process.cc revision 2091
12SN/A/*
21762SN/A * Copyright (c) 2001-2005 The Regents of The University of Michigan
32SN/A * All rights reserved.
42SN/A *
52SN/A * Redistribution and use in source and binary forms, with or without
62SN/A * modification, are permitted provided that the following conditions are
72SN/A * met: redistributions of source code must retain the above copyright
82SN/A * notice, this list of conditions and the following disclaimer;
92SN/A * redistributions in binary form must reproduce the above copyright
102SN/A * notice, this list of conditions and the following disclaimer in the
112SN/A * documentation and/or other materials provided with the distribution;
122SN/A * neither the name of the copyright holders nor the names of its
132SN/A * contributors may be used to endorse or promote products derived from
142SN/A * this software without specific prior written permission.
152SN/A *
162SN/A * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
172SN/A * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
182SN/A * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
192SN/A * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
202SN/A * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
212SN/A * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
222SN/A * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
232SN/A * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
242SN/A * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
252SN/A * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
262SN/A * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
272665Ssaidi@eecs.umich.edu */
282665Ssaidi@eecs.umich.edu
292665Ssaidi@eecs.umich.edu#include <unistd.h>
302665Ssaidi@eecs.umich.edu#include <fcntl.h>
312SN/A
322SN/A#include <cstdio>
332SN/A#include <string>
342SN/A
352SN/A#include "base/intmath.hh"
362SN/A#include "base/loader/object_file.hh"
372SN/A#include "base/loader/symtab.hh"
383971Sgblack@eecs.umich.edu#include "base/statistics.hh"
3956SN/A#include "config/full_system.hh"
4056SN/A#include "cpu/exec_context.hh"
411158SN/A#include "cpu/smt.hh"
42146SN/A#include "encumbered/cpu/full/thread.hh"
431858SN/A#include "encumbered/eio/eio.hh"
442680Sktlim@umich.edu#include "encumbered/mem/functional/main.hh"
452378SN/A#include "sim/builder.hh"
462522SN/A#include "sim/fake_syscall.hh"
472401SN/A#include "sim/process.hh"
484762Snate@binkert.org#include "sim/stats.hh"
49360SN/A
504434Ssaidi@eecs.umich.edu#ifdef TARGET_ALPHA
51695SN/A#include "arch/alpha/alpha_tru64_process.hh"
522093SN/A#include "arch/alpha/alpha_linux_process.hh"
532378SN/A#endif
542SN/A
552715Sstever@eecs.umich.eduusing namespace std;
562715Sstever@eecs.umich.edu
572715Sstever@eecs.umich.edu//
582715Sstever@eecs.umich.edu// The purpose of this code is to fake the loader & syscall mechanism
592715Sstever@eecs.umich.edu// when there's no OS: thus there's no resone to use it in FULL_SYSTEM
602715Sstever@eecs.umich.edu// mode when we do have an OS
612715Sstever@eecs.umich.edu//
622715Sstever@eecs.umich.edu#if FULL_SYSTEM
632715Sstever@eecs.umich.edu#error "process.cc not compatible with FULL_SYSTEM"
644157Sgblack@eecs.umich.edu#endif
654166Sgblack@eecs.umich.edu
662715Sstever@eecs.umich.edu// current number of allocated processes
672715Sstever@eecs.umich.eduint num_processes = 0;
682715Sstever@eecs.umich.edu
692715Sstever@eecs.umich.eduProcess::Process(const string &nm,
702715Sstever@eecs.umich.edu                 int stdin_fd, 	// initial I/O descriptors
712SN/A                 int stdout_fd,
722107SN/A                 int stderr_fd)
732SN/A    : SimObject(nm)
742SN/A{
752SN/A    // allocate memory space
762SN/A    memory = new MainMemory(nm + ".MainMem");
772SN/A
782SN/A    // allocate initial register file
791858SN/A    init_regs = new RegFile;
80360SN/A    memset(init_regs, 0, sizeof(RegFile));
812SN/A
822SN/A    // initialize first 3 fds (stdin, stdout, stderr)
832SN/A    fd_map[STDIN_FILENO] = stdin_fd;
842SN/A    fd_map[STDOUT_FILENO] = stdout_fd;
852SN/A    fd_map[STDERR_FILENO] = stderr_fd;
861450SN/A
872378SN/A    // mark remaining fds as free
882SN/A    for (int i = 3; i <= MAX_FD; ++i) {
892SN/A        fd_map[i] = -1;
902SN/A    }
915034Smilesck@eecs.umich.edu
922SN/A    mmap_start = mmap_end = 0;
934997Sgblack@eecs.umich.edu    nxm_start = nxm_end = 0;
942SN/A    // other parameters will be initialized when the program is loaded
952SN/A}
962SN/A
972SN/Avoid
982SN/AProcess::regStats()
992SN/A{
1002SN/A    using namespace Stats;
1012SN/A
1022SN/A    num_syscalls
1032SN/A        .name(name() + ".PROG:num_syscalls")
1041450SN/A        .desc("Number of system calls")
1051514SN/A        ;
1062378SN/A}
1072SN/A
1082SN/A//
1092SN/A// static helper functions
1102378SN/A//
1112SN/Aint
1122SN/AProcess::openInputFile(const string &filename)
1132SN/A{
114729SN/A    int fd = open(filename.c_str(), O_RDONLY);
1152SN/A
1162SN/A    if (fd == -1) {
1172SN/A        perror(NULL);
1182SN/A        cerr << "unable to open \"" << filename << "\" for reading\n";
1192SN/A        fatal("can't open input file");
1202SN/A    }
1212SN/A
1222SN/A    return fd;
1232SN/A}
1242SN/A
1252SN/A
1262SN/Aint
1272SN/AProcess::openOutputFile(const string &filename)
1282SN/A{
1292SN/A    int fd = open(filename.c_str(), O_WRONLY | O_CREAT | O_TRUNC, 0774);
1302SN/A
1312SN/A    if (fd == -1) {
1322SN/A        perror(NULL);
1332SN/A        cerr << "unable to open \"" << filename << "\" for writing\n";
1342SN/A        fatal("can't open output file");
1352SN/A    }
1362SN/A
1372SN/A    return fd;
1382SN/A}
1392SN/A
1402SN/A
1412SN/Aint
1422SN/AProcess::registerExecContext(ExecContext *xc)
1432SN/A{
1442SN/A    // add to list
1452SN/A    int myIndex = execContexts.size();
1462SN/A    execContexts.push_back(xc);
1472SN/A
1482SN/A    if (myIndex == 0) {
1492SN/A        // copy process's initial regs struct
1502SN/A        xc->regs = *init_regs;
1512SN/A    }
1522SN/A
1532SN/A    // return CPU number to caller and increment available CPU count
1542SN/A    return myIndex;
155180SN/A}
1562680Sktlim@umich.edu
1572SN/Avoid
158180SN/AProcess::startup()
1592680Sktlim@umich.edu{
1602680Sktlim@umich.edu    if (execContexts.empty())
161180SN/A        return;
1625109Sgblack@eecs.umich.edu
1635109Sgblack@eecs.umich.edu    // first exec context for this process... initialize & enable
1645109Sgblack@eecs.umich.edu    ExecContext *xc = execContexts[0];
1653971Sgblack@eecs.umich.edu
1663971Sgblack@eecs.umich.edu    // mark this context as active so it will start ticking.
1675109Sgblack@eecs.umich.edu    xc->activate(0);
1683971Sgblack@eecs.umich.edu}
1692378SN/A
170180SN/Avoid
1712SN/AProcess::replaceExecContext(ExecContext *xc, int xcIndex)
1722SN/A{
1731395SN/A    if (xcIndex >= execContexts.size()) {
1741395SN/A        panic("replaceExecContext: bad xcIndex, %d >= %d\n",
1751395SN/A              xcIndex, execContexts.size());
1762680Sktlim@umich.edu    }
1772378SN/A
1782378SN/A    execContexts[xcIndex] = xc;
1792680Sktlim@umich.edu}
1802680Sktlim@umich.edu
1811395SN/A// map simulator fd sim_fd to target fd tgt_fd
1821634SN/Avoid
1832680Sktlim@umich.eduProcess::dup_fd(int sim_fd, int tgt_fd)
1842462SN/A{
1852519SN/A    if (tgt_fd < 0 || tgt_fd > MAX_FD)
1862519SN/A        panic("Process::dup_fd tried to dup past MAX_FD (%d)", tgt_fd);
1874434Ssaidi@eecs.umich.edu
1884434Ssaidi@eecs.umich.edu    fd_map[tgt_fd] = sim_fd;
1892519SN/A}
1902519SN/A
1911395SN/A
1922SN/A// generate new target fd for sim_fd
193180SN/Aint
1942680Sktlim@umich.eduProcess::alloc_fd(int sim_fd)
195180SN/A{
1962680Sktlim@umich.edu    // in case open() returns an error, don't allocate a new fd
1972680Sktlim@umich.edu    if (sim_fd == -1)
1982680Sktlim@umich.edu        return -1;
199180SN/A
200180SN/A    // find first free target fd
2012680Sktlim@umich.edu    for (int free_fd = 0; free_fd < MAX_FD; ++free_fd) {
202180SN/A        if (fd_map[free_fd] == -1) {
203180SN/A            fd_map[free_fd] = sim_fd;
2042SN/A            return free_fd;
2052SN/A        }
2062SN/A    }
2072SN/A
2082SN/A    panic("Process::alloc_fd: out of file descriptors!");
2092SN/A}
2102SN/A
2112SN/A
2122SN/A// free target fd (e.g., after close)
2132SN/Avoid
2142SN/AProcess::free_fd(int tgt_fd)
2152SN/A{
2162SN/A    if (fd_map[tgt_fd] == -1)
2171970SN/A        warn("Process::free_fd: request to free unused fd %d", tgt_fd);
2182SN/A
2192SN/A    fd_map[tgt_fd] = -1;
2202SN/A}
2212SN/A
2222SN/A
2232SN/A// look up simulator fd for given target fd
2241970SN/Aint
2251970SN/AProcess::sim_fd(int tgt_fd)
2261970SN/A{
2271970SN/A    if (tgt_fd > MAX_FD)
2281970SN/A        return -1;
2292SN/A
2302SN/A    return fd_map[tgt_fd];
2311970SN/A}
2321970SN/A
2332SN/A
2341970SN/A
2351970SN/A//
2361970SN/A// need to declare these here since there is no concrete Process type
2371970SN/A// that can be constructed (i.e., no REGISTER_SIM_OBJECT() macro call,
2381970SN/A// which is where these get declared for concrete types).
2391970SN/A//
2401970SN/ADEFINE_SIM_OBJECT_CLASS_NAME("Process", Process)
2411970SN/A
2421970SN/A
2432SN/A////////////////////////////////////////////////////////////////////////
2442SN/A//
2452SN/A// LiveProcess member definitions
2462SN/A//
2472SN/A////////////////////////////////////////////////////////////////////////
2482SN/A
2492SN/A
2502SN/Astatic void
2512SN/AcopyStringArray(vector<string> &strings, Addr array_ptr, Addr data_ptr,
2522SN/A                FunctionalMemory *memory)
2532SN/A{
2542SN/A    Addr data_ptr_swap;
2552SN/A    for (int i = 0; i < strings.size(); ++i) {
2564434Ssaidi@eecs.umich.edu        data_ptr_swap = htog(data_ptr);
2574434Ssaidi@eecs.umich.edu        memory->access(Write, array_ptr, &data_ptr_swap, sizeof(Addr));
2584434Ssaidi@eecs.umich.edu        memory->writeString(data_ptr, strings[i].c_str());
2594434Ssaidi@eecs.umich.edu        array_ptr += sizeof(Addr);
2604434Ssaidi@eecs.umich.edu        data_ptr += strings[i].size() + 1;
2614434Ssaidi@eecs.umich.edu    }
2624434Ssaidi@eecs.umich.edu    // add NULL terminator
2634434Ssaidi@eecs.umich.edu    data_ptr = 0;
2644434Ssaidi@eecs.umich.edu    memory->access(Write, array_ptr, &data_ptr, sizeof(Addr));
2654434Ssaidi@eecs.umich.edu}
2664434Ssaidi@eecs.umich.edu
2674434Ssaidi@eecs.umich.eduLiveProcess::LiveProcess(const string &nm, ObjectFile *objFile,
2684434Ssaidi@eecs.umich.edu                         int stdin_fd, int stdout_fd, int stderr_fd,
2694434Ssaidi@eecs.umich.edu                         vector<string> &argv, vector<string> &envp)
2704434Ssaidi@eecs.umich.edu    : Process(nm, stdin_fd, stdout_fd, stderr_fd)
2714434Ssaidi@eecs.umich.edu{
2724434Ssaidi@eecs.umich.edu    prog_fname = argv[0];
2734434Ssaidi@eecs.umich.edu
2744434Ssaidi@eecs.umich.edu    prog_entry = objFile->entryPoint();
2754434Ssaidi@eecs.umich.edu    text_base = objFile->textBase();
2764434Ssaidi@eecs.umich.edu    text_size = objFile->textSize();
2774434Ssaidi@eecs.umich.edu    data_base = objFile->dataBase();
2784434Ssaidi@eecs.umich.edu    data_size = objFile->dataSize() + objFile->bssSize();
2793311Ssaidi@eecs.umich.edu    brk_point = roundUp(data_base + data_size, VMPageSize);
2803311Ssaidi@eecs.umich.edu
2813311Ssaidi@eecs.umich.edu    // load object file into target memory
2823311Ssaidi@eecs.umich.edu    objFile->loadSections(memory);
2833311Ssaidi@eecs.umich.edu
2843311Ssaidi@eecs.umich.edu    // load up symbols, if any... these may be used for debugging or
2853311Ssaidi@eecs.umich.edu    // profiling.
2863311Ssaidi@eecs.umich.edu    if (!debugSymbolTable) {
2873311Ssaidi@eecs.umich.edu        debugSymbolTable = new SymbolTable();
2883311Ssaidi@eecs.umich.edu        if (!objFile->loadGlobalSymbols(debugSymbolTable) ||
2893311Ssaidi@eecs.umich.edu            !objFile->loadLocalSymbols(debugSymbolTable)) {
2903311Ssaidi@eecs.umich.edu            // didn't load any symbols
2913311Ssaidi@eecs.umich.edu            delete debugSymbolTable;
2923311Ssaidi@eecs.umich.edu            debugSymbolTable = NULL;
2933311Ssaidi@eecs.umich.edu        }
2943311Ssaidi@eecs.umich.edu    }
2953311Ssaidi@eecs.umich.edu
2963311Ssaidi@eecs.umich.edu    // Set up stack.  On Alpha, stack goes below text section.  This
2973311Ssaidi@eecs.umich.edu    // code should get moved to some architecture-specific spot.
2983311Ssaidi@eecs.umich.edu    stack_base = text_base - (409600+4096);
2993311Ssaidi@eecs.umich.edu
3003311Ssaidi@eecs.umich.edu    // Set up region for mmaps.  Tru64 seems to start just above 0 and
3013311Ssaidi@eecs.umich.edu    // grow up from there.
3023311Ssaidi@eecs.umich.edu    mmap_start = mmap_end = 0x10000;
3033311Ssaidi@eecs.umich.edu
3043311Ssaidi@eecs.umich.edu    // Set pointer for next thread stack.  Reserve 8M for main stack.
3053311Ssaidi@eecs.umich.edu    next_thread_stack_base = stack_base - (8 * 1024 * 1024);
3063311Ssaidi@eecs.umich.edu
3073311Ssaidi@eecs.umich.edu    // Calculate how much space we need for arg & env arrays.
3083311Ssaidi@eecs.umich.edu    int argv_array_size = sizeof(Addr) * (argv.size() + 1);
3093311Ssaidi@eecs.umich.edu    int envp_array_size = sizeof(Addr) * (envp.size() + 1);
3103311Ssaidi@eecs.umich.edu    int arg_data_size = 0;
3113311Ssaidi@eecs.umich.edu    for (int i = 0; i < argv.size(); ++i) {
3123311Ssaidi@eecs.umich.edu        arg_data_size += argv[i].size() + 1;
3133311Ssaidi@eecs.umich.edu    }
3142SN/A    int env_data_size = 0;
3152SN/A    for (int i = 0; i < envp.size(); ++i) {
3162SN/A        env_data_size += envp[i].size() + 1;
3172SN/A    }
3182SN/A
3192SN/A    int space_needed =
3202SN/A        argv_array_size + envp_array_size + arg_data_size + env_data_size;
3212SN/A    // for SimpleScalar compatibility
32212SN/A    if (space_needed < 16384)
3232378SN/A        space_needed = 16384;
3242378SN/A
3252SN/A    // set bottom of stack
3263114Sgblack@eecs.umich.edu    stack_min = stack_base - space_needed;
3273669Sbinkertn@umich.edu    // align it
3283114Sgblack@eecs.umich.edu    stack_min &= ~7;
3293114Sgblack@eecs.umich.edu    stack_size = stack_base - stack_min;
3303114Sgblack@eecs.umich.edu
3312378SN/A    // map out initial stack contents
3323669Sbinkertn@umich.edu    Addr argv_array_base = stack_min + sizeof(uint64_t); // room for argc
3332SN/A    Addr envp_array_base = argv_array_base + argv_array_size;
3343114Sgblack@eecs.umich.edu    Addr arg_data_base = envp_array_base + envp_array_size;
3353114Sgblack@eecs.umich.edu    Addr env_data_base = arg_data_base + arg_data_size;
3363114Sgblack@eecs.umich.edu
3373114Sgblack@eecs.umich.edu    // write contents to stack
3383114Sgblack@eecs.umich.edu    uint64_t argc = argv.size();
3393114Sgblack@eecs.umich.edu    argc = htog(argc);
3403114Sgblack@eecs.umich.edu    memory->access(Write, stack_min, &argc, sizeof(uint64_t));
34112SN/A
34212SN/A    copyStringArray(argv, argv_array_base, arg_data_base, memory);
3431158SN/A    copyStringArray(envp, envp_array_base, env_data_base, memory);
3441158SN/A
3451158SN/A    init_regs->intRegFile[ArgumentReg0] = argc;
3461158SN/A    init_regs->intRegFile[ArgumentReg1] = argv_array_base;
3471158SN/A    init_regs->intRegFile[StackPointerReg] = stack_min;
3481158SN/A    init_regs->intRegFile[GlobalPointerReg] = objFile->globalPointer();
3491158SN/A    init_regs->pc = prog_entry;
3501158SN/A    init_regs->npc = prog_entry + sizeof(MachInst);
3511158SN/A}
3521158SN/A
3531158SN/A
3542378SN/ALiveProcess *
3551158SN/ALiveProcess::create(const string &nm,
3562378SN/A                    int stdin_fd, int stdout_fd, int stderr_fd,
3572474SN/A                    string executable,
3582378SN/A                    vector<string> &argv, vector<string> &envp)
3592378SN/A{
36012SN/A    LiveProcess *process = NULL;
3612378SN/A    ObjectFile *objFile = createObjectFile(executable);
3622378SN/A    if (objFile == NULL) {
36312SN/A        fatal("Can't load object file %s", executable);
36412SN/A    }
3652474SN/A
3662474SN/A    // check object type & set up syscall emulation pointer
36712SN/A    if (objFile->getArch() == ObjectFile::Alpha) {
36812SN/A        switch (objFile->getOpSys()) {
36912SN/A          case ObjectFile::Tru64:
37012SN/A            process = new AlphaTru64Process(nm, objFile,
37112SN/A                                            stdin_fd, stdout_fd, stderr_fd,
37212SN/A                                            argv, envp);
37312SN/A            break;
37412SN/A
37512SN/A          case ObjectFile::Linux:
37612SN/A            process = new AlphaLinuxProcess(nm, objFile,
37712SN/A                                            stdin_fd, stdout_fd, stderr_fd,
3783005Sstever@eecs.umich.edu                                            argv, envp);
3793005Sstever@eecs.umich.edu            break;
38012SN/A
38112SN/A          default:
38212SN/A            fatal("Unknown/unsupported operating system.");
38312SN/A        }
3842800Ssaidi@eecs.umich.edu    } else {
38512SN/A        fatal("Unknown object file architecture.");
3862378SN/A    }
3872800Ssaidi@eecs.umich.edu
38812SN/A    delete objFile;
38912SN/A
3902523SN/A    if (process == NULL)
39112SN/A        fatal("Unknown error creating process object.");
39212SN/A
39312SN/A    return process;
39412SN/A}
39512SN/A
39612SN/A
3972474SN/ABEGIN_DECLARE_SIM_OBJECT_PARAMS(LiveProcess)
3982474SN/A
3992474SN/A    VectorParam<string> cmd;
4002474SN/A    Param<string> executable;
4012474SN/A    Param<string> input;
4022474SN/A    Param<string> output;
4032474SN/A    VectorParam<string> env;
4042474SN/A
40512SN/AEND_DECLARE_SIM_OBJECT_PARAMS(LiveProcess)
4062378SN/A
4072378SN/A
40812SN/ABEGIN_INIT_SIM_OBJECT_PARAMS(LiveProcess)
4094772Sgblack@eecs.umich.edu
4104772Sgblack@eecs.umich.edu    INIT_PARAM(cmd, "command line (executable plus arguments)"),
4114772Sgblack@eecs.umich.edu    INIT_PARAM(executable, "executable (overrides cmd[0] if set)"),
4122680Sktlim@umich.edu    INIT_PARAM(input, "filename for stdin (dflt: use sim stdin)"),
4132451SN/A    INIT_PARAM(output, "filename for stdout/stderr (dflt: use sim stdout)"),
4142451SN/A    INIT_PARAM(env, "environment settings")
4152680Sktlim@umich.edu
4162680Sktlim@umich.eduEND_INIT_SIM_OBJECT_PARAMS(LiveProcess)
4172817Sksewell@umich.edu
4182817Sksewell@umich.edu
4192680Sktlim@umich.eduCREATE_SIM_OBJECT(LiveProcess)
4202817Sksewell@umich.edu{
4212378SN/A    string in = input;
4222378SN/A    string out = output;
4232SN/A
4242SN/A    // initialize file descriptors to default: same as simulator
4252093SN/A    int stdin_fd, stdout_fd, stderr_fd;
4262680Sktlim@umich.edu
4272093SN/A    if (in == "stdin" || in == "cin")
4282093SN/A        stdin_fd = STDIN_FILENO;
4292093SN/A    else
4302093SN/A        stdin_fd = Process::openInputFile(input);
4312093SN/A
4322093SN/A    if (out == "stdout" || out == "cout")
4332093SN/A        stdout_fd = STDOUT_FILENO;
4342680Sktlim@umich.edu    else if (out == "stderr" || out == "cerr")
4352093SN/A        stdout_fd = STDERR_FILENO;
4362SN/A    else
4372715Sstever@eecs.umich.edu        stdout_fd = Process::openOutputFile(out);
4382715Sstever@eecs.umich.edu
4392715Sstever@eecs.umich.edu    stderr_fd = (stdout_fd != STDOUT_FILENO) ? stdout_fd : STDERR_FILENO;
4402715Sstever@eecs.umich.edu
4413114Sgblack@eecs.umich.edu    return LiveProcess::create(getInstanceName(),
4423669Sbinkertn@umich.edu                               stdin_fd, stdout_fd, stderr_fd,
4433114Sgblack@eecs.umich.edu                               (string)executable == "" ? cmd[0] : executable,
4443114Sgblack@eecs.umich.edu                               cmd, env);
4453114Sgblack@eecs.umich.edu}
4462715Sstever@eecs.umich.edu
4472715Sstever@eecs.umich.eduREGISTER_SIM_OBJECT("LiveProcess", LiveProcess)
4482715Sstever@eecs.umich.edu