/**
* int NFU(Algorithm_Data *data)
*
* NFU Page Replacement Algorithm
*
* @param *data {Algorithm_Data} struct holding algorithm data
*
* return {int} did page fault, 0 or 1
*/
int NFU(Algorithm_Data *data)
{
struct Frame *framep = data->page_table.lh_first,
*victim = NULL;
int fault = 0;
/* Find target (hit), empty page index (miss), or victim to evict (miss) */
while (framep != NULL && framep->page > -1 && framep->page != last_page_ref) {
if(victim == NULL || framep->extra < victim->extra)
victim = framep; // No victim or frame used fewer times
framep = framep->frames.le_next;
}
/* Make a decision */
if(framep == NULL)
{ // It's a miss, kill our victim
add_victim(&data->victim_list, victim);
victim->page = last_page_ref;
time(&victim->time);
victim->extra = 0;
fault = 1;
}
else if(framep->page == -1)
{ // Can use free page table index
framep->page = last_page_ref;
time(&framep->time);
framep->extra = 0;
fault = 1;
}
else if(framep->page == last_page_ref)
{ // The page was found! Hit!
time(&framep->time);
framep->extra++;
}
if(fault == 1) data->misses++; else data->hits++;
return fault;
}
/**
* int CLOCK(Algorithm_Data *data)
*
* CLOCK Page Replacement Algorithm
*
* @param *data {Algorithm_Data} struct holding algorithm data
*
* return {int} did page fault, 0 or 1
*/
int CLOCK(Algorithm_Data *data)
{
static Frame *clock_hand = NULL; // Clock needs a hand
Frame *framep = data->page_table.lh_first;
int fault = 0;
/* Forward traversal. */
/* Find target (hit), empty page slot (miss), or victim to evict (miss) */
while(framep != NULL && framep->page > -1 && framep->page != last_page_ref)
framep = framep->frames.le_next;
/* Make a decision */
if(framep != NULL)
{
if(framep->page == -1)
{
framep->page = last_page_ref;
framep->extra = 0;
fault = 1;
}
else
{ // Found the page, update its R bit to 0
framep->extra = 0;
}
}
else // Use the hand to find our victim
{
while(clock_hand == NULL || clock_hand->extra == 0)
{
if(clock_hand == NULL)
{
clock_hand = data->page_table.lh_first;
}
else
{
clock_hand->extra = 1;
clock_hand = clock_hand->frames.le_next;
}
}
add_victim(&data->victim_list, clock_hand);
clock_hand->page = last_page_ref;
clock_hand->extra = 0;
fault = 1;
}
if(fault == 1) data->misses++; else data->hits++;
return fault;
}
/**
* int RANDOM(Algorithm_Data *data)
*
* RANDOM Page Replacement Algorithm
*
* @param *data {Algorithm_Data} struct holding algorithm data
*
* return {int} did page fault, 0 or 1
*/
int RANDOM(Algorithm_Data *data)
{
struct Frame *framep = data->page_table.lh_first,
*victim = NULL;
int rand_victim = rand() % num_frames;
int fault = 0;
/* Find target (hit), empty page index (miss), or victim to evict (miss) */
while (framep != NULL && framep->page > -1 && framep->page != last_page_ref) {
if(framep->index == rand_victim) // rand
victim = framep;
framep = framep->frames.le_next;
}
if(framep == NULL)
{ // It's a miss, kill our victim
if(debug) printf("Victim selected: %d, Page: %d\n", victim->index, victim->page);
add_victim(&data->victim_list, victim);
victim->page = last_page_ref;
time(&victim->time);
victim->extra = counter;
fault = 1;
}
else if(framep->page == -1)
{ // Use free page table index
framep->page = last_page_ref;
time(&framep->time);
framep->extra = counter;
fault = 1;
}
else if(framep->page == last_page_ref)
{ // The page was found! Hit!
time(&framep->time);
framep->extra = counter;
}
if(debug)
{
printf("Page Ref: %d\n", last_page_ref);
for (framep = data->page_table.lh_first; framep != NULL; framep = framep->frames.le_next)
printf("Slot: %d, Page: %d, Time used: %d\n", framep->index, framep->page, framep->extra);
}
if(fault == 1) data->misses++; else data->hits++;
return fault;
}
/**
* int FIFO(Algorithm_Data *data)
*
* FIFO Page Replacement Algorithm
*
* @param *data {Algorithm_Data} struct holding algorithm data
*
* return {int} did page fault, 0 or 1
*/
int FIFO(Algorithm_Data *data)
{
struct Frame *framep = data->page_table.lh_first,
*victim = NULL;
int fault = 0;
/* Find target (hit), empty page index (miss), or victim to evict (miss) */
while (framep != NULL && framep->page > -1 && framep->page != last_page_ref) {
if(victim == NULL || framep->time > victim->time)
{ // No victim yet or frame older than victim
victim = framep;
}
framep = framep->frames.le_next;
}
/* Make a decision */
if(framep == NULL)
{ // It's a miss, kill our victim
if(debug) printf("Victim selected: %d, Page: %d\n", victim->index, victim->page);
add_victim(&data->victim_list, victim);
victim->page = last_page_ref;
time(&victim->time);
victim->extra = counter;
fault = 1;
}
else if(framep->page == -1)
{ // Can use free page table index
framep->page = last_page_ref;
time(&framep->time);
framep->extra = counter;
fault = 1;
}
else if(framep->page == last_page_ref)
{ // The page was found! Hit!
time(&framep->time);
framep->extra = counter;
}
if(fault == 1) data->misses++; else data->hits++;
return fault;
}
/*
* This example shows how to use the C "client" API.
* It essentially wraps a subset of the JSON API,
* relevant for a SHERPA mission.
*
* For communication zyre is used.
* Please make ensure a correct zyre configuration file
* is passed.
*/
int main(int argc, char *argv[]) {
char agent_name[] = "fw0"; // or wasp1, operator0, ... donkey0, sherpa_box0. Please use the same as SWM_AGENT_NAME environment variable.
/* Load configuration file for communication setup */
char config_folder[255] = { SWM_ZYRE_CONFIG_DIR };
char config_name[] = "swm_zyre_config.json";
char config_file[512] = {0};
snprintf(config_file, sizeof(config_file), "%s/%s", config_folder, config_name);
if (argc == 2) { // override default config
snprintf(config_file, sizeof(config_file), "%s", argv[1]);
}
json_t * config = load_config_file(config_file);//"swm_zyre_config.json");
if (config == NULL) {
return -1;
}
/* Spawn new communication component */
component_t *self = new_component(config);
if (self == NULL) {
return -1;
}
printf("[%s] component initialized!\n", self->name);
char *msg;
/* Input variables */
double x = 979875;
double y = 48704;
double z = 405;
double utcTimeInMiliSec = 0.0;
int i;
struct timeval tp;
printf("###################### CONNECTIVITY #########################\n");
char *root_id = 0;
/* Get the root node ID of the local SHWRPA World Model.
* This can be used the check connectivity to the SMW.
* Typically false means the local SWM cannot be reached. Is it actually started?
*/
assert(get_root_node_id(self, &root_id));
free(root_id);
printf("###################### AGENT #########################\n");
/* column-major layout:
* 0 4 8 12
* 1 5 9 13
* 2 6 10 14
* 3 7 11 15
*
* <=>
*
* r11 r12 r13 x
* r21 r22 r23 y
* r31 r32 r33 z
* 3 7 11 15
*/
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_agent(self, matrix, utcTimeInMiliSec, agent_name));
assert(add_agent(self, matrix, utcTimeInMiliSec, agent_name)); // twice is not a problem, sine it checks for existance
/*
* Add new observations for potential victims
*/
for (i = 0; i < 2; ++i) {
printf("###################### VICTIM #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_victim(self, matrix, utcTimeInMiliSec, agent_name));
}
/*
* Add new image observations
*/
for (i = 0; i < 2; ++i) {
printf("###################### IMAGE #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_image(self, matrix, utcTimeInMiliSec, agent_name, "/tmp/image001.jpg"));
}
/*
* Add new ARTVA observations (Only relevant for the WASPS)
*/
for (i = 0; i < 2; ++i) {
printf("###################### ARTVA #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_artva(self, matrix, 77, 12, 0, 0, utcTimeInMiliSec, agent_name));
}
/*
* Add new battery values. In fact it is stored in a single battery node and
* get updated after first creation.
*/
for (i = 0; i < 2; ++i) {
printf("###################### BATTERY #########################\n");
double voltage = 20 + i;
assert(add_battery(self, voltage, "HIGH", utcTimeInMiliSec, agent_name));
}
/*
* Update pose of this agent
*/
for (i = 0; i < 30; ++i) {
printf("###################### POSE #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z+i;
update_pose(self, matrix, utcTimeInMiliSec+i, agent_name);
usleep(100/*[ms]*/ * 1000);
}
/*
* Get current position
*/
printf("###################### GET POSITION #########################\n");
x = 0;
y = 0;
z = 0;
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
get_position(self, &x, &y, &z, utcTimeInMiliSec, agent_name);
printf ("Latest position of agent = (%f,%f,%f)\n", x,y,z);
/*
* Get ID of mediator
*/
printf("###################### GET MEDIATOR ID #########################\n");
char* mediator_id = NULL;
assert(get_mediator_id(self, &mediator_id));
printf ("ID of mediator = %s\n", mediator_id);
free(mediator_id);
printf("###################### DONE #########################\n");
/* Clean up */
destroy_component(&self);
printf ("SHUTDOWN\n");
return 0;
}
/**
* int OPTIMAL(Algorithm_Data *data)
*
* OPTIMAL Page Replacement Algorithm
*
* @param *data {Algorithm_Data} struct holding algorithm data
*
* return {int} did page fault, 0 or 1
*/
int OPTIMAL(Algorithm_Data *data)
{
Frame *framep = data->page_table.lh_first,
*victim = NULL;
int fault = 0;
/* Find target (hit), empty page index (miss), or victim to evict (miss) */
while (framep != NULL && framep->page > -1 && framep->page != last_page_ref) {
framep = framep->frames.le_next;
}
if(framep == NULL)
{ // It's a miss, find our victim
size_t i,j;
for(i = 0; i < page_ref_upper_bound; ++i)
optimum_find_test[i] = -1;
Page_Ref *page = page_refs.lh_first;
int all_found = 0;
j = 0;
//optimum_find_test = malloc(sizeof(int)*page_ref_upper_bound);
while(all_found == 0)
{
if(optimum_find_test[page->page_num] == -1)
optimum_find_test[page->page_num] = j++;
all_found = 1;
for(i = 0; i < page_ref_upper_bound; ++i)
if(optimum_find_test[i] == -1)
{
all_found = 0;
break;
}
page = page->pages.le_next;
}
framep = data->page_table.lh_first;
while (framep != NULL) {
if(victim == NULL || optimum_find_test[framep->page] > optimum_find_test[victim->page])
{ // No victim yet or page used further in future than victim
victim = framep;
}
framep = framep->frames.le_next;
}
if(debug) printf("Victim selected: %d, Page: %d\n", victim->index, victim->page);
add_victim(&data->victim_list, victim);
victim->page = last_page_ref;
time(&victim->time);
victim->extra = counter;
fault = 1;
}
else if(framep->page == -1)
{ // Use free page table index
framep->page = last_page_ref;
time(&framep->time);
framep->extra = counter;
fault = 1;
}
else if(framep->page == last_page_ref)
{ // The page was found! Hit!
time(&framep->time);
framep->extra = counter;
}
if(debug)
{
printf("Page Ref: %d\n", last_page_ref);
for (framep = data->page_table.lh_first; framep != NULL; framep = framep->frames.le_next)
printf("Slot: %d, Page: %d, Time used: %d\n", framep->index, framep->page, framep->extra);
}
if(fault == 1) data->misses++; else data->hits++;
return fault;
}
