/**
* PiPilot course hold slave loop
*
* @return void
*/
void pipilot_run_coursehold() {
print_to_screen( "coursehold", "initializing", 0 );
int loop_i = 1;
while ( MODE_COURSEHOLD == get_master_mode() ) {
print_to_screen( "coursehold", "loop iteration", loop_i );
// Vars that go into PID
int selected_course = get_selected_course();
int actual_heading = get_actual_heading();
int current_rudder_angle = get_rudder_angle();
// PID
int new_rudder_angle = coursehold_pid( selected_course, actual_heading, current_rudder_angle );
// Change rudder
set_rudder_angle( new_rudder_angle );
// 1-second delay
usleep( 1000000 );
loop_i++;
}
}
/*=================================
* trav_pre_print_tn_str -- traverse displaynode str tree,
* printing displaynode buffers in preorder
* Created: 2001/04/15, Perry Rapp
*===============================*/
static void
trav_pre_print_tn_str (DISPNODE tn, INT * row, INT gen, INT indent, CANVASDATA canvas)
{
DISPNODE n0;
struct node_text_print_param_s ntpp;
ntpp.tn = tn;
/* all display printing passes thru generic print_to_screen,
which handles scrolling */
print_to_screen(gen, indent, row, &tn_lineprint, &ntpp, canvas);
for (n0=tn->firstchild; n0; n0=n0->nextsib)
trav_pre_print_tn_str(n0, row, gen+1, indent, canvas);
}
/*=================================
* trav_pre_print_tn -- traverse displaynode tree,
* printing indis in preorder
* Created: 2000/12/07, Perry Rapp
*===============================*/
static void
trav_pre_print_tn (DISPNODE tn, INT * row, INT gen, INT indent, CANVASDATA canvas)
{
DISPNODE n0;
struct indi_print_param_s ipp;
ipp.keynum = tn->keynum;
/* all display printing passes thru generic print_to_screen,
which handles scrolling */
print_to_screen(gen, indent, row, &indi_lineprint, &ipp, canvas);
for (n0=tn->firstchild; n0; n0=n0->nextsib)
trav_pre_print_tn(n0, row, gen+1, indent, canvas);
}
/*===========================================
* trav_bin_in_print_tn -- traverse binary tree,
* printing indis in inorder
* Created: 2000/12/07, Perry Rapp
*=========================================*/
static void
trav_bin_in_print_tn (DISPNODE tn, INT * row, INT gen, INT indent, CANVASDATA canvas)
{
struct indi_print_param_s ipp;
ipp.keynum = tn->keynum;
if (tn->firstchild)
trav_bin_in_print_tn(tn->firstchild, row, gen+1, indent, canvas);
/* all display printing passes thru generic print_to_screen,
which handles scrolling */
print_to_screen(gen, indent, row, &indi_lineprint, &ipp, canvas);
if (tn->firstchild && tn->firstchild->nextsib)
trav_bin_in_print_tn(tn->firstchild->nextsib, row, gen+1, indent, canvas);
}
/*=================================
* trav_pre_print_nod -- traverse node tree,
* printing nodes in preorder
* Created: 2001/01/27, Perry Rapp
*===============================*/
static void
trav_pre_print_nod (NODE node, INT * row, INT gen, INT indent,
CANVASDATA canvas, INT gdvw)
{
NODE child;
struct node_print_param_s npp;
npp.node = node;
npp.gdvw = gdvw;
/* all display printing passes thru generic print_to_screen,
which handles scrolling */
print_to_screen(gen, indent, row, &node_lineprint, &npp, canvas);
for (child=nchild(node); child; child=nsibling(child))
trav_pre_print_nod(child, row, gen+1, indent, canvas, gdvw);
}
void
start(void)
{
// EXERCISE 4A/B code
sys_priority(PROCESS_PRIORITY);
sys_share(PROCESS_SHARE);
// EXERCISE 7 code
sys_lottery(PROCESS_SHARE);
// EXERCISE 4A/B code
sys_yield();
int i;
for (i = 0; i < RUNCOUNT; i++) {
// Write characters to the console, yielding after each one.
// EXERCISE 6 and EXERCISE 8
print_to_screen(&cursorpos, PRINTCHAR);
/*
skeleton code that was given
*cursorpos++ = PRINTCHAR;
*/
sys_yield();
}
// EXERCISE 2 Code
// exit process when done
sys_exit(0);
// Skeleton code
// Yield forever.
while (1)
sys_yield();
}
int main(int ac, char **av) {
int val = 0;
int i;
wctproblem problem;
wctproblem_init(&problem);
CCcheck_val(val, "Failed in wctproblem_init");
wctparms *parms = &(problem.parms);
wctdata *pd = &(problem.root_pd);
val = program_header(ac, av);
CCcheck_val(val, "Failed in programheader");
CCutil_start_timer(&(problem.tot_cputime));
double start_time = CCutil_zeit();
wctdata_init(pd);
pd->id = 0;
problem.nwctdata = 1;
val = parseargs(ac, av, parms);
problem.real_time = getRealTime();
if (val) {
goto CLEAN;
}
get_problem_name(pd->pname, parms->jobfile);
if (dbg_lvl() > 1) {
printf("Debugging turned on\n");
}
fflush(stdout);
/** Reading and preprocessing the data */
val = read_problem(parms->jobfile, &(pd->njobs), &(problem.duration),
&(problem.weight));
pd->nmachines = parms->nmachines;
CCcheck_val(val, "read_adjlist failed");
pd->orig_node_ids = (int *)CC_SAFE_MALLOC(pd->njobs, int);
CCcheck_NULL_2(pd->orig_node_ids, "No memory to allocated orig_node_ids\n");
for (i = 0; i < pd->njobs; i++) {
pd->orig_node_ids[i] = i;
}
Preprocessdata(&problem, pd);
printf("Reading and preprocessing of the data took %f seconds\n",
CCutil_zeit() - start_time);
/** Computing initial lowerbound */
CCutil_start_timer(&(problem.tot_lb));
problem.global_lower_bound = lowerbound_eei(pd->jobarray, pd->njobs,
pd->nmachines);
problem.global_lower_bound = CC_MAX(problem.global_lower_bound,
lowerbound_cp(pd->jobarray, pd->njobs, pd->nmachines));
problem.global_lower_bound = CC_MAX(problem.global_lower_bound,
lowerbound_cw(pd->jobarray, pd->njobs, pd->nmachines));
CCutil_stop_timer(&(problem.tot_lb), 0);
printf("Computing lowerbound EEI, CP and CW took %f seconds\n",
problem.tot_lb.cum_zeit);
/** Construction Pricersolver at the root node */
CCutil_start_resume_time(&(problem.tot_build_dd));
pd->solver = newSolver(pd->duration, pd->weights, pd->releasetime, pd->duetime,
pd->njobs, pd->H_min, pd->H_max);
CCutil_suspend_timer(&(problem.tot_build_dd));
/** Construct Feasible solutions */
if (parms->nb_feas_sol > 0) {
construct_feasible_solutions(&problem);
}
/** Compute Schedule with Branch and Price */
compute_schedule(&problem);
problem.real_time = getRealTime() - problem.real_time;
CCutil_stop_timer(&(problem.tot_cputime), 0);
/** Print all the information to screen and csv */
if (problem.parms.print) {
print_to_csv(&problem);
}
print_to_screen(&problem);
CLEAN:
wctproblem_free(&problem);
return val;
}
