int main(int argc, char* argv[])
{
// default configuration filename
const char* configFilename = "test1.edl";
for (int i = 1; i < argc; i++) {
if (std::strcmp(argv[i],"-f") == 0) {
configFilename = argv[++i];
}
}
//
station = builder(configFilename);
// send a reset event and frame sim once
station->event(Basic::Component::RESET_EVENT);
station->tcFrame( static_cast<LCreal>(1.0/static_cast<double>(station->getTimeCriticalRate())) );
// create time critical thread
station->createTimeCriticalProcess();
// short pause to allow os to startup thread
lcSleep(2000);
// calculate delta time for background thread
double dt = 1.0/static_cast<double>(bgRate);
// system time of day
double simTime = 0.0; // Simulator time reference
double startTime = getComputerTime(); // Time of day (sec) run started
//int k = 0;
std::cout << "Starting background main loop ..." << std::endl;
for(;;) {
// update background thread
station->updateData( static_cast<LCreal>(dt) );
simTime += dt; // time of next frame
double timeNow = getComputerTime(); // time now
double elapsedTime = timeNow - startTime;
double nextFrameStart = simTime - elapsedTime;
int sleepTime = static_cast<int>(nextFrameStart*1000.0);
// wait for the next frame
if (sleepTime > 0)
lcSleep(sleepTime);
/*
std::cout << ".";
k += 1;
if ( k == 40 ) {
std::cout << "\n";
k = 0;
}
*/
}
return 0;
}
//------------------------------------------------------------------------------
// run the test
//------------------------------------------------------------------------------
void run(Tester* const tester)
{
if (tester != 0) {
Basic::Timer::freeze(true);
// Time between printing the timer data
double dt = 1.0 / static_cast<double>(TIMERS_PRINT_RATE);
// Our main test control timer
Basic::UpTimer* mainTimer = new Basic::UpTimer();
mainTimer->setAlarmTime(MAIN_TIMER_VALUE);
mainTimer->start();
// ---
// First pass
// ---
std::cout << "#### First Test ####" << std::endl;
Basic::Timer::freeze(false);
while ( !mainTimer->alarm()) {
lcSleep( static_cast<unsigned int>(dt * 1000.0 + 0.5) );
std::printf("time(%4.1f)\n", mainTimer->getCurrentTime());
tester->printTimers();
}
// ---
// Restart the timers
// ---
Basic::Timer::freeze(true);
std::cout << std::endl;
std::cout << "#### Restarting Timers (all active) ####" << std::endl;
tester->restartAllTimers();
mainTimer->restart();
// ---
// Second pass
// ---
std::cout << std::endl;
std::cout << "#### Second Test ####" << std::endl;
Basic::Timer::freeze(false);
while ( !mainTimer->alarm()) {
lcSleep( static_cast<unsigned int>(dt * 1000.0 + 0.5) );
std::printf("time(%4.1f)\n", mainTimer->getCurrentTime());
tester->printTimers();
}
}
}
//-----------------------------------------------------------------------------
// GLUT idle time; static callback function
//-----------------------------------------------------------------------------
void GlutDisplay::idleCB()
{
int id = glutGetWindow();
double time = getComputerTime();
// N-1 Time
static double time0 = time;
// Compute delta time
double dt = (time - time0);
time0 = time;
// Update displays
unsigned int sleepFor = DEFAULT_IDLE_SLEEP;
for (int i = 0; i < numGlutDisplays; i++) {
if (idList[i] >= 0) {
glutSetWindow(idList[i]);
displayList[i]->updateData( static_cast<LCreal>(dt) );
if (displayList[i]->isMainDisplay()) {
sleepFor = displayList[i]->getIdleSleepTime();
}
displayList[i]->drawIt();
}
}
glutSetWindow(id);
// Sleep to let other's use the CPU
lcSleep(sleepFor);
}
//-----------------------------------------------------------------------------
// Eaagles::Swarms::main() -- Main routine
//-----------------------------------------------------------------------------
void exec(int argc, char* argv[])
{
// parse arguments
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i],"-f") == 0) {
configFile = argv[++i];
}
}
// build a Station
builder();
// Reset the Simulation
station->event(Basic::Component::RESET_EVENT);
// Set timer for the background tasks
station->tcFrame( static_cast<LCreal>(1.0/static_cast<double>(station->getTimeCriticalRate())) );
// Create the Time Critical Thread
station->createTimeCriticalProcess();
// short pause to allow os to startup thread
lcSleep(2000);
// Calc delta time for background thread
double dt = 1.0/static_cast<double>(bgRate);
// System Time of Day
double simTime = 0.0; // Simulator time reference
double startTime = getComputerTime(); // Time of day (sec) run started
//cout << "Simulation running..." << endl;
while (true) { // runs for 10 minutes
// Update background thread
station->updateData(static_cast<LCreal>(dt));
simTime += dt; // time of next frame
double timeNow = getComputerTime(); // time now
double elapsedTime = timeNow - startTime;
double nextFrameStart = simTime - elapsedTime;
int sleepTime = static_cast<int>(nextFrameStart*1000.0);
// wait for the next frame
if (sleepTime > 0)
lcSleep(sleepTime);
}
}
