void
cos_init(void *arg)
{
int c, accept_fd, ret;
long eid;
char *init_str = cos_init_args(), *create_str;
int lag, nthds, prio;
cvect_init_static(&evts);
cvect_init_static(&tor_from);
cvect_init_static(&tor_to);
lock_static_init(&sc_lock);
sscanf(init_str, "%d:%d:%d", &lag, &nthds, &prio);
printc("lag: %d, nthds:%d, prio:%d\n", lag, nthds, prio);
create_str = strstr(init_str, "/");
assert(create_str);
eid = evt_get();
ret = c = from_tsplit(cos_spd_id(), td_root, create_str, strlen(create_str), TOR_ALL, eid);
if (ret <= td_root) BUG();
accept_fd = c;
evt_add(c, eid);
/* event loop... */
while (1) {
struct tor_conn tc;
int t;
long evt;
memset(&tc, 0, sizeof(struct tor_conn));
evt = evt_wait_all();
t = evt_torrent(evt);
if (t > 0) {
tc.feid = evt;
tc.from = t;
if (t == accept_fd) {
tc.to = 0;
accept_new(accept_fd);
} else {
tc.to = tor_get_to(t, &tc.teid);
assert(tc.to > 0);
from_data_new(&tc);
}
} else {
t *= -1;
tc.teid = evt;
tc.to = t;
tc.from = tor_get_from(t, &tc.feid);
assert(tc.from > 0);
to_data_new(&tc);
}
cos_mpd_update();
}
}
void cos_init(void *arg)
{
int c, accept_fd, ret;
long eid;
cvect_init_static(&evts);
cvect_init_static(&tor_from);
cvect_init_static(&tor_to);
eid = evt_get();
c = net_create_tcp_connection(cos_spd_id(), cos_get_thd_id(), eid);
if (c < 0) BUG();
ret = net_bind(cos_spd_id(), c, 0, 200);
if (ret < 0) BUG();
ret = net_listen(cos_spd_id(), c, 255);
if (ret < 0) BUG();
accept_fd = c;
evt_add(c, eid);
while (1) {
struct tor_conn tc;
int t;
long evt;
memset(&tc, 0, sizeof(struct tor_conn));
printc("waiting...\n");
evt = evt_grp_wait(cos_spd_id());
t = evt_torrent(evt);
if (t > 0) {
tc.feid = evt;
tc.from = t;
if (t == accept_fd) {
tc.to = 0;
printc("accepting event.\n");
accept_new(accept_fd);
} else {
tc.to = tor_get_to(t);
assert(tc.to > 0);
printc("data from net.\n");
from_data_new(&tc);
}
} else {
t *= -1;
tc.teid = evt;
tc.to = t;
tc.from = tor_get_from(t);
assert(tc.from > 0);
printc("data from torrent.\n");
to_data_new(&tc);
}
cos_mpd_update();
}
}
/* periodic PID controller : read sensor data and send control data*/
static void
pid_process()
{
ap_data in_data;
ap_data out_data;
if (periodic_wake_create(cos_spd_id(), PID_PERIOD)) BUG();
while(1) {
periodic_wake_wait(cos_spd_id());
/* printc("PERIODIC: pid....(thd %d in spd %ld)\n", */
/* cos_get_thd_id(), cos_spd_id()); */
/* simulator ==> pid */
if (from_data_new(&in_data)) {
/* If there is data to process, we process and
* send back to simulator */
/* pid */
ap_control(&in_data, &out_data);
/* pid ==> simulator */
to_data_new(&out_data);
}
}
}
