ParallelIMU::ParallelIMU() {
// Using RTIMULib here allows it to use the .ini file generated by RTIMULibDemo.
// Or, you can create the .ini in some other directory by using:
// RTIMUSettings *settings = new RTIMUSettings("<directory path>", "RTIMULib");
// where <directory path> is the path to where the .ini file is to be loaded/saved
RTIMUSettings *settings = new RTIMUSettings("config", "RTIMULib");
imu = RTIMU::createIMU(settings);
if ((imu == NULL) || (imu->IMUType() == RTIMU_TYPE_NULL)) {
printf("No IMU found\n");
exit(1);
}
// This is an opportunity to manually override any settings before the call IMUInit
// set up IMU
imu->IMUInit();
// this is a convenient place to change fusion parameters
imu->setSlerpPower(0.02);
imu->setGyroEnable(true);
imu->setAccelEnable(true);
imu->setCompassEnable(true);
std::thread tempThread(&ParallelIMU::startCapture, this);
std::swap(tempThread, imuThread);
}
Lepton::Lepton() {
SpiOpenPort(0);
int ret = 0;
int fd;
fd = open(device, O_RDWR);
if (fd < 0)
{
pabort("can't open device");
}
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
if (ret == -1)
{
pabort("can't set spi mode");
}
ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
if (ret == -1)
{
pabort("can't get spi mode");
}
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
if (ret == -1)
{
pabort("can't set bits per word");
}
ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
if (ret == -1)
{
pabort("can't get bits per word");
}
ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (ret == -1)
{
pabort("can't set max speed hz");
}
ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
if (ret == -1)
{
pabort("can't get max speed hz");
}
_latestFrame = (uint16_t*) malloc(VIEWPORT_WIDTH_PIX * VIEWPORT_HEIGHT_PIX * sizeof(uint16_t));
_newFrameAvailable = false;
_canOverwriteLatestFrame = true;
std::thread tempThread(&Lepton::startCapture, this);
std::swap(tempThread, _leptonThread);
}
MockIMU::MockIMU() {
// initialize dummies
mockPitch = 0;
mockRoll = 0;
mockYaw = 0;
std::thread tempThread(&MockIMU::startCapture, this);
std::swap(tempThread, imuThread);
}
void Server::startListening()
{
// Bind the listener to a port
if (listener.listen(53000) == sf::Socket::Done)
{
std::cout << "Server listening!" << "\n";
}
// Create temporary thread and swap it with this instance's thread.
std::thread tempThread(listenerThreadFunc, this);
std::swap(tempThread, listenerThread);
}
void Server::listenerThreadFunc()
{
while (running && listening)
{
if (listener.accept(clients.back().socket) == sf::Socket::Done)
{
// Connection accepted.
std::cout << "Connection successful to " << clients.back().socket.getRemoteAddress() << "!\n";
// Set client's id.
clients.back().id = clients.size();
// Create temporary thread and swap it with the current client's thread.
std::thread tempThread(clientThreadFunc, this, &clients.back());
std::swap(tempThread, clients.back().thread);
// Create the empty position to be filled by the next client.
clients.emplace_back();
}
}
}
bool encodeAssembly(CAssemblerCommand* content)
{
bool Revalidate;
Arm.Pass2();
Mips.Pass2();
int validationPasses = 0;
do // loop until everything is constant
{
Global.validationPasses = validationPasses;
Logger::clearQueue();
Revalidate = false;
if (validationPasses >= 100)
{
Logger::queueError(Logger::Error,L"Stuck in infinite validation loop");
break;
}
g_fileManager->reset();
#ifdef _DEBUG
if (!Logger::isSilent())
printf("Validate %d...\n",validationPasses);
#endif
if (Global.memoryMode)
g_fileManager->openFile(Global.memoryFile,true);
Revalidate = content->Validate();
Arm.Revalidate();
Mips.Revalidate();
if (Global.memoryMode)
g_fileManager->closeFile();
validationPasses++;
} while (Revalidate == true);
Logger::printQueue();
if (Logger::hasError() == true)
{
return false;
}
#ifdef _DEBUG
if (!Logger::isSilent())
printf("Encode...\n");
#endif
// and finally encode
if (Global.memoryMode)
g_fileManager->openFile(Global.memoryFile,false);
// writeTempData, writeSymData and encode all access the same
// memory but never change, so they can run in parallel
assemblyContent = content;
if (Global.multiThreading)
{
std::thread tempThread(writeTempData);
std::thread symThread(writeSymData);
content->Encode();
tempThread.join();
symThread.join();
} else {
writeTempData();
writeSymData();
content->Encode();
}
if (g_fileManager->hasOpenFile())
{
if (!Global.memoryMode)
Logger::printError(Logger::Warning,L"File not closed");
g_fileManager->closeFile();
}
return true;
}
