/*Initialize status_queues structure Function
Variable Definition:
-- header: header pointer of process_info structure
-- signal: signal that decide process priority
Return value: status_queues structure pointer
*/
STATUS_QUEUES *initStatusQueues(PROCESS_INFO *header, const char signal){
STATUS_QUEUES *schedule = (STATUS_QUEUES*)malloc(sizeof(STATUS_QUEUES)); //status_queues structure
int count; //counter
//Sort the process by id number
sortProcess(&header, NULL);
//Set the process priority as start_time
setProcessPriority(header, 'S');
//Re-sort the process by start_time
sortProcess(&header, NULL);
//Set the process priority as "signal" decided
setProcessPriority(header, signal);
//Initialize the unarrival queue
schedule->queues[0] = header;
//Initialize the other four queues
for (count = 1; count < QUEUES_SIZE; count++){
//Allocate the memory for new queue front pointer
schedule->queues[count] = (PROCESS_INFO*)malloc(sizeof(PROCESS_INFO));
//Assign the front's next as NULL(empty queue)
schedule->queues[count]->next = NULL;
}
return schedule;
}
/*Insert a Element in Queue Function
Variable Definition:
-- front: queue front pointer
-- node: process_info structure need to insert
-- signal: signal that decide process priority
Return value: NULL
*/
void insertInQueue(PROCESS_INFO *front, PROCESS_INFO *node, const char signal){
PROCESS_INFO *temp_before; //the location before the insert node
PROCESS_INFO *temp; //the location after the insert node
//Set the process priority as "signal" decided
setProcessPriority(front->next, signal);
//Set the insert node's priority as "signal" decided
setProcessPriority(node, signal);
//Test the queue is empty
if (front->next == NULL){
//Insert the node after the front pointer
front->next = node;
node->next = NULL;
}
//Initialize process_info structure temp
temp = front->next;
temp_before = front;
//Find the location which the node insert
while (temp != NULL){
//Compare priority of node and element in queue
if (node->priority < temp->priority){
//If smaller, then find it
break;
}
else if (node->priority == temp->priority){
//If equal, then compare the id number
while ((temp != NULL) && (node->priority == temp->priority)){
if (node->id < temp->id){
break;
}
//Move the pointer to the next element in queue
temp_before = temp;
temp = temp->next;
}
break;
}
//Move the pointer to the next element in queue
temp_before = temp;
temp = temp->next;
}
//Insert the node
temp_before->next = node;
if (temp != NULL){
node->next = temp;
}
else{
node->next = NULL;
}
return;
}
int main(int argc, char* argv[])
{
ArgumentParser argParser;
if(!argParser.parseArgs(argc, argv))
{
Logger::ERROR("Invalid arguments provided!");
Logger::ERROR(argParser.getUsage());
return 1;
}
Config* config = Config::getConfig();
config->testnodePrioritySwitcher = new PrioritySwitcher(0, config->fifoScheduling);
if(!setProcessPriority())
{
Logger::ERROR("Couldn't set priority appropriately, maybe not running as root?");
return 1;
}
ros::init(argc, argv, "oneshot_timer_tests");
config->nodeHandle = new ros::NodeHandle;
Logger::INFO("Performing ROS Timer latency measurements...");
OneShotLatencyMeasurer* measurer;
if(config->busyMode)
{
Logger::INFO("Running in busy mode");
measurer = new BusyOneShotLatencyMeasurer();
} else {
Logger::INFO("Running in default mode");
measurer = new IdleOneShotLatencyMeasurer();
}
measurer->measure();
measurer->printMeasurementResults();
measurer->saveMeasuredLatencyGnuplotData();
return 0;
}
