void LIRGenerator::do_AttemptUpdate(Intrinsic* x) {
assert(x->number_of_arguments() == 3, "wrong type");
LIRItem obj (x->argument_at(0), this); // AtomicLong object
LIRItem cmp_value (x->argument_at(1), this); // value to compare with field
LIRItem new_value (x->argument_at(2), this); // replace field with new_value if it matches cmp_value
// compare value must be in rdx,eax (hi,lo); may be destroyed by cmpxchg8 instruction
cmp_value.load_item_force(FrameMap::long0_opr);
// new value must be in rcx,ebx (hi,lo)
new_value.load_item_force(FrameMap::long1_opr);
// object pointer register is overwritten with field address
obj.load_item();
// generate compare-and-swap; produces zero condition if swap occurs
int value_offset = sun_misc_AtomicLongCSImpl::value_offset();
LIR_Opr addr = new_pointer_register();
__ leal(LIR_OprFact::address(new LIR_Address(obj.result(), value_offset, T_LONG)), addr);
LIR_Opr t1 = LIR_OprFact::illegalOpr; // no temp needed
LIR_Opr t2 = LIR_OprFact::illegalOpr; // no temp needed
__ cas_long(addr, cmp_value.result(), new_value.result(), t1, t2);
// generate conditional move of boolean result
LIR_Opr result = rlock_result(x);
__ cmove(lir_cond_equal, LIR_OprFact::intConst(1), LIR_OprFact::intConst(0), result, T_LONG);
}
bool etype::operator==(const etype &var) const
{
if (type == var.type && cmp_value(var.value))
return(true);
else if (type == ET_ESTR)
return( *(estr*)value == var.s() );
else if (var.type == ET_ESTR)
return( s() == *(estr*)var.value );
else if (type == ET_EARRAY || var.type == ET_EARRAY)
return(false);
else{
switch(type){
case ET_INT: return( s() == var.s() );
case ET_FLOAT: return( *(float*)value == var.f() );
case ET_DOUBLE: return( *(double*)value == var.d() );
case ET_CHAR: return( *(char*)value == var.c() );
}
}
return(false);
}
void LIRGenerator::do_AttemptUpdate(Intrinsic* x) {
assert(x->number_of_arguments() == 3, "wrong type");
LIRItem obj (x->argument_at(0), this); // AtomicLong object
LIRItem cmp_value (x->argument_at(1), this); // value to compare with field
LIRItem new_value (x->argument_at(2), this); // replace field with new_value if it matches cmp_value
obj.load_item();
cmp_value.load_item();
new_value.load_item();
// generate compare-and-swap and produce zero condition if swap occurs
int value_offset = sun_misc_AtomicLongCSImpl::value_offset();
LIR_Opr addr = FrameMap::O7_opr;
__ add(obj.result(), LIR_OprFact::intConst(value_offset), addr);
LIR_Opr t1 = FrameMap::G1_opr; // temp for 64-bit value
LIR_Opr t2 = FrameMap::G3_opr; // temp for 64-bit value
__ cas_long(addr, cmp_value.result(), new_value.result(), t1, t2);
// generate conditional move of boolean result
LIR_Opr result = rlock_result(x);
__ cmove(lir_cond_equal, LIR_OprFact::intConst(1), LIR_OprFact::intConst(0), result);
}
void SenCmp02::run() {
char buffer[256];
int wait_freq = update_rate? 1000000 / update_rate: 0;
int wait_time = wait_freq;
uint64_t frequency = wait_time;
uint64_t start = get_time_us();
uint64_t time_output = start + 1000000;
uint64_t usec;
vector<uint16_t> cmp_value(2);
//mavlink_message_t msg;
Logger::log("Cmp02: running (Hz)", update_rate, Logger::LOGLEVEL_INFO);
// uint64_t end = getTimeUs() + 1000000;
status = RUNNING;
while((status == RUNNING) && update_rate) {
try {
/* wait time */
usec = get_time_us();
uint64_t end = usec;
wait_time = wait_freq - (end - start);
wait_time = (wait_time < 0)? 0: wait_time;
/* wait */
usleep(wait_time);
//usleep(10);
/* calculate frequency */
end = get_time_us();
frequency = (15 * frequency + end - start) / 16;
start = end;
// Logger::log("sencmp2: pre i2c_start_conversion", Logger::LOGLEVEL_DEBUG);
i2c_start_conversion(fd, CMP02_ADR);
// set read register
buffer[0] = 0x00;
// Logger::log("sencmp2: pre i2c_write_bytes", Logger::LOGLEVEL_DEBUG);
i2c_write_bytes(fd, (uint8_t*)buffer, 1);
// read data
// Logger::log("sencmp2: pre i2c_read_bytes", Logger::LOGLEVEL_DEBUG);
i2c_read_bytes(fd, (uint8_t*)buffer, 1);
// get version
version = *buffer;
// Logger::log("Cmp02: version", (int)version, Logger::LOGLEVEL_INFO);
buffer[0] = 0x01;
// Logger::log("sencmp2: pre i2c_write_bytes 2", Logger::LOGLEVEL_DEBUG);
i2c_write_bytes(fd, (uint8_t*)buffer, 1);
// Logger::log("sencmp2: pre i2c_read_bytes 2", Logger::LOGLEVEL_DEBUG);
i2c_read_bytes(fd, (uint8_t*)buffer, 1);
// Logger::log("sencmp2: pre i2c_end_conversion", Logger::LOGLEVEL_DEBUG);
i2c_end_conversion(fd);
// get values
memcpy(&cmp_value[0], buffer, 1);
// Logger::log("Cmp02: value", (int)cmp_value[0], Logger::LOGLEVEL_INFO);
// FIXME: smart++
// exp_ctrl_rx_data.value0 = cmp_value[0];
// exp_ctrl_rx_data.value1 = cmp_value[1];
// exp_ctrl_rx_data.value2 = cmp_value[2];
// exp_ctrl_rx_data.value3 = cmp_value[3];
// FIXME: kopter specific mapping
// FIXME: 0 is USS
// huch_ranger.ranger2 = cmp_value[2];
// huch_ranger.ranger3 = cmp_value[0];
// home / qk01
// huch_ranger.ranger2 = cmp_value[0];
// huch_ranger.ranger3 = cmp_value[1];
/* assign buffer to data */
#ifdef MAVLINK_ENABLED_HUCH
{ // begin of data mutex scope
int i;
cpp_pthread::Lock ri_lock(data_mutex);
for(i=0; i < CMP02_NUMCHAN; i++) {
sensor_data[i].analog = cmp_value[i];
sensor_data[i].usec = start;
// Logger::log("Cmp02 sensor:", i, sensor_data[i].analog, Logger::LOGLEVEL_INFO);
}
} // end of data mutex scope
#endif // MAVLINK_ENABLED_HUCH
// FIXME: if(publish) else poll or whatever
publish_data(start);
//Logger::log("Cmp02:", (int)exp_ctrl_rx_data.version, cmp_value, Logger::LOGLEVEL_INFO);
//Logger::log("Cmp02:", DataCenter::get_sensor(chanmap[0]), Logger::LOGLEVEL_INFO);
// pass more data
// FIXME: system_id
// mavlink_msg_huch_exp_ctrl_rx_encode(39, static_cast<uint8_t>(component_id), &msg, &exp_ctrl_rx_data);
/* debug data */
if (debug) print_debug();
/* timings/benchmark output */
if (timings) {
if (time_output <= end) {
Logger::log("Cmp02 frequency: ", (float)1000000/frequency, Logger::LOGLEVEL_DEBUG);
time_output += 1000000;
}
}
} // end try
catch(const char *message) {
i2c_end_conversion(fd);
status = STRANGE;
string s(message);
Logger::log("sencmp2: would-be exception:", s, Logger::LOGLEVEL_DEBUG);
// fallback termination and free bus
i2c_end_conversion(fd);
Logger::log("sencmp2: would-be exception:", s, Logger::LOGLEVEL_DEBUG);
// FIXME: throw and exit on "write_bytes 2"
// throw ("Cmp02::run(): " + s).c_str();
status = RUNNING;
}
} // end while
Logger::debug("sencmp02: stopped, exiting run()");
return;
}
