void TRI_ReleaseConnectionStatistics (TRI_connection_statistics_t* statistics) {
if (statistics == nullptr) {
return;
}
{
MUTEX_LOCKER(ConnectionDataLock);
if (statistics->_http) {
if (statistics->_connStart != 0.0) {
if (statistics->_connEnd == 0.0) {
TRI_HttpConnectionsStatistics.incCounter();
}
else {
TRI_HttpConnectionsStatistics.decCounter();
double totalTime = statistics->_connEnd - statistics->_connStart;
TRI_ConnectionTimeDistributionStatistics->addFigure(totalTime);
}
}
}
}
// clear statistics
statistics->reset();
// put statistics item back onto the freelist
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = ConnectionFreeList.push(statistics);
TRI_ASSERT(ok);
#else
ConnectionFreeList.push(statistics);
#endif
}
static void ProcessRequestStatistics (TRI_request_statistics_t* statistics) {
{
MUTEX_LOCKER(RequestDataLock);
TRI_TotalRequestsStatistics.incCounter();
if (statistics->_async) {
TRI_AsyncRequestsStatistics.incCounter();
}
TRI_MethodRequestsStatistics[(int) statistics->_requestType].incCounter();
// check that the request was completely received and transmitted
if (statistics->_readStart != 0.0 && statistics->_writeEnd != 0.0) {
double totalTime = statistics->_writeEnd - statistics->_readStart;
TRI_TotalTimeDistributionStatistics->addFigure(totalTime);
double requestTime = statistics->_requestEnd - statistics->_requestStart;
TRI_RequestTimeDistributionStatistics->addFigure(requestTime);
double queueTime = 0.0;
if (statistics->_queueStart != 0.0 && statistics->_queueEnd != 0.0) {
queueTime = statistics->_queueEnd - statistics->_queueStart;
TRI_QueueTimeDistributionStatistics->addFigure(queueTime);
}
double ioTime = totalTime - requestTime - queueTime;
if (ioTime >= 0.0) {
TRI_IoTimeDistributionStatistics->addFigure(ioTime);
}
TRI_BytesSentDistributionStatistics->addFigure(statistics->_sentBytes);
TRI_BytesReceivedDistributionStatistics->addFigure(statistics->_receivedBytes);
}
}
// clear statistics
statistics->reset();
// put statistics item back onto the freelist
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFreeList.push(statistics);
TRI_ASSERT(ok);
#else
RequestFreeList.push(statistics);
#endif
}
bool ElmoDriver::iPA(float degree)
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
int temp = (int) (2000.0*degree/180.0*gear_m);
//cout << "angle = " << temp << endl;
BYTE value[4];
memcpy(value, &temp, sizeof(int));
message.DATA[0] = 'O';
message.DATA[1] = 'V';
message.DATA[2] = 0x13;
message.DATA[3] = 0;
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::TCEqualMinusOne()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
float temp = -0.5;
BYTE current[4];
memcpy(current, &temp, sizeof(float));
message.DATA[0] = 'T';
message.DATA[1] = 'C';
message.DATA[2] = 0x0;
message.DATA[3] = 128;
//for(int i=0; i<3; i++)
// message.DATA[4+i] = current[i];
message.DATA[4] = current[0];
message.DATA[5] = current[1];
message.DATA[6] = current[2];
message.DATA[7] = current[3];
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::SetIPMode()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'O';
message.DATA[1] = 'F';
message.DATA[2] = 0x07;
for(int i=3; i<8; i++)
message.DATA[i] = (i == 4 ? 0x07 : 0);
/*
CAN_Write_Queue.push(message);
message.DATA[0] = 'O';
message.DATA[1] = 'V';
message.DATA[2] = 0x17;
for(int i=3; i<8; i++)
message.DATA[i] = (i == 4 ? 0x0A : 0);
*/
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::GetCurrent()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 4;
message.DATA[0] = 'I';
message.DATA[1] = 'Q';
message.DATA[2] = 0;
message.DATA[3] = 0;
return CAN_Write_Queue.push(message);
/*
int temppos = 0x00;
if (data1[0]=='I' && data1[1]=='Q')
{
temppos |= (data1[7] << 24);
temppos |= (data1[6] << 16);
temppos |= (data1[5] << 8);
temppos |= (data1[4]);
val= *(float *)&temppos;
return 1;
}
val=temppos;
return 0;
*/
}
bool ElmoDriver::DC(float dcc, bool set)
{
static TPCANMsg message;
message.ID = 6*128+id;
if (set == true)
{
message.LEN = 8;
int temp = (int) (dcc*gear_m);
BYTE value[4];
memcpy(value, &temp, sizeof(int));
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
}
else
{
message.LEN = 4;
}
message.DATA[0] = 'D';
message.DATA[1] = 'C';
message.DATA[2] = 0;
message.DATA[3] = 0;
return CAN_Write_Queue.push(message);
}
/* Push a work, it will run automatically. */
bool push_work(work_t w) {
if (w->c && work_queue.push(w)) {
cv.notify_one();
return true;
}
return false;
}
bool ElmoDriver::PA(int count)
{
// float deg = (float) degree;
// return PA(deg);
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
int temp = count;
//cout << "angle = " << temp << endl;
BYTE value[4];
memcpy(value, &temp, sizeof(int));
message.DATA[0] = 'P';
message.DATA[1] = 'A';
message.DATA[2] = 0;
message.DATA[3] = 0;
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::MotorOn()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'M';
message.DATA[1] = 'O';
//for(int i=2; i<8; i++)
// message.DATA[i] = (i == 4 ? 1 : 0);
message.DATA[2] = 0;
message.DATA[3] = 0;
message.DATA[4] = 1;
message.DATA[5] = 0;
message.DATA[6] = 0;
message.DATA[7] = 0;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::TCEqualZero()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
float temp = 0.0;
BYTE current[4];
memcpy(current, &temp, sizeof(float));
message.DATA[0] = 'T';
message.DATA[1] = 'C';
message.DATA[2] = 0x0;
message.DATA[3] = 128;
for(int i=0; i<3; i++)
message.DATA[4+i] = current[i];
return CAN_Write_Queue.push(message);
}
void producer(void)
{
for (int i = 0; i != iterations; ++i) {
int value = ++producer_count;
while (!queue.push(value))
;
}
}
void producer(void)
{
for(int i=0; i < iterations; ++i)
{
//原子计数---多线程不存在计数不上的情况
int value = ++p_count;
cout<<"+"<<endl; //观察生产类型： 纯生产还是同时有消费者的情况
while(!queue.push(value));
}
}
bool FT_Sensor::RequestData()
{
static TPCANMsg message;
message.ID = id;
message.LEN = 1;
message.DATA[0] = 0x02;
if (!handle)
return CAN_ERRMASK_ILLHANDLE;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::GotoOpMode()
{
static TPCANMsg message;
message.ID = 0;
message.LEN = 2;
message.DATA[0] = 1;
message.DATA[1] = 0;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::ResetComm()
{
static TPCANMsg message;
message.ID = 0;
message.LEN = 2;
message.DATA[0] = 130;
message.DATA[1] = id;
return CAN_Write_Queue.push(message);
}
void allocate(void)
{
for (long i = 0; i != operations_per_thread; ++i) {
for (;;) {
dummy * node = fl.template construct<true, bounded>();
if (node) {
bool success = working_set.insert(node);
assert(success);
allocated_nodes.push(node);
break;
}
}
}
}
void TRI_ReleaseRequestStatistics (TRI_request_statistics_t* statistics) {
if (statistics == nullptr) {
return;
}
if (! statistics->_ignore) {
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFinishedList.push(statistics);
TRI_ASSERT(ok);
#else
RequestFinishedList.push(statistics);
#endif
}
else {
statistics->reset();
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFreeList.push(statistics);
TRI_ASSERT(ok);
#else
RequestFreeList.push(statistics);
#endif
}
}
bool ElmoDriver::UMEqualFive()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'U';
message.DATA[1] = 'M';
for(int i=2; i<8; i++)
message.DATA[i] = (i == 4 ? 5 : 0);
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::BG()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'B';
message.DATA[1] = 'G';
for(int i=2; i<4; i++)
message.DATA[i] = (i==4 ? 1 : 0);
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::CW()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'C';
message.DATA[1] = 'W';
for(int i=2; i<8; i++)
message.DATA[i] = (i == 4 ? 0x1F : 0);
return CAN_Write_Queue.push(message);
}
//TPCANMsg message;
bool AbsoluteEncoder::RequestData()
{
static TPCANMsg message;
message.ID = id;
message.LEN = 1;
message.DATA[0] = 2;
// for (int i=0; i<8; i++)
// message.DATA[i] = (i==0 ? 0x02 : 0);
if (!handle)
return CAN_ERRMASK_ILLHANDLE;
//return CAN_Write(handle, &message);
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::MotorOff()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'M';
message.DATA[1] = 'O';
for(int i=2; i<8; i++)
message.DATA[i] = 0;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::ResetNode()
{
static TPCANMsg message;
message.ID = 0;
message.LEN = 2;
message.DATA[0] = 129;
message.DATA[1] = id;
cout << "in reset nod id = " << id << endl;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::ProfilePositionMode()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'O';
message.DATA[1] = 'F';
message.DATA[2] = 0x07;
for(int i=3; i<8; i++)
message.DATA[i] = (i == 4 ? 1 : 0);
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::PA()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
int temp = 2000;
BYTE value[4];
memcpy(value, &temp, sizeof(int));
message.DATA[0] = 'P';
message.DATA[1] = 'A';
message.DATA[2] = 0;
message.DATA[3] = 0;
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::PR(float degree)
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
int temp = (int) (2000.0*degree/180.0*gear_m);
BYTE value[4];
memcpy(value, &temp, sizeof(int));
message.DATA[0] = 'P';
message.DATA[1] = 'R';
message.DATA[2] = 0;
message.DATA[3] = 0;
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
return CAN_Write_Queue.push(message);
}
void return_memory( void* c )
{
while ( !stack_.push(c) );
}
void TRI_InitializeStatistics () {
TRI_ServerStatistics._startTime = TRI_microtime();
// .............................................................................
// sets up the statistics
// .............................................................................
TRI_ConnectionTimeDistributionVectorStatistics << (0.1) << (1.0) << (60.0);
TRI_BytesSentDistributionVectorStatistics << (250) << (1000) << (2 * 1000) << (5 * 1000) << (10 * 1000);
TRI_BytesReceivedDistributionVectorStatistics << (250) << (1000) << (2 * 1000) << (5 * 1000) << (10 * 1000);
TRI_RequestTimeDistributionVectorStatistics << (0.01) << (0.05) << (0.1) << (0.2) << (0.5) << (1.0);
TRI_ConnectionTimeDistributionStatistics = new StatisticsDistribution(TRI_ConnectionTimeDistributionVectorStatistics);
TRI_TotalTimeDistributionStatistics = new StatisticsDistribution(TRI_RequestTimeDistributionVectorStatistics);
TRI_RequestTimeDistributionStatistics = new StatisticsDistribution(TRI_RequestTimeDistributionVectorStatistics);
TRI_QueueTimeDistributionStatistics = new StatisticsDistribution(TRI_RequestTimeDistributionVectorStatistics);
TRI_IoTimeDistributionStatistics = new StatisticsDistribution(TRI_RequestTimeDistributionVectorStatistics);
TRI_BytesSentDistributionStatistics = new StatisticsDistribution(TRI_BytesSentDistributionVectorStatistics);
TRI_BytesReceivedDistributionStatistics = new StatisticsDistribution(TRI_BytesReceivedDistributionVectorStatistics);
// initialize counters for all HTTP request types
TRI_MethodRequestsStatistics.clear();
for (int i = 0; i < ((int) triagens::rest::HttpRequest::HTTP_REQUEST_ILLEGAL) + 1; ++i) {
StatisticsCounter c;
TRI_MethodRequestsStatistics.emplace_back(c);
}
// .............................................................................
// generate the request statistics queue
// .............................................................................
for (size_t i = 0; i < QUEUE_SIZE; ++i) {
auto entry = new TRI_request_statistics_t;
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFreeList.push(entry);
TRI_ASSERT(ok);
#else
RequestFreeList.push(entry);
#endif
}
// .............................................................................
// generate the connection statistics queue
// .............................................................................
for (size_t i = 0; i < QUEUE_SIZE; ++i) {
auto entry = new TRI_connection_statistics_t;
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = ConnectionFreeList.push(entry);
TRI_ASSERT(ok);
#else
ConnectionFreeList.push(entry);
#endif
}
// .............................................................................
// use a separate thread for statistics
// .............................................................................
Shutdown = false;
TRI_StartThread(&StatisticsThread, nullptr, "[statistics]", StatisticsQueueWorker, 0);
}