/* --------------------------------------------------------------------
* DUPLICATE THE GRAPH
*/
tg tg_dup(tg graph)
{
tg g2;
int node;
task_list arcs=NULL;
int elements, count;
int resource;
/* 1. INITIALIZE THE NEW GRAPH */
g2 = tg_init(tg_resnum(graph));
/* 2. FOR ALL NODES ON THE OLD ONE */
for (node = 0;
node <= tg_maxid(graph);
node ++ )
{
/* 2.1. ... THAT EXISTS ... */
if (!tg_id(graph, node))
continue;
/* 2.2. CREATE NODE */
tg_add_node(g2, node);
/* 2.3. COPY INFORMATION */
for (resource = 0;
resource < tg_resnum(graph);
resource ++ )
{
tg_set_resource(g2, node, resource, tg_get_resource(graph, node, resource));
}
/* 2.4. CREATE ARCS FOR SUCCESORS */
elements = tg_succ_num(graph, node);
arcs = (task_list) malloc( sizeof(tg_task) * elements);
if ( arcs == NULL ) {
Asystem_error("tg_dup", "Not enough memory", "arcs");
}
memcpy(arcs,tg_succ(graph,node), sizeof(tg_task)*elements );
for (count = 0;
count < elements;
count ++ )
{
/* 2.4.1. IF SUCCESOR DOES NOT EXIST YET, CREATE */
if (!tg_id(g2, arcs[count]))
tg_add_node(g2, arcs[count]);
/* 2.4.2. ADD ARC */
tg_add_arc(g2, node, arcs[count]);
}
free(arcs); arcs=NULL;
}
/* 3. SET ROOT */
tg_set_root(g2, tg_root(graph));
/* 4. RETURN THE NEW GRAPH */
return g2;
}
int main(void)
{
// There are a lot of dependencies in the order of these inits.
// Don't change the ordering unless you understand this.
// Inits can assume that all memory has been zeroed by either
// a hardware reset or a watchdog timer reset.
cli();
// system and drivers
sys_init(); // system hardware setup - must be first
rtc_init(); // real time counter
xio_init(); // xmega io subsystem
sig_init(); // signal flags
st_init(); // stepper subsystem - must precede gpio_init()
gpio_init(); // switches and parallel IO
pwm_init(); // pulse width modulation drivers - must follow gpio_init()
// application structures
tg_init(STD_INPUT); // tinyg controller (controller.c) - must be first app init; reqs xio_init()
cfg_init(); // config records from eeprom - must be next app init
mp_init(); // motion planning subsystem
cm_init(); // canonical machine - must follow cfg_init()
sp_init(); // spindle PWM and variables
// now bring up the interupts and get started
PMIC_SetVectorLocationToApplication(); // as opposed to boot ROM
PMIC_EnableHighLevel(); // all levels are used, so don't bother to abstract them
PMIC_EnableMediumLevel();
PMIC_EnableLowLevel();
sei(); // enable global interrupts
rpt_print_system_ready_message();// (LAST) announce system is ready
_unit_tests(); // run any unit tests that are enabled
tg_canned_startup(); // run any pre-loaded commands
while (true) {
// if (tg.network == NET_MASTER) {
// tg_repeater();
// } else if (tg.network == NET_SLAVE) {
// tg_receiver();
// } else {
tg_controller(); // NET_STANDALONE
// }
}
}
void tg_system_reset(void)
{
cli(); // These inits are order dependent:
_tg_debug_init(); // (0) inits for the debug system
sys_init(); // (1) system hardware setup
xio_init(); // (2) xmega io subsystem
tg_init(STD_INPUT); // (3) tinyg controller (arg is std devices)
sig_init(); // (4) signal flags
rtc_init(); // (5) real time counter
st_init(); // (6) stepper subsystem (must run before gp_init())
gpio_init(); // (7) switches and parallel IO
PMIC_EnableMediumLevel();// enable TX interrupts for init reporting
sei(); // enable global interrupts
cfg_init(); // (8) get config record from eeprom (reqs xio)
tg_announce(); // print version string
}
/* --------------------------------------------------------------------
* READ THE GRAPH STRUCTURE FROM A TEXT FILE
*/
tg tg_read(FILE *fp)
{
tg graph;
tg_task tid;
int tasknum, resnum, i;
int succnum, succ, t;
double rvalue;
char comments[256];
task_list list=NULL;
int elements;
int check;
/* SKIP INITIAL COMMENTS BEGINING WITH # */
check = fscanf(fp, "%[#]", comments);
while(check==1) {
fscanf(fp, "%[^\n]", comments);
fscanf(fp, "\n");
check = fscanf(fp, "%[#]", comments);
}
/* 1. READ NUMBER OF TASK AND RESOURCES */
tasknum=-1;
check = fscanf(fp, "T:%d\n", &tasknum);
CheckError(check==1 && tasknum>0, "reading graph file: Number of tasks");
check = fscanf(fp, "R:%d\n", &resnum);
CheckError(check==1 && resnum>=0, "reading graph file: Number of resources");
/* 2. INITIALIZE GRAPH WITH NUMBER OF RESOURCES */
graph = tg_init(resnum);
/* 3. READ TASKS */
for (t = 0; t < tasknum; t++)
{
/* 3.1. READ NUMBER OF TASK */
check = fscanf(fp,"t%d:",&tid);
CheckError(check==1 && tid>=0, "reading graph file: Reading a task number");
/* 3.2. CREATE TASK IF IT DOES NOT EXIST */
if (!tg_id(graph, tid))
tg_add_node(graph, tid);
/* 3.3. RESOURCES */
for ( i = 0; i < resnum; i++) {
check = fscanf(fp,"%lf",&rvalue);
CheckError(check==1 && rvalue>=0.0, "reading graph file: Reading task resource values");
tg_set_resource(graph, tid, i, rvalue);
}
/* 3.4. NUMBER OF SUCCESORS */
check = fscanf(fp,"%[ ]s%d:",comments,&succnum);
CheckError(check==2 && succnum>=0.0, "reading graph file: Reading the number of successors of a task");
/* 3.5. SUCCESORS */
for ( i = 0; i < succnum; i++) {
check = fscanf(fp,"%d",&succ);
CheckError(check==1 && succ>=0, "reading graph file: Reading the successors of a task");
if (!tg_id(graph, succ))
{
tg_add_node(graph, succ);
}
tg_add_arc(graph, tid, succ);
}
/* 3.6. END ON LINE */
fscanf(fp,"%[ \n]", comments);
}
/* 4. DETECT ROOT */
elements = tg_pred_grade(graph, 0, &list);
if (elements == 1) tg_set_root(graph, list[0]);
free(list); list = NULL;
/* 5. RETURN THE NEW GRAPH */
return graph;
}
