –Loaded object modules –Tasks –Memory and stack usage –Interrupt vector table –VxWorks objects such as semaphores, message queues, and watchdog timers –CPU utilization Information is updated on demand or periodically. Invoke Browser from –launcher’s application pane (UNIX) –launch toolbar or the Tools menu (Windows)

30. ® 3-31 UNIX: The Browser Button Bar System Tasks User Tasks Object Display Selection Memory Consumption Loaded Modules

31. ® 3-32 PC: The Browser Browser Display Selector Data Panel

32. ® 3-33 Browser: Examining Objects Message Queue Display Semaphore Display

33. ® 3-34 Timing Overview Browser’s spy facility –Activity profiler (% CPU utilization per task). –Uses the auxiliary clock. timexLib –Subroutine timer. –Uses the system clock. WindView –Uses instrumented kernel and high-resolution timer drivers to capture precise event data. –Intuitive GUI for analyzing data. –Discussed in chapter 7.

34. ® 3-35 Browser’s Activity Profiler Configure Spy’s sampling with the Browser configuration button –Browser update time / –Spy report time. –Spy collection frequency. –Spy mode: differential or –cumulative

35. ® 3-36 Subroutine Timer timex (func, args)Times single execution of func. timexN (func, args)Repeats execution to obtain accurate timing. Example: timex (stuff, "The answer is", 42) -> timex (stuff, "The answer is", 42) timex: execution time too short to be measured meaningfully in a single execution. Type “timexN” to time repeated execution. Type “timexHelp” for more information. value = 46 = 0x2e = ‘.’ timexN (stuff, "The answer is", 42) -> timexN (stuff, "The answer is", 42) timex: 50 reps, time per rep = 50293 +/- 333 (0%) microsecs

36. ® 3-37 Summary WindSh is a C and Tcl interpreter shell for accessing the target. Tools for managing target-resident object modules: ldunld moduleShow Tools for starting/stopping a thread of execution: sptd Tools for debugging from WindSh: ilkup ltt

37. ® 3-38 Summary Use the Browser to: –Display system information. –Examine objects. –Display CPU utilization. Performance monitoring tools: timextimexN spy