void initTimer() {
/* @TODO start the timer task and forward timer*/
initCallbackInfo();
g_timer_switcher = 1;
g_timer_tick_sem = initSemaphore();
g_timer_end_sem = initSemaphore();
createTask(decreaseTimerNode, 0);
sysClkConnect(increaseTick, 0);
sysClkRateSet(1000 / TICK);
sysClkEnable();
timer_debug("initTimer: getrate %d", sysClkRateGet());
}
void test_initSemaphore(){
SemaphoreData semaphore;
initSemaphore(&semaphore, 3);
TEST_ASSERT_NOT_NULL(&semaphore);
TEST_ASSERT_EQUAL(3, semaphore.counter);
TEST_ASSERT_EQUAL(3, semaphore.maxCounter);
TEST_ASSERT_NULL(semaphore.waitingQueue.head);
TEST_ASSERT_NULL(semaphore.waitingQueue.tail);
}
//>>===========================================================================
RELATIONSHIP_CLASS::RELATIONSHIP_CLASS()
// DESCRIPTION : Constructor.
// PRECONDITIONS :
// POSTCONDITIONS :
// EXCEPTIONS :
// NOTES :
//<<===========================================================================
{
// constructor activities
// - initialise the access semaphore
initSemaphore();
}
int main()
{
int key1=ftok(".",1);
int key2=ftok(".",2);
int key3=ftok(".",3);
printf("%d %d %d",key1,key2,key3);
int semid =createSemaphore(key1,2);//S1 S2
int shmid1=createSharedMemory(key2,10);//x
printf("shmid1 %d from main\n",shmid1);
char *X =(char *)attachSharedMemory(shmid1);
// int shmid2=createSharedMemory(key3,10);//y
// printf("shmid2 %d from main\n",shmid2);
char *Y ; //=//(char *)attachSharedMemory(shmid2);
int *values=(int *)malloc(sizeof(int *)*2);
*values=0;*(values+1)=0;
initSemaphore(semid,values);
/* V(semid,0);
printf("hi");
P(semid,0);
*/
int x=0,y=0,i;
while(1)
{
// write(x)
i=0;
printf("P1 X=%d Y=%d\n",x,y);
while(x>0)
{
*X=x%10-'0';x/=10;X++;i++;
}
printf("*\n");
*X='\0';
printf("*\n");
X-=i;//X Points to start of shared memory
//V(1)
V(semid,0);
//P(2)
P(semid,1);
//Read Y
i=0;
while(*Y!='\0')
{
y=y*10+(*Y+'0');Y++;i++;
}
Y-=i;
//X=Y+1;
x=y+1;
printf("P1 X=%d Y=%d\n",x,y);
}
}
//***************************************************************************
//* *
//* BOOL init(ULONG bufsize) *
//* *
//* This inits the ASPI library and ASPI router driver. *
//* Allocates the data buffer and passes its address to the driver *
//* Returns: *
//* TRUE - Success *
//* FALSE - Unsuccessful initialization of driver and library *
//* *
//* Preconditions: ASPI router device driver has to be loaded *
//* *
//***************************************************************************
BOOL scsiObj::init(ULONG bufsize)
{
BOOL success;
ULONG rc;
rc = DosAllocMem(&buffer, bufsize, OBJ_TILE | PAG_READ | PAG_WRITE | PAG_COMMIT);
if (rc) return FALSE;
success=openDriver(); // call openDriver member function
if (!success) return FALSE;
success=initSemaphore(); // call initSemaphore member function
if (!success) return FALSE;
success=initBuffer();
return TRUE;
}
OBJECT_WAREHOUSE_CLASS::OBJECT_WAREHOUSE_CLASS()
// DESCRIPTION : Constructor.
// PRECONDITIONS :
// POSTCONDITIONS :
// EXCEPTIONS :
// NOTES :
//<<===========================================================================
{
// constructor activities
registerTransferSyntaxes();
registerApplicationContextNames();
registerVerificationSopClass();
// initialise the access semaphore
initSemaphore();
// set the reference tag
referenceTagM = TAG_UNDEFINED;
}
int initMutex(mutex_t *p_mutex)
{
return initSemaphore(&(p_mutex->lock), 1);
}
void mexFunction(int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[])
{
static bool firstTime = true;
initSemaphore(&stepSEM);
attachSEM(&stepSEM, STEP_SEM);
initSharedMemory(&stepSHM, sizeof(episode_steps));
attachSHM(&stepSHM, STEP_SHM, &stepSEM);
readSHMemory(&stepSHM, &episodeStep, &stepSEM);
int numStates = (int) *mxGetPr(prhs[0]);
int numSteps = episodeStep.numTransmittedSteps;
fprintf(stderr, "NumSteps: %d\n",numSteps);
plhs[0] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[1] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[2] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[3] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[4] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[5] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[6] = mxCreateDoubleMatrix(N_DOFS, numSteps, mxREAL);
plhs[7] = mxCreateDoubleMatrix(7, numSteps, mxREAL);
plhs[8] = mxCreateDoubleMatrix(numStates, numSteps, mxREAL);
plhs[9] = mxCreateDoubleMatrix(1, numSteps, mxREAL);
plhs[10] = mxCreateDoubleMatrix(1, numSteps, mxREAL);
plhs[10] = mxCreateDoubleMatrix(1, numSteps, mxREAL);
double *joints = mxGetPr(plhs[0]);
double *jointsVel = mxGetPr(plhs[1]);
double *jointsAcc = mxGetPr(plhs[2]);
double *jointsDes = mxGetPr(plhs[3]);
double *jointsVelDes = mxGetPr(plhs[4]);
double *jointsAccDes = mxGetPr(plhs[5]);
double *torque = mxGetPr(plhs[6]);
double *cart = mxGetPr(plhs[7]);
double *state = mxGetPr(plhs[8]);
double *commandIdx = mxGetPr(plhs[9]);
double *stepInTrajectory = mxGetPr(plhs[10]);
double *doMotionIdx = mxGetPr(plhs[10]);
memcpy(joints, episodeStep.joints, sizeof(double) * numSteps * N_DOFS);
memcpy(jointsVel, episodeStep.jointsVel, sizeof(double) * numSteps * N_DOFS);
memcpy(jointsAcc, episodeStep.jointsAcc, sizeof(double) * numSteps * N_DOFS);
memcpy(jointsDes, episodeStep.jointsDes, sizeof(double) * numSteps * N_DOFS);
memcpy(jointsVelDes, episodeStep.jointsVelDes, sizeof(double) * numSteps * N_DOFS);
memcpy(jointsAccDes, episodeStep.jointsAccDes, sizeof(double) * numSteps * N_DOFS);
memcpy(torque, episodeStep.torque, sizeof(double) * numSteps * N_DOFS);
memcpy(cart, episodeStep.cart, sizeof(double) * numSteps * 7);
// printf("doMotionIdx :");
// for (int i = 0; i < numSteps; i ++)
// printf(" %d",episodeStep.doMotionIdx[i]);
// printf(" \n");
for (int i = 0; i < numSteps; i ++)
{
for (int j = 0; j < numStates; j ++)
{
state[i * numStates + j] = episodeStep.state[i][j];
// printf("%f ", episodeStep.state[i][j]);
}
// printf("\n");
}
for (int i = 0; i < numSteps; i ++)
{
commandIdx[i] = episodeStep.commandIdx[i];
doMotionIdx[i] = episodeStep.doMotionIdx[i];
}
for (int i = 0; i < numSteps; i ++)
{
stepInTrajectory[i] = episodeStep.stepInTrajectory[i];
}
deleteSemaphore(&stepSEM);
deleteSharedMemory(&stepSHM);
}
void initTimerGlobalLock() {
g_timer_global_info_sem = initSemaphore();
postSemaphore(g_timer_global_info_sem);
}
