int main(int argc, char * argv[]) {
if(argc != 3) { printf(usage, argv[0]); abort(); }
char * endptr;
numthreads = strtoul(argv[1], &endptr, 10);
if(*endptr != 0) { printf(usage, argv[0]); abort(); }
numops= strtoul(argv[2], &endptr, 10) / numthreads;
if(*endptr != 0) { printf(usage, argv[0]); abort(); }
pthread_t workers[numthreads];
Page * p;
Tinit();
dpt = stasis_runtime_dirty_page_table();
p = loadPage(-1,0);
for(int i = 0; i < numthreads; i++) {
pthread_create(&workers[i], 0, worker, p);
}
for(int i = 0; i < numthreads; i++) {
pthread_join(workers[i], 0);
}
releasePage(p);
Tdeinit();
}
void operator()(Tsts... sts) const {
for (Tinit()(sts...); Tcond()(sts...); Tinc()(sts...)) {
try { Tstmt()(sts...); }
catch (break_stmt::exception&) { break; }
catch (continue_stmt::exception&) { continue; }
}
}
}END_TEST
/** @test More complicated case of log w/ hard bound; many xacts at a time.
*/
START_TEST(boundedLogConcurrentTest) {
stasis_log_type = LOG_TO_MEMORY;
stasis_log_in_memory_max_entries = 1000;
stasis_log_softcommit = 1;
Tinit();
int xid = Tbegin();
pageid_t region_start = TregionAlloc(xid, NUM_XACTS, 0);
Tcommit(xid);
for(int64_t i = 0; i < NUM_XACTS; i++) {
int xids[NUM_CONCURRENT_XACTS];
for(int j = 0; j < NUM_CONCURRENT_XACTS; j++) {
xids[j] = Tbegin();
}
for(int j = 0; j < NUM_CONCURRENT_XACTS; j++) {
TinitializeFixedPage(xids[j], region_start + i, sizeof(uint64_t));
recordid rid = {region_start + i, 0, sizeof(uint64_t)};
Tset(xids[j], rid, &i);
i++;
}
for(int j = 0; j < NUM_CONCURRENT_XACTS; j++) {
Tcommit(xids[j]);
}
}
Tdeinit();
}END_TEST
int main(int argc, char** argv) {
assert(argc == 3);
int xact_count = atoi(argv[1]);
int count = atoi(argv[2]);
/* unlink("storefile.txt");
unlink("logfile.txt");
unlink("blob0_file.txt");
unlink("blob1_file.txt");*/
Tinit();
int xid = Tbegin();
recordid hash = TnaiveHashCreate(xid, sizeof(int), sizeof(int));
Tcommit(xid);
int i = 0;
int k;
for(k = 0; k < xact_count; k++) {
xid = Tbegin();
for(; i < (count*(k+1)) ; i++) {
TnaiveHashInsert(xid, hash, &i, sizeof(int), &i, sizeof(int));
}
Tcommit(xid);
}
Tdeinit();
}
END_TEST
START_TEST(updateLogEntryAllocNoExtras)
{
Tinit();
recordid rid = { 3 , 4, sizeof(int)*3 };
stasis_log_t *l = (stasis_log_t *)stasis_log();
LogEntry * log = allocUpdateLogEntry(l, 200, 1, OPERATION_SET,
rid.page, 0);
assert(log->prevLSN == 200);
assert(log->xid == 1);
assert(log->type == UPDATELOG);
assert(log->update.funcID == OPERATION_SET);
assert(log->update.page == 3);
assert(log->update.arg_size == 0);
assert(stasis_log_entry_update_args_ptr(log) == NULL);
assert(sizeofLogEntry(0, log) == (sizeof(struct __raw_log_entry) + sizeof(UpdateLogEntry) + 0 * (sizeof(int)+sizeof(char))));
l->write_entry(l, log);
l->write_entry_done(l, log);
Tdeinit();
}
} END_TEST
START_TEST(regions_lockSmokeTest) {
Tinit();
int xid = Tbegin();
pageid_t pageid = TregionAlloc(xid, 100,0);
fsckRegions(xid);
Tcommit(xid);
xid = Tbegin();
int xid2 = Tbegin();
TregionDealloc(xid, pageid);
for(int i = 0; i < 50; i++) {
TregionAlloc(xid2, 1, 0);
}
fsckRegions(xid);
Tabort(xid);
fsckRegions(xid2);
Tcommit(xid2);
Tdeinit();
} END_TEST
JNIEXPORT jint JNICALL Java_stasis_jni_Stasis_init
(JNIEnv *e, jclass c) {
if(!initted) {
Tinit();
}
initted++;
return initted;
}
int main(int argc, char * argv[]) {
Tinit();
ReferentialAlgebra_init();
recordid rootEntry;
recordid hash;
int xid = Tbegin();
if(TrecordType(xid, ROOT_RECORD) == INVALID_SLOT) {
printf("Creating new store\n");
rootEntry = Talloc(xid, sizeof(recordid));
assert(rootEntry.page == ROOT_RECORD.page);
assert(rootEntry.slot == ROOT_RECORD.slot);
hash = ReferentialAlgebra_allocContext(xid);
Tset(xid, rootEntry, &hash);
} else {
printf("Opened existing store\n");
rootEntry.page = ROOT_RECORD.page;
rootEntry.slot = ROOT_RECORD.slot;
rootEntry.size = sizeof(recordid);
Tread(xid, rootEntry, &hash);
}
context = ReferentialAlgebra_openContext(xid,hash);
Tcommit(xid);
FILE * in;
if(argc == 3) { // listen on socket
if(strcmp("--socket", argv[1])) {
printf("usage:\n\n%s\n%s <filename>\n%s --socket addr:port\n",
argv[0],argv[0],argv[0]);
} else {
startServer(argv[2], hash);
}
printf("Shutting down...\n");
} else {
if(argc == 2) {
in = fopen(argv[1], "r");
if(!in) {
printf("Couldn't open input file.\n");
return 1;
}
} else {
in = stdin;
}
openInterpreter(in, stdout, hash);
}
Tdeinit();
}
} END_TEST
START_TEST(regions_recoveryTest) {
Tinit();
pageid_t pages[50];
int xid1 = Tbegin();
int xid2 = Tbegin();
for(int i = 0; i < 50; i+=2) {
pages[i] = TregionAlloc(xid1, stasis_util_random64(4)+1, 0);
pages[i+1] = TregionAlloc(xid2, stasis_util_random64(2)+1, 0);
}
fsckRegions(xid1);
Tcommit(xid1);
Tdeinit();
if(TdurabilityLevel() == VOLATILE) { return; }
Tinit();
int xid = Tbegin();
fsckRegions(xid);
for(int i = 0; i < 50; i+=2) {
TregionDealloc(xid, pages[i]);
}
fsckRegions(xid);
Tabort(xid);
fsckRegions(Tbegin());
Tdeinit();
Tinit();
fsckRegions(Tbegin());
Tdeinit();
} END_TEST
int main(int argc, char** argv) {
assert(argc == 3 || argc == 4);
int thread_count = atoi(argv[1]);
count = atoi(argv[2]);
alwaysCommit = (argc==4);
unlink("storefile.txt");
unlink("logfile.txt");
unlink("blob0_file.txt");
unlink("blob1_file.txt");
pthread_t * workers = stasis_malloc(thread_count, pthread_t);
Tinit();
int xid = Tbegin();
// hash = ThashCreate(xid, sizeof(int), sizeof(int));
hash = ThashCreate(xid, VARIABLE_LENGTH, VARIABLE_LENGTH);
Tcommit(xid);
int k;
/* threads have static thread sizes. Ughh. */
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_mutex_init(&mutex, NULL);
pthread_attr_setstacksize (&attr, PTHREAD_STACK_MIN);
// pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
pthread_mutex_lock(&mutex);
for(k = 0; k < thread_count; k++) {
int * k_copy = stasis_alloc(int);
*k_copy = k ;
pthread_create(&workers[k], &attr, go, k_copy);
}
pthread_mutex_unlock(&mutex);
for(k = 0; k < thread_count; k++) {
pthread_join(workers[k],NULL);
}
Tdeinit();
printf("Committed %d times, put %d times.\n", commitCount, putCount);
}
void insertProbeIter(lsmkey_t NUM_ENTRIES) {
int intcmp = 0;
lsmTreeRegisterComparator(intcmp,cmp);
TlsmRegionAllocConf_t alloc_conf = LSM_REGION_ALLOC_STATIC_INITIALIZER;
stasis_page_impl_register(lsmRootImpl());
Tinit();
int xid = Tbegin();
recordid tree = TlsmCreate(xid, intcmp,
TlsmRegionAlloc, &alloc_conf,
sizeof(lsmkey_t));
long oldpagenum = -1;
for(lsmkey_t i = 0; i < NUM_ENTRIES; i++) {
long pagenum = TlsmFindPage(xid, tree, (byte*)&i);
assert(pagenum == -1 || pagenum == oldpagenum || oldpagenum == -1);
DEBUG("TlsmAppendPage %d\n",i);
TlsmAppendPage(xid, tree, (const byte*)&i, TlsmRegionAlloc, &alloc_conf, i + OFFSET);
pagenum = TlsmFindPage(xid, tree, (byte*)&i);
oldpagenum = pagenum;
assert(pagenum == i + OFFSET);
}
for(lsmkey_t i = 0; i < NUM_ENTRIES; i++) {
long pagenum = TlsmFindPage(xid, tree, (byte*)&i);
assert(pagenum == i + OFFSET);
}
int64_t count = 0;
lladdIterator_t * it = lsmTreeIterator_open(xid, tree);
while(lsmTreeIterator_next(xid, it)) {
lsmkey_t * key;
lsmkey_t **key_ptr = &key;
int size = lsmTreeIterator_key(xid, it, (byte**)key_ptr);
assert(size == sizeof(lsmkey_t));
long *value;
long **value_ptr = &value;
size = lsmTreeIterator_value(xid, it, (byte**)value_ptr);
assert(size == sizeof(pageid_t));
assert(*key + OFFSET == *value);
assert(*key == count);
count++;
}
assert(count == NUM_ENTRIES);
lsmTreeIterator_close(xid, it);
Tcommit(xid);
Tdeinit();
}
void SlamNode::initialize(const sensor_msgs::LaserScan& initScan)
{
double xOffFactor = 0.0;
double yOffFactor = 0.0;
double yawOffset = 0.0;
double minRange = 0.0;
double maxRange = 0.0;
double lowReflectivityRange = 0.0;
double footPrintWidth = 0.0;
double footPrintHeight = 0.0;
double footPrintXoffset = 0.0;
bool icpSac = false;
ros::NodeHandle prvNh("~");
prvNh.param<double>("x_off_factor", xOffFactor, 0.2);
prvNh.param<double>("y_off_factor", yOffFactor, 0.5);
prvNh.param<double>("yaw_offset", yawOffset, 0.0);
prvNh.param<double>("min_range", minRange, 0.01);
prvNh.param<double>("low_reflectivity_range", lowReflectivityRange, 2.0);
prvNh.param<double>("footprint_width" , footPrintWidth, 0.1);
prvNh.param<double>("footprint_height", footPrintHeight, 0.1);
prvNh.param<double>("footprint_x_offset", footPrintXoffset, 0.28);
prvNh.param<bool> ("use_icpsac", icpSac, true);
_sensor=new obvious::SensorPolar2D(initScan.ranges.size(), initScan.angle_increment, initScan.angle_min, _maxRange, minRange, lowReflectivityRange);
_sensor->setRealMeasurementData(initScan.ranges, 1.0);
const double phi = yawOffset;
const double gridWidth = _grid->getCellsX() * _grid->getCellSize();
const double gridHeight = _grid->getCellsY() * _grid->getCellSize();
const obfloat startX = static_cast<obfloat>(gridWidth * xOffFactor);
const obfloat startY = static_cast<obfloat>(gridHeight * yOffFactor);
double tf[9] = {cos(phi), -sin(phi), gridWidth * xOffFactor,
sin(phi), cos(phi), gridHeight * yOffFactor,
0, 0, 1};
obvious::Matrix Tinit(3, 3);
Tinit.setData(tf);
_sensor->transform(&Tinit);
_threadMapping = new ThreadMapping(_grid);
const obfloat t[2] = {startX + footPrintXoffset, startY};
if(!_grid->freeFootprint(t, footPrintWidth, footPrintHeight))
std::cout << __PRETTY_FUNCTION__ << " warning! Footprint could not be freed!\n";
_threadMapping->initPush(_sensor);
_threadLocalizer = new ThreadLocalization(_grid, _threadMapping, _nh, xOffFactor, yOffFactor, icpSac);
_threadGrid = new ThreadGrid(_grid, _nh, xOffFactor, yOffFactor);
_initialized = true;
}
END_TEST
/** @test
Quick test of allocUpdateLogEntry
@todo It would be nice if this test used actual operatations table instead of making up values.*/
START_TEST(updateLogEntryAlloc)
{
char args[] = {'a', 'b', 'c'};
recordid rid = { 3 , 4, sizeof(int)*3 };
LogEntry * log;
Tinit(); /* Needed because it sets up the operations table. */
stasis_log_t *l = (stasis_log_t *)stasis_log();
log = allocUpdateLogEntry(l, 200, 1, OPERATION_SET,
rid.page, 3*sizeof(char));
memcpy(stasis_log_entry_update_args_ptr(log), args, 3*sizeof(char));
assert(log->prevLSN == 200);
assert(log->xid == 1);
assert(log->type == UPDATELOG);
assert(log->update.funcID == OPERATION_SET);
assert(log->update.page == 3);
assert(log->update.arg_size == 3*sizeof(char));
assert(stasis_log_entry_update_args_ptr(log) != NULL);
assert(args[0] == ((char*)stasis_log_entry_update_args_ptr(log))[0]);
assert(args[1] == ((char*)stasis_log_entry_update_args_ptr(log))[1]);
assert(args[2] == ((char*)stasis_log_entry_update_args_ptr(log))[2]);
// printf("sizes %d %d\n",sizeofLogEntry(log),(sizeof(struct __raw_log_entry) + sizeof(UpdateLogEntry) + (sizeof(char))));
assert(sizeofLogEntry(0, log) == (sizeof(struct __raw_log_entry) + sizeof(UpdateLogEntry) + 3 * (sizeof(char))));
l->write_entry(l, log);
l->write_entry_done(l, log);
Tdeinit();
}
int main(int argc, char * argv[]) {
if(argc != 3) { printf(usage, argv[0]); abort(); }
char * endptr;
unsigned long numthreads = strtoul(argv[1], &endptr, 10);
if(*endptr != 0) { printf(usage, argv[0]); abort(); }
unsigned long numops= strtoul(argv[2], &endptr, 10) / numthreads;
if(*endptr != 0) { printf(usage, argv[0]); abort(); }
pthread_t workers[numthreads];
Tinit();
for(int i = 0; i < numthreads; i++) {
pthread_create(&workers[i], 0, noopWorker, &numops);
}
for(int i = 0; i < numthreads; i++) {
pthread_join(workers[i], 0);
}
Tdeinit();
}
void bLSM::init_stasis(const char *path) {
dataPage::register_stasis_page_impl();
// stasis_buffer_manager_hint_writes_are_sequential = 1;
std::string pathstr(path);
if (pathstr.length() != 0) {
if (pathstr[pathstr.length()-1] != '/')
pathstr += "/";
}
bLSM::log_path = pathstr;
std::string storefilepath = pathstr+"storefile.txt";
char *ssfn = (char*)malloc(sizeof(char)*storefilepath.size());
strcpy(ssfn, storefilepath.c_str());
stasis_store_file_name = ssfn;
//printf("Store file: %s \n", stasis_store_file_name);
stasis_log_factory = bLSM::stasis_log_path_factory;
printf("Ignoring path: %s \n", path);
Tinit();
}
} END_TEST
START_TEST(regions_lockRandomizedTest) {
Tinit();
const int NUM_XACTS = 100;
const int NUM_OPS = 10000;
const int FUDGE = 10;
int xids[NUM_XACTS];
pageid_t * xidRegions[NUM_XACTS + FUDGE];
int xidRegionCounts[NUM_XACTS + FUDGE];
int longXid = Tbegin();
time_t seed = time(0);
printf("\nSeed = %ld\n", seed);
srandom(seed);
for(int i = 0; i < NUM_XACTS; i++) {
xids[i] = Tbegin();
assert(xids[i] < NUM_XACTS + FUDGE);
xidRegions[xids[i]] = stasis_malloc(NUM_OPS, pageid_t);
xidRegionCounts[xids[i]] = 0;
}
int activeXacts = NUM_XACTS;
for(int i = 0; i < NUM_OPS; i++) {
pageid_t j;
if(!(i % (NUM_OPS/NUM_XACTS))) {
// abort or commit one transaction randomly.
activeXacts --;
j = stasis_util_random64(activeXacts);
if(stasis_util_random64(2)) {
Tcommit(xids[j]);
} else {
Tabort(xids[j]);
}
if(activeXacts == 0) {
break;
}
for(; j < activeXacts; j++) {
xids[j] = xids[j+1];
}
fsckRegions(longXid);
}
j = stasis_util_random64(activeXacts);
if(stasis_util_random64(2)) {
// alloc
xidRegions[xids[j]][xidRegionCounts[xids[j]]] = TregionAlloc(xids[j], stasis_util_random64(100), 0);
xidRegionCounts[xids[j]]++;
} else {
// free
if(xidRegionCounts[xids[j]]) {
pageid_t k = stasis_util_random64(xidRegionCounts[xids[j]]);
TregionDealloc(xids[j], xidRegions[xids[j]][k]);
xidRegionCounts[xids[j]]--;
for(; k < xidRegionCounts[xids[j]]; k++) {
xidRegions[xids[j]][k] = xidRegions[xids[j]][k+1];
}
}
}
}
for(int i = 0; i < activeXacts; i++) {
Tabort(i);
fsckRegions(longXid);
}
Tcommit(longXid);
Tdeinit();
} END_TEST
int
runSubject(void) {
pthread_t* threads;
pthread_attr_t attr;
intptr_t k;
int xid, fd;
/* Need the following sleep call for debugging. */
//sleep(45);
printf("\tRunning Subject Process\n"); fflush(stdout);
readGlobalsFromSharedBuffer();
initHashTable = 1;
Tinit();
if (iteration == 0) {
/* Create the transactional hash table data structure. */
xid = Tbegin();
hashTable = ThashCreate(xid, sizeof(int), sizeof(int));
Tcommit(xid);
/* Write the hash table recordid to a file, so it can be
* reloaded during subsequent iterations.
*/
fd = open("recordid.txt", O_CREAT | O_WRONLY | O_SYNC, 0777);
write(fd, (char*) &hashTable, sizeof(recordid));
close(fd);
}
else {
/* Otherwise, read in the hash table from disk. */
fd = open("recordid.txt", O_RDONLY, 0777);
read(fd, (char*) &hashTable, sizeof(recordid));
close(fd);
}
initHashTable = 0;
/* Open the insert and commit log files. The insert-log keeps track of all insertions
* that were made to the hash-table, not all of which may have been committed. The
* commit-log keeps track of all insertions that were definitely committed.
*/
insertLog = open("inserts.txt", O_CREAT | O_RDWR | O_APPEND, 0777);
commitLog = open("commits.txt", O_CREAT | O_RDWR | O_APPEND, 0777);
/* Allocate the worker threads. */
threads = stasis_malloc(numThreads, pthread_t);
pthread_attr_init(&attr);
pthread_attr_setstacksize (&attr, PTHREAD_STACK_MIN);
pthread_mutex_init(&hashTableMutex, NULL);
for (k = 0; k < numThreads; k++) {
pthread_create(&threads[k], &attr, threadFunc, (void*) k);
}
for (k = 0; k < numThreads; k++) {
pthread_join(threads[k], NULL);
}
/* Close the insert and commit log files. */
close(insertLog);
close(commitLog);
Tdeinit();
printf("\t\tSubject Process Exiting Normally\n"); fflush(stdout);
return 0;
}
int main (int argc, char **argv) {
Tobj co;
Psrc_t src;
#ifdef MTRACE
extern int Mt_certify;
Mt_certify = 1;
#endif
#ifdef STATS
stime = time (NULL);
#endif
idlerunmode = 0;
exprstr = NULL;
fp = NULL;
init (argv[0]);
Minit (GFXprune);
Ginit ();
FD_SET (Gxfd, &inputfds);
Eerrlevel = 1;
Estackdepth = 2;
Eshowbody = 1;
Eshowcalls = 1;
processstr (leftyoptions);
argv++, argc--;
processargs (argc, argv);
if (setjmp (exitljbuf))
goto eop;
Cinit ();
IOinit ();
Tinit ();
Pinit ();
Einit ();
Sinit ();
Dinit ();
Iinit ();
TXTinit (txtcoords);
GFXinit ();
#ifdef FEATURE_GMAP
gmapon = TRUE, G2Linit ();
#endif
if (exprstr) {
src.flag = CHARSRC, src.s = exprstr, src.fp = NULL;
src.tok = -1, src.lnum = 1;
while ((co = Punit (&src)))
Eunit (co);
}
if (fp) {
src.flag = FILESRC, src.s = NULL, src.fp = fp;
src.tok = -1, src.lnum = 1;
while ((co = Punit (&src)))
Eunit (co);
}
if (endflag)
goto eop;
TXTupdate ();
Gneedredraw = FALSE;
for (;;) {
if (Gneedredraw)
GFXredraw (), Gneedredraw = FALSE;
if (Gbuttonsdown > 0) {
GFXmove (), Gprocessevents (FALSE, G_ONEEVENT);
processinput (FALSE);
} else {
if (Mcouldgc) {
if (!processinput (FALSE))
Mdogc (M_GCINCR);
}
if (idlerunmode) {
if (!processinput (FALSE))
GFXidle ();
#ifdef FEATURE_GMAP
} else if (GMAPneedupdate) {
processinput (FALSE);
#endif
} else
processinput (TRUE);
}
#ifdef FEATURE_GMAP
if (gmapon)
GMAPupdate ();
#endif
if (Erun)
TXTupdate (), Erun = FALSE;
}
eop:
#ifdef PARANOID
#ifdef FEATURE_GMAP
if (gmapon)
G2Lterm ();
#endif
GFXterm ();
TXTterm ();
Iterm ();
Dterm ();
Sterm ();
Eterm ();
Pterm ();
Tterm ();
IOterm ();
Cterm ();
Gterm ();
Mterm ();
FD_CLR (Gxfd, &inputfds);
term ();
#endif
printusage ();
return 0;
}
int APIENTRY WinMain (
HINSTANCE hInstance, HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow
) {
Tobj co;
Psrc_t src;
hinstance = hInstance;
hprevinstance = hPrevInstance;
idlerunmode = 0;
exprstr = NULL;
fp = NULL;
init (NULL);
Ginit ();
#ifndef FEATURE_MS
FD_SET (Gxfd, &inputfds);
#endif
Eerrlevel = 1;
Estackdepth = 2;
Eshowbody = 1;
Eshowcalls = 1;
processstr (leftyoptions);
__argv++, __argc--;
processargs (__argc, __argv);
if (setjmp (exitljbuf))
goto eop;
Cinit ();
IOinit ();
Minit (GFXprune);
Tinit ();
Pinit ();
Einit ();
Sinit ();
Dinit ();
Iinit ();
TXTinit (txtcoords);
GFXinit ();
if (exprstr) {
src.flag = CHARSRC, src.s = exprstr, src.fp = NULL;
src.tok = -1, src.lnum = 1;
while ((co = Punit (&src)))
Eunit (co);
}
if (fp) {
src.flag = FILESRC, src.s = NULL, src.fp = fp;
src.tok = -1, src.lnum = 1;
while ((co = Punit (&src)))
Eunit (co);
}
if (endflag)
goto eop;
TXTupdate ();
Gneedredraw = FALSE;
for (;;) {
if (Gneedredraw)
GFXredraw (), Gneedredraw = FALSE;
if (Gbuttonsdown > 0)
GFXmove (), Gprocessevents (FALSE, G_ONEEVENT);
else {
if (Mcouldgc) {
if (!processinput (FALSE))
Mdogc (M_GCINCR);
} else if (idlerunmode) {
if (!processinput (FALSE))
GFXidle ();
} else
processinput (TRUE);
}
if (Erun)
TXTupdate (), Erun = FALSE;
}
eop:
#ifdef PARANOID
GFXterm ();
TXTterm ();
Iterm ();
Dterm ();
Sterm ();
Eterm ();
Pterm ();
Tterm ();
Mterm ();
IOterm ();
Cterm ();
Gterm ();
term ();
#endif
printusage ();
exit (0);
}
void ThreadLocalize::init(const sensor_msgs::LaserScan& scan)
{
double localXoffset = 0.0;
double localYoffset = 0.0;
double localYawOffset = 0.0;
double maxRange = 0.0;
double minRange = 0.0;
double lowReflectivityRange = 0.0;
double footPrintWidth = 0.0;
double footPrintHeight = 0.0;
double footPrintXoffset = 0.0;
//std::string frameSensorMount;
ros::NodeHandle prvNh("~");
prvNh.param<double>(_nameSpace + "local_offset_x",localXoffset, 0.0);
prvNh.param<double>(_nameSpace + "local_offset_y", localYoffset, 0.0);
prvNh.param<double>(_nameSpace + "local_offset_yaw", localYawOffset, 0.0);
prvNh.param<double>(_nameSpace + "max_range", maxRange, 30.0);
prvNh.param<double>(_nameSpace + "min_range", minRange, 0.001);
prvNh.param<double>(_nameSpace + "low_reflectivity_range", lowReflectivityRange, 2.0);
prvNh.param<double>(_nameSpace + "footprint_width", footPrintWidth, 1.0);
prvNh.param<double>(_nameSpace + "footprint_height", footPrintHeight, 1.0);
prvNh.param<double>(_nameSpace + "footprint_x_offset", footPrintXoffset, 0.28);
//prvNh.param<std::string>(_nameSpace + "frame_sensor_mount", frameSensorMount, "base_link");
// if(!_tfListener.waitForTransform(scan.header.frame_id, frameSensorMount, ros::Time::now(), ros::Duration(0.5)))
// {
// std::cout << __PRETTY_FUNCTION__ << "looking up sensor mount frame failed " << std::endl;
// _tfFrameSensorMount.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
// _tfFrameSensorMount.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
// }
// else
// {
// try
// {
// _tfListener.lookupTransform(scan.header.frame_id, frameSensorMount, ros::Time(0), _tfFrameSensorMount);
// }
// catch(tf::TransformException& ex)
// {
// std::cout << __PRETTY_FUNCTION__ << "looking up sensor mount frame failed " << ex.what() << std::endl;
// _tfFrameSensorMount.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
// _tfFrameSensorMount.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
// }
// }
const double phi = localYawOffset;
const double startX = _gridWidth * 0.5 + _xOffset + localXoffset;
const double startY = _gridHeight * 0.5 + _yOffset + localYoffset;
double tf[9] = {std::cos(phi), -std::sin(phi), startX,
std::sin(phi), std::cos(phi), startY,
0, 0, 1};
// obvious::Matrix Tbla(3, 3);
// Tbla = this->tfToObviouslyMatrix3x3(_tfFrameSensorMount);
//Tbla.invert();
// std::cout << __PRETTY_FUNCTION__ << " inverted\n";
// Tbla.print();
//std::cout << std::endl;
obvious::Matrix Tinit(3,3);
Tinit.setData(tf);
// Tinit = Tbla * Tinit;
//std::cout << __PRETTY_FUNCTION__ << "Tinit = \n " << Tinit << std::endl;
double inc = scan.angle_increment;
double angle_min = scan.angle_min;
vector<float> ranges = scan.ranges;
if(scan.angle_increment < 0.0 && scan.angle_min > 0)
{
_reverseScan = true;
inc = -inc;
angle_min = -angle_min;
std::reverse(ranges.begin(), ranges.end());
}
_sensor = new obvious::SensorPolar2D(ranges.size(), inc, angle_min, maxRange, minRange, lowReflectivityRange);
_sensor->setRealMeasurementData(ranges, 1.0);
_sensor->setStandardMask();
_sensor->transform(&Tinit);
obfloat t[2] = {startX + footPrintXoffset, startY};
if(!_grid.freeFootprint(t, footPrintWidth, footPrintHeight))
ROS_ERROR_STREAM("Localizer (" << _nameSpace << ") warning! Footprint could not be freed! \n");
if(!_mapper.initialized())
_mapper.initPush(_sensor);
_initialized = true;
//_sensor->transform()
this->unblock(); //Method from ThreadSLAM to set a thread from sleep mode to run mode
}
END_TEST
START_TEST(regions_randomizedTest) {
Tinit();
time_t seed = time(0);
printf("Seed = %ld: ", seed);
srandom(seed);
int xid = Tbegin();
pageid_t pagesAlloced = 0;
pageid_t regionsAlloced = 0;
double max_blowup = 0;
pageid_t max_region_count = 0;
pageid_t max_waste = 0;
pageid_t max_size = 0;
pageid_t max_ideal_size = 0;
for(int i = 0; i < 10000; i++) {
if(!(i % 100)) {
Tcommit(xid);
xid = Tbegin();
}
if(!(i % 100)) {
fsckRegions(xid);
}
if(stasis_util_random64(2)) {
unsigned int size = stasis_util_random64(100);
TregionAlloc(xid, size, 0);
pagesAlloced += size;
regionsAlloced ++;
} else {
if(regionsAlloced) {
pageid_t victim = stasis_util_random64(regionsAlloced);
pageid_t victimSize;
pageid_t victimPage;
TregionFindNthActive(xid, victim, &victimPage, &victimSize);
TregionDealloc(xid, victimPage);
pagesAlloced -= victimSize;
regionsAlloced --;
} else {
i--;
}
}
if(regionsAlloced) {
pageid_t lastRegionStart;
pageid_t lastRegionSize;
TregionFindNthActive(xid, regionsAlloced-1, &lastRegionStart, &lastRegionSize);
pageid_t length = lastRegionStart + lastRegionSize+1;
pageid_t ideal = pagesAlloced + regionsAlloced + 1;
double blowup = (double)length/(double)ideal;
unsigned long long bytes_wasted = length - ideal;
// printf("Region count = %d, blowup = %d / %d = %5.2f\n", regionsAlloced, length, ideal, blowup);
if(max_blowup < blowup) {
max_blowup = blowup;
}
if(max_waste < bytes_wasted) {
max_waste = bytes_wasted;
}
if(max_size < length) {
max_size = length;
}
if(max_ideal_size < ideal) {
max_ideal_size = ideal;
}
if(max_region_count < regionsAlloced) {
max_region_count = regionsAlloced;
}
}
}
fsckRegions(xid);
Tcommit(xid);
Tdeinit();
printf("Max # of regions = %lld, page file size = %5.2fM, ideal page file size = %5.2fM, (blowup = %5.2f)\n",
//peak bytes wasted = %5.2fM, blowup = %3.2f\n",
max_region_count,
((double)max_size * PAGE_SIZE)/(1024.0*1024.0),
((double)max_ideal_size * PAGE_SIZE)/(1024.0*1024.0),
(double)max_size/(double)max_ideal_size);
// ((double)max_waste * PAGE_SIZE)/(1024.0*1024.0),
// max_blowup);
if((double)max_size/(double)max_ideal_size > 5) {
// max_blowup isn't what we want here; it measures the peak
// percentage of the file that is unused. Instead, we want to
// measure the actual and ideal page file sizes for this run.
printf("ERROR: Excessive blowup (max allowable is 5)\n");
abort();
}
} END_TEST
void dfa_initialize_new(DfaSet * dfaSet, unsigned short port, int count) {
Tinit();
dfaSet->smash = init_Smash(count);
dfaSet->networkSetup.localport = port;
}
} END_TEST
START_TEST(pagedListCheck) {
Tinit();
int xid = Tbegin();
recordid list = TpagedListAlloc(xid);
int a;
recordid b;
int i;
printf("\n");
for(i = 0; i < NUM_ENTRIES; i++) {
if(!(i % (NUM_ENTRIES/10))) {
printf("."); fflush(stdout);
}
a = i;
b.page = i+1;
b.slot = i+2;
b.size = i+3;
int ret;
{
byte * t;
ret = TpagedListFind(xid, list, (byte*)&a, sizeof(int), &t);
assert(-1 == ret);
}
ret = TpagedListInsert(xid, list, (byte*)&a, sizeof(int), (byte*)&b, sizeof(recordid));
assert(!ret);
recordid * bb;
recordid ** bbb = &bb;
ret = TpagedListFind(xid, list, (byte*)&a, sizeof(int), (byte**)bbb);
assert(ret == sizeof(recordid));
assert(!memcmp(bb, &b, sizeof(recordid)));
}
Tcommit(xid);
printf("\n");
xid = Tbegin();
for(i = 0; i < NUM_ENTRIES; i++ ) {
if(!(i % (NUM_ENTRIES/10))) {
printf("."); fflush(stdout);
}
a = i;
b.page = i+1;
b.slot = i+2;
b.size = i+3;
recordid * bb;
recordid ** bbb = &bb;
int ret = TpagedListFind(xid, list, (byte*)&a, sizeof(int), (byte**)bbb);
assert(ret == sizeof(recordid));
assert(!memcmp(bb, &b, sizeof(recordid)));
if(!(i % 10)) {
ret = TpagedListRemove(xid, list, (byte*)&a, sizeof(int));
assert(ret);
free(bb);
bb = 0;
ret = TpagedListFind(xid, list, (byte*)&a, sizeof(int), (byte**)bbb);
assert(-1==ret);
assert(!bb);
}
}
Tabort(xid);
xid = Tbegin();
printf("\n");
for(i = 0; i < NUM_ENTRIES; i++) {
if(!(i % (NUM_ENTRIES/10))) {
printf("."); fflush(stdout);
}
a = i;
b.page = i+1;
b.slot = i+2;
b.size = i+3;
recordid * bb;
recordid ** bbb = &bb;
int ret = TpagedListFind(xid, list, (byte*)&a, sizeof(int), (byte**)bbb);
assert(ret == sizeof(recordid));
assert(!memcmp(bb, &b, sizeof(recordid)));
}
byte * seen = stasis_calloc(NUM_ENTRIES, byte);
lladd_pagedList_iterator * it = TpagedListIterator(xid, list);
int keySize;
int valueSize;
int * key = 0;
int ** bkey = &key;
recordid * value = 0;
recordid ** bvalue = &value;
while(TpagedListNext(xid, it, (byte**)bkey, &keySize, (byte**)bvalue, &valueSize)) {
assert(!seen[*key]);
seen[*key] = 1;
assert(value->page == *key+1);
assert(value->slot == *key+2);
assert(value->size == *key+3);
free(key);
free(value);
key = 0;
value = 0;
}
for(i = 0; i < NUM_ENTRIES; i++) {
assert(seen[i] == 1);
}
Tcommit(xid);
Tdeinit();
} END_TEST
int main(int argc, char** argv) {
assert(argc == 4);
int thread_count = atoi(argv[1]) ;
// count = atoi(argv[2]);
thread_requests_per_sec = (double)(atoi(argv[2]));
count = 10.0 * thread_requests_per_sec;
alwaysCommit = atoi(argv[3]);
printf("%d %f\n", thread_count, thread_requests_per_sec);
/* unlink("storefile.txt");
unlink("logfile.txt");
unlink("blob0_file.txt");
unlink("blob1_file.txt"); */
int l;
for(l = 0; l < COUNTER_RESOLUTION; l++) {
buckets[l] = 0;
}
pthread_t * workers = stasis_malloc(thread_count, pthread_t);
Tinit();
int xid = Tbegin();
hash = ThashCreate(xid, sizeof(int), sizeof(int));
Tcommit(xid);
int k;
/* threads have static thread sizes. Ughh. */
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_mutex_init(&mutex, NULL);
pthread_cond_init(&never, NULL);
pthread_attr_setstacksize (&attr, PTHREAD_STACK_MIN);
// pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
pthread_mutex_lock(&mutex);
for(k = 0; k < thread_count; k++) {
int * k_copy = stasis_alloc(int);
*k_copy = k ;
pthread_create(&workers[k], &attr, go, k_copy);
}
pthread_mutex_unlock(&mutex);
for(k = 0; k < thread_count; k++) {
pthread_join(workers[k],NULL);
}
double log_multiplier = (COUNTER_RESOLUTION / log(MAX_SECONDS * 1000000000.0));
int total = 0;
for(k = 0; k < COUNTER_RESOLUTION; k++) {
printf("%3.4f\t%d\n", exp(((double)k)/log_multiplier)/1000000000.0, buckets[k]);
total += buckets[k];
}
printf("Total requests %d\n", total);
/* printf("mean: (max, avg) %f, %f\n", max_mean, avg_mean / (double)thread_count);
printf("variance: (max, avg) %f, %f\n", max_var, avg_var / (double)thread_count); */
Tdeinit();
}