active_survey::active_survey(int argc, char **argv):
nh_("active_survey")
{
ros::NodeHandle private_node_handle_("~");
active_survey_param::GetParams(private_node_handle_);
mav_ = std::make_shared<mav>(*environment_model::instance(), Vector3f{-0.5f*static_cast<float>(active_survey_param::area_width),
-0.5f*static_cast<float>(active_survey_param::area_height),
10.0f});
if(active_survey_param::logging)
{
setup_log_file();
}
active_survey_log("this is a test for active_survey logging system.");
}
// application setup method
void emDNA_Application::setup_application() {
// log file
setup_log_file(m_cmd_line.output_name());
// log command line input
m_log_file.log_emDNA_CommandLine(m_cmd_line);
// bp collection
setup_bp_collection();
// log bp collection
m_log_file.log_BpCollection(m_bp_collection);
// setup message
if (!m_cmd_line.quiet_flag())
application_setup_message();
};
int
main(int argc, char *argv[])
{
int i, j = 0;
int create_flag = 0;
const unsigned char *user = 0, *group = 0, *workdir = 0;
int restart_flag = 0;
char **argv_restart = 0;
int pid;
time_t server_start_time = 0;
hr_set_symbolic_action_table(NEW_SRV_ACTION_LAST, ns_symbolic_action_table, ns_submit_button_labels, 0);
time(&server_start_time);
start_set_self_args(argc, argv);
/* certain options should be removed for restart */
XCALLOC(argv_restart, argc + 2);
argv_restart[j++] = argv[0];
params.program_name = argv[0];
for (i = 1; i < argc; ) {
if (!strcmp(argv[i], "-D")) {
params.daemon_mode_flag = 1;
i++;
} else if (!strcmp(argv[i], "-f")) {
params.force_socket_flag = 1;
argv_restart[j++] = argv[i];
i++;
} else if (!strcmp(argv[i], "--create")) {
create_flag = 1;
i++;
} else if (!strcmp(argv[i], "-u")) {
if (++i >= argc) startup_error("invalid usage");
user = argv[i++];
} else if (!strcmp(argv[i], "-g")) {
if (++i >= argc) startup_error("invalid usage");
group = argv[i++];
} else if (!strcmp(argv[i], "-C")) {
if (++i >= argc) startup_error("invalid usage");
workdir = argv[i++];
} else if (!strcmp(argv[i], "-R")) {
params.restart_mode_flag = 1;
++i;
} else if (!strcmp(argv[i], "--")) {
argv_restart[j++] = argv[i];
i++;
break;
} else if (argv[i][0] == '-') {
startup_error("invalid option `%s'", argv[i]);
} else
break;
}
argv_restart[j++] = "-R";
if (i < argc) {
argv_restart[j++] = argv[i];
ejudge_xml_path = argv[i++];
}
if (i != argc) startup_error("invalid number of parameters");
argv_restart[j] = 0;
start_set_args(argv_restart);
if (!(pid = start_find_process("ej-contests", 0))) {
params.force_socket_flag = 1;
} else if (pid > 0) {
fprintf(stderr, "%s: is already running as pid %d\n", argv[0], pid);
return 1;
}
if (start_prepare(user, group, workdir) < 0) return 1;
if (workdir && *workdir) {
if (chdir(workdir) < 0) {
err("cannot change directory to %s", workdir);
return 1;
}
}
#if defined EJUDGE_XML_PATH
if (!ejudge_xml_path) ejudge_xml_path = EJUDGE_XML_PATH;
#endif /* EJUDGE_XML_PATH */
if (!ejudge_xml_path) startup_error("configuration file is not specified");
ejudge_config = ejudge_cfg_parse(ejudge_xml_path, 0);
if (!ejudge_config) return 1;
if (contests_set_directory(ejudge_config->contests_dir) < 0) return 1;
l10n_prepare(ejudge_config->l10n, ejudge_config->l10n_dir);
if (!strcasecmp(EJUDGE_CHARSET, "UTF-8")) utf8_mode = 1;
#if defined EJUDGE_NEW_SERVER_SOCKET
if (!ejudge_config->new_server_socket)
ejudge_config->new_server_socket = xstrdup(EJUDGE_NEW_SERVER_SOCKET);
#endif
if (!ejudge_config->new_server_socket)
ejudge_config->new_server_socket=xstrdup(EJUDGE_NEW_SERVER_SOCKET_DEFAULT);
#if defined EJUDGE_CONTESTS_HOME_DIR
if (!ejudge_config->contests_home_dir)
ejudge_config->contests_home_dir = xstrdup(EJUDGE_CONTESTS_HOME_DIR);
#endif
setup_log_file();
info("ej-contests %s, compiled %s", compile_version, compile_date);
params.socket_path = ejudge_config->new_server_socket;
params.log_path = ejudge_config->new_server_log;
if (load_plugins() < 0) return 1;
// initialize the default plugin
if (nsdb_default->iface->open(nsdb_default->data) < 0) {
startup_error("default plugin failed to open its connection");
return 1;
}
if (create_flag) {
if (nsdb_default->iface->create(nsdb_default->data) < 0) {
startup_error("database creation failed");
return 1;
}
if (nsdb_default->iface->close(nsdb_default->data) < 0) {
startup_error("database closing failed");
return 1;
}
return 0;
}
if (nsdb_default->iface->check(nsdb_default->data) <= 0) {
startup_error("default plugin failed to check its data");
return 1;
}
if (!(state = nsf_init(¶ms, 0, server_start_time))) return 1;
if (nsf_prepare(state) < 0) return 1;
nsf_main_loop(state);
restart_flag = nsf_is_restart_requested(state);
ns_unload_contests();
nsf_cleanup(state);
nsdb_default->iface->close(nsdb_default->data);
if (restart_flag) start_restart();
return 0;
}
int main(int argc, char **argv)
{
CONFIG cfg;
WT_CONNECTION *conn;
const char *user_cconfig, *user_tconfig;
const char *opts = "C:I:P:R:U:T:c:d:eh:i:jk:l:m:r:ps:t:u:v:SML";
char *cc_buf, *tc_buf;
int ch, checkpoint_created, ret, stat_created;
pthread_t checkpoint, stat;
uint64_t req_len;
/* Setup the default configuration values. */
memcpy(&cfg, &default_cfg, sizeof(cfg));
cc_buf = tc_buf = NULL;
user_cconfig = user_tconfig = NULL;
conn = NULL;
checkpoint_created = stat_created = 0;
/*
* First parse different config structures - other options override
* fields within the structure.
*/
while ((ch = getopt(argc, argv, opts)) != EOF)
switch (ch) {
case 'S':
memcpy(&cfg, &small_cfg, sizeof(cfg));
break;
case 'M':
memcpy(&cfg, &med_cfg, sizeof(cfg));
break;
case 'L':
memcpy(&cfg, &large_cfg, sizeof(cfg));
break;
default:
/* Validation is provided on the next parse. */
break;
}
/* Parse other options */
optind = 1;
while ((ch = getopt(argc, argv, opts)) != EOF)
switch (ch) {
case 'd':
cfg.data_sz = (uint32_t)atoi(optarg);
break;
case 'c':
cfg.checkpoint_interval = (uint32_t)atoi(optarg);
break;
case 'e':
cfg.create = 0;
break;
case 'h':
cfg.home = optarg;
break;
case 'i':
cfg.icount = (uint32_t)atoi(optarg);
break;
case 'j':
F_SET(&cfg, PERF_INSERT_RMW);
break;
case 'k':
cfg.key_sz = (uint32_t)atoi(optarg);
break;
case 'l':
cfg.stat_interval = (uint32_t)atoi(optarg);
break;
case 'm':
F_SET(&cfg, PERF_RAND_WORKLOAD);
cfg.rand_range = (uint32_t)atoi(optarg);
if (cfg.rand_range == 0) {
fprintf(stderr, "Invalid random range.\n");
usage();
return (EINVAL);
}
break;
case 'p':
F_SET(&cfg, PERF_RAND_PARETO);
break;
case 'r':
cfg.run_time = (uint32_t)atoi(optarg);
break;
case 's':
cfg.rand_seed = (uint32_t)atoi(optarg);
break;
case 't':
cfg.report_interval = (uint32_t)atoi(optarg);
break;
case 'u':
cfg.uri = optarg;
break;
case 'v':
cfg.verbose = (uint32_t)atoi(optarg);
break;
case 'C':
user_cconfig = optarg;
break;
case 'I':
cfg.insert_threads = (uint32_t)atoi(optarg);
break;
case 'P':
cfg.populate_threads = (uint32_t)atoi(optarg);
break;
case 'R':
cfg.read_threads = (uint32_t)atoi(optarg);
break;
case 'U':
cfg.update_threads = (uint32_t)atoi(optarg);
break;
case 'T':
user_tconfig = optarg;
break;
case 'L':
case 'M':
case 'S':
break;
case '?':
default:
fprintf(stderr, "Invalid option\n");
usage();
return (EINVAL);
}
if ((ret = setup_log_file(&cfg)) != 0)
goto err;
/* Make stdout line buffered, so verbose output appears quickly. */
(void)setvbuf(stdout, NULL, _IOLBF, 0);
/* Concatenate non-default configuration strings. */
if (cfg.verbose > 1 || user_cconfig != NULL) {
req_len = strlen(cfg.conn_config) + strlen(debug_cconfig) + 3;
if (user_cconfig != NULL)
req_len += strlen(user_cconfig);
cc_buf = calloc(req_len, 1);
if (cc_buf == NULL) {
ret = ENOMEM;
goto err;
}
snprintf(cc_buf, req_len, "%s%s%s%s%s",
cfg.conn_config,
cfg.verbose > 1 ? "," : "",
cfg.verbose > 1 ? debug_cconfig : "",
user_cconfig ? "," : "", user_cconfig ? user_cconfig : "");
cfg.conn_config = cc_buf;
}
if (cfg.verbose > 1 || user_tconfig != NULL) {
req_len = strlen(cfg.table_config) + strlen(debug_tconfig) + 3;
if (user_tconfig != NULL)
req_len += strlen(user_tconfig);
tc_buf = calloc(req_len, 1);
if (tc_buf == NULL) {
ret = ENOMEM;
goto err;
}
snprintf(tc_buf, req_len, "%s%s%s%s%s",
cfg.table_config,
cfg.verbose > 1 ? "," : "",
cfg.verbose > 1 ? debug_tconfig : "",
user_tconfig ? "," : "", user_tconfig ? user_tconfig : "");
cfg.table_config = tc_buf;
}
wtperf_srand(&cfg);
if (cfg.verbose > 1)
print_config(&cfg);
/* Open a connection to the database, creating it if necessary. */
if ((ret = wiredtiger_open(
cfg.home, NULL, cfg.conn_config, &conn)) != 0) {
lprintf(&cfg, ret, 0, "Error connecting to %s", cfg.home);
goto err;
}
cfg.conn = conn;
g_util_running = 1;
if (cfg.stat_interval != 0) {
if ((ret = pthread_create(
&stat, NULL, stat_worker, &cfg)) != 0) {
lprintf(&cfg, ret, 0,
"Error creating statistics thread.");
goto err;
}
stat_created = 1;
}
if (cfg.checkpoint_interval != 0) {
if ((ret = pthread_create(
&checkpoint, NULL, checkpoint_worker, &cfg)) != 0) {
lprintf(&cfg, ret, 0,
"Error creating checkpoint thread.");
goto err;
}
checkpoint_created = 1;
}
if (cfg.create != 0 && execute_populate(&cfg) != 0)
goto err;
/* If we aren't populating, set the insert count. */
if (cfg.create == 0 && find_table_count(&cfg) != 0)
goto err;
if (cfg.run_time != 0 &&
cfg.read_threads + cfg.insert_threads + cfg.update_threads != 0 &&
(ret = execute_workload(&cfg)) != 0)
goto err;
lprintf(&cfg, 0, 1,
"Ran performance test example with %d read threads, %d insert"
" threads and %d update threads for %d seconds.",
cfg.read_threads, cfg.insert_threads,
cfg.update_threads, cfg.run_time);
if (cfg.read_threads != 0)
lprintf(&cfg, 0, 1,
"Executed %" PRIu64 " read operations", g_nread_ops);
if (cfg.insert_threads != 0)
lprintf(&cfg, 0, 1,
"Executed %" PRIu64 " insert operations", g_nins_ops);
if (cfg.update_threads != 0)
lprintf(&cfg, 0, 1,
"Executed %" PRIu64 " update operations", g_nupdate_ops);
err: g_util_running = 0;
if (checkpoint_created != 0 &&
(ret = pthread_join(checkpoint, NULL)) != 0)
lprintf(&cfg, ret, 0, "Error joining checkpoint thread.");
if (stat_created != 0 && (ret = pthread_join(stat, NULL)) != 0)
lprintf(&cfg, ret, 0, "Error joining stat thread.");
if (conn != NULL && (ret = conn->close(conn, NULL)) != 0)
lprintf(&cfg, ret, 0,
"Error closing connection to %s", cfg.home);
if (cc_buf != NULL)
free(cc_buf);
if (tc_buf != NULL)
free(tc_buf);
if (cfg.logf != NULL) {
fflush(cfg.logf);
fclose(cfg.logf);
}
return (ret);
}
int main(int argc, char **argv)
{
CONFIG cfg;
WT_CONNECTION *conn;
const char *user_cconfig, *user_tconfig;
const char *opts = "C:R:T:d:eh:i:k:lr:s:u:v:SML";
char *cc_buf, *tc_buf;
int ch, ret, stat_created;
pthread_t stat;
uint64_t req_len;
/* Setup the default configuration values. */
memcpy(&cfg, &default_cfg, sizeof(cfg));
cc_buf = tc_buf = NULL;
user_cconfig = user_tconfig = NULL;
conn = NULL;
stat_created = 0;
/*
* First parse different config structures - other options override
* fields within the structure.
*/
while ((ch = getopt(argc, argv, opts)) != EOF)
switch (ch) {
case 'S':
memcpy(&cfg, &small_cfg, sizeof(cfg));
break;
case 'M':
memcpy(&cfg, &med_cfg, sizeof(cfg));
break;
case 'L':
memcpy(&cfg, &large_cfg, sizeof(cfg));
break;
default:
/* Validation is provided on the next parse. */
break;
}
/* Parse other options */
optind = 1;
while ((ch = getopt(argc, argv, opts)) != EOF)
switch (ch) {
case 'd':
cfg.data_sz = atoi(optarg);
break;
case 'e':
cfg.create = 0;
break;
case 'h':
cfg.home = optarg;
break;
case 'i':
cfg.icount = atoi(optarg) * 1000;
break;
case 'k':
cfg.key_sz = atoi(optarg);
break;
case 'l':
cfg.stat_thread = 1;
break;
case 'r':
cfg.read_time = atoi(optarg);
break;
case 's':
cfg.rand_seed = atoi(optarg);
break;
case 'u':
cfg.uri = optarg;
break;
case 'v':
cfg.verbose = atoi(optarg);
break;
case 'C':
user_cconfig = optarg;
break;
case 'R':
cfg.read_threads = atoi(optarg);
break;
case 'T':
user_tconfig = optarg;
break;
case 'L':
case 'M':
case 'S':
break;
case '?':
default:
fprintf(stderr, "Invalid option\n");
usage();
return (EINVAL);
}
if ((ret = setup_log_file(&cfg)) != 0)
goto err;
/* Make stdout line buffered, so verbose output appears quickly. */
(void)setvbuf(stdout, NULL, _IOLBF, 0);
/* Concatenate non-default configuration strings. */
if (cfg.verbose > 1 || user_cconfig != NULL) {
req_len = strlen(cfg.conn_config) + strlen(debug_cconfig) + 3;
if (user_cconfig != NULL)
req_len += strlen(user_cconfig);
cc_buf = calloc(req_len, 1);
if (cc_buf == NULL) {
ret = ENOMEM;
goto err;
}
snprintf(cc_buf, req_len, "%s%s%s%s%s",
cfg.conn_config,
cfg.verbose > 1 ? "," : "",
cfg.verbose > 1 ? debug_cconfig : "",
user_cconfig ? "," : "", user_cconfig ? user_cconfig : "");
cfg.conn_config = cc_buf;
}
if (cfg.verbose > 1 || user_tconfig != NULL) {
req_len = strlen(cfg.table_config) + strlen(debug_tconfig) + 3;
if (user_tconfig != NULL)
req_len += strlen(user_tconfig);
tc_buf = calloc(req_len, 1);
if (tc_buf == NULL) {
ret = ENOMEM;
goto err;
}
snprintf(tc_buf, req_len, "%s%s%s%s%s",
cfg.table_config,
cfg.verbose > 1 ? "," : "",
cfg.verbose > 1 ? debug_tconfig : "",
user_tconfig ? "," : "", user_tconfig ? user_tconfig : "");
cfg.table_config = tc_buf;
}
srand(cfg.rand_seed);
if (cfg.verbose > 1)
print_config(&cfg);
/* Open a connection to the database, creating it if necessary. */
if ((ret = wiredtiger_open(
cfg.home, NULL, cfg.conn_config, &conn)) != 0) {
fprintf(stderr, "Error connecting to %s: %s\n",
cfg.home, wiredtiger_strerror(ret));
goto err;
}
cfg.conn = conn;
if (cfg.stat_thread) {
stat_running = 1;
if ((ret = pthread_create(
&stat, NULL, stat_worker, &cfg)) != 0) {
fprintf(stderr, "Error creating statistics thread.\n");
goto err;
}
stat_created = 1;
}
if (cfg.create != 0 && (ret = populate(&cfg)) != 0)
goto err;
if (cfg.read_time != 0 && cfg.read_threads != 0)
if ((ret = execute_reads(&cfg)) != 0)
goto err;
if (cfg.verbose > 0) {
fprintf(cfg.logf,
"Ran performance test example with %d threads for %d seconds.\n",
cfg.read_threads, cfg.read_time);
fprintf(cfg.logf,
"Executed %" PRIu64 " read operations\n", nops);
}
if (cfg.stat_thread)
stat_running = 0;
/* Cleanup. */
err: if (stat_created != 0 && (ret = pthread_join(stat, NULL)) != 0)
fprintf(stderr, "Error joining stat thread: %d.\n", ret);
if (conn != NULL && (ret = conn->close(conn, NULL)) != 0)
fprintf(stderr, "Error connecting to %s: %s\n",
cfg.home, wiredtiger_strerror(ret));
if (cc_buf != NULL)
free(cc_buf);
if (tc_buf != NULL)
free(tc_buf);
if (cfg.logf != NULL) {
fflush(cfg.logf);
fclose(cfg.logf);
}
return (ret);
}
