static uavcan_linux::NodePtr initMainNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
const std::string& name)
{
std::cout << "Initializing main node" << std::endl;
auto node = uavcan_linux::makeNode(ifaces);
node->setNodeID(nid);
node->setName(name.c_str());
node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
const int start_res = node->start();
ENFORCE(0 == start_res);
uavcan::NetworkCompatibilityCheckResult init_result;
ENFORCE(0 == node->checkNetworkCompatibility(init_result));
if (!init_result.isOk())
{
throw std::runtime_error("Network conflict with node " + std::to_string(init_result.conflicting_node.get()));
}
node->setStatusOk();
return node;
}
// show what WOS operator this node will run
void DeleteProjectionNode::showWOS(int* lpNodeID, ofstream* lpOfstream)
{
// The operator exists
if (m_bWOSHasShown)
{
return;
}
m_bWOSHasShown = 1;
// Set nodeID to have different variable name for this node
setNodeID(lpNodeID);
string sOps = "//DELETE WOS FROM PROJECTION: \n";
bool bIsNewDeleteVector = 0;
if (m_bDeleteOperatorHasShown == 0)
{
sOps = sOps + " // The following 2 lines of code will be replaced by\n";
sOps = sOps + " // WOSManager* lpWOSManager = CatalogInstance::getCatalog()->getWOSManager(m_sProjection);\n";
sOps = sOps + " string sColumnAny = CatalogInstance::getCatalog()->getPrimaryColumnName(\"" + m_sProjection + "\");\n";
sOps = sOps + " WOSManager* lpWOS_WOSManager = CatalogInstance::getCatalog()->getWOSManager(sColumnAny);\n";
sOps = sOps + " DeleteOperator* lpDeleteOp = new DeleteOperator(lpWOS_WOSManager);\n";
bIsNewDeleteVector = 1;
m_bDeleteOperatorHasShown = 1;
}
// delete all tuples
if (bIsNewDeleteVector)
{
sOps = sOps + " lpDeleteOp->deleteProjection();\n";
}
lpOfstream->write(sOps.c_str(), sOps.length());
}
void TreeNode::updateID(std::string parentID, int count){
// this is only called after an insert. The tree on which this is called is a sub-tree of someone else.
// this tree might be a free hanging leaf or a whole tree
// in any case, the logic is the same: whatever is before the first ":" is replaced by parentID + count. There is no need to treat leaves separately
// Examples:
// a tree with a leaf 0:1:=7 is added to a tree 0:2 at position 3. ---> 0:2:3:1:=7
// --- a rootleaf 0:=7 is added to the same tree and position. ---> 0:2:3:=7
std::string newID;
std::string currentID = getNodeID();
int index = currentID.find(":");
std::string tailID;
if (index == -1) {
tailID = "";
} else {
tailID = currentID.substr(index);
}
newID = parentID + ":" + convertIntToStr(count) + tailID;
// DEBUG("Setting new ID: " << newID);
setNodeID(newID);
for (unsigned int i = 0; i < getNumChildren(); i++) {
getChild(i)->updateID(parentID, count);
}
}
void Radio::update() {
// new traffic?
if( radio.receiveDone() && radio.DATALEN==sizeof(Message) ) {
digitalWrite(LED_PIN, HIGH);
// read it
msg = *(Message*)radio.DATA;
// record RSSI
// recordRSSI(radio.SENDERID-NODESTART, radio.readRSSI());
recordRSSI(radio.SENDERID-NODESTART, radio.RSSI);
// has someone claimed my nodeID already?
if( radio.SENDERID == nodeID ) setNodeID(nodeID+1);
// is the RSSI too high? cut the power down
// if( radio.RSSI > RSSI_TARGET ) setPowerLevel(powerLevel-1);
// someone else could have called for this, too.
// if( msg.powerLevel != powerLevel ) setPowerLevel(msg.powerLevel);
digitalWrite(LED_PIN, LOW);
}
// am I next in the round-robin transmission?
static unsigned long lastSend = millis();
if( millis()-lastSend > PING_EVERY && radio.readRSSI() > CSMA_LIMIT ) {
msg.packetNumber++;
msg.doTrigger = false;
Serial << F("sending ping from myNode:") << nodeID;
radio.send(BROADCAST, (const void*)(&msg), sizeof(Message));
lastSend = millis();
Serial << F(". done.") << endl;
}
}
bool TreeNode::appendChild(shared_ptr<NodeContent> node){
// DEBUG("appendChild entry point");
switch (m_node->getType()){
case NodeContentType::nil:
{
// DEBUG("nil node");
setNodeID(initNodeID(node));
m_node = node;
}
break;
case NodeContentType::leaf:
{
// DEBUG("leaf node");
throw std::runtime_error("An attempt was made to append a child to a leaf node");
}
break;
case NodeContentType::inner:
{
// DEBUG("Inner node");
if (m_children.size() == m_node->getArity()) return false;
shared_ptr<TreeNode> pNode = TreeNode::makeTree(node);
m_children.push_back(pNode);
int count = m_children.size()-1;
std::string newId = findIDForNode(m_nodeID, count, node);
// DEBUG("New ID: " << newId);
pNode->setNodeID(newId);
}
break;
}
return true;
}
// Common fucntions called in showWOS
void UNode::commonShowWOS(int* lpNodeID, string sOperator, ofstream* lpOfstream)
{
m_bWOSHasShown = 1;
// Set nodeID to have different variable name for this node
setNodeID(lpNodeID);
if (m_lpChild != NULL)
{
m_lpChild->showWOS(lpNodeID, lpOfstream);
}
}
int tree::build_affix_tree_from_file(item_types type)
{
//out<<QDateTime::currentDateTime().time().toString()<<"\n";
#ifndef LOAD_FROM_FILE
return build_affix_tree(type);
#else
file=NULL;
reset();
isAffix=true;
this->type=type;
QString fileName;
if (type==PREFIX)
fileName=prefix_tree_path;
else if (type==SUFFIX)
fileName=suffix_tree_path;
reverseIDMap.clear();
QFile file(fileName.toStdString().data());
if (file.open(QIODevice::ReadOnly))
{
QDataStream in(&file); // read the data serialized from the file
QString version;
in >> version;
if (version==cache_version())
{
int num1,num2;
QString letters; long affix_id;long category_id; long resulting_category_id;bool isAccept;
#if defined (REDUCE_THRU_DIACRITICS)
QString raw_data,inflected_raw_data,descriptionInflectionRule;
#elif defined (MEMORY_EXHAUSTIVE)
QString raw_data;QString description;
#endif
while(!in.atEnd())
{
in>>letters>>affix_id>>category_id>>resulting_category_id>>isAccept
#if defined (REDUCE_THRU_DIACRITICS)
>>raw_data>>inflected_raw_data>>descriptionInflectionRule
#elif defined (MEMORY_EXHAUSTIVE)
>>raw_data>>description
#endif
>>num1>>num2;
node * n=addElement(letters,affix_id,category_id,resulting_category_id,isAccept,
#if defined (REDUCE_THRU_DIACRITICS)
raw_data,inflected_raw_data,descriptionInflectionRule,
#elif defined (MEMORY_EXHAUSTIVE)
raw_data,description,
#endif
getNodeID(num1));
setNodeID(num2,n);
}
file.close();
return 0;
}
static uavcan_linux::SubNodePtr initSubNode(unsigned num_ifaces, uavcan::INode& main_node)
{
std::cout << "Initializing sub node" << std::endl;
typedef VirtualCanDriver<QueuePoolSize> Driver;
std::shared_ptr<Driver> driver(new Driver(num_ifaces));
auto node = uavcan_linux::makeSubNode(driver);
node->setNodeID(main_node.getNodeID());
main_node.getDispatcher().installRxFrameListener(driver.get());
return node;
}
// Shows what operator this node will run
void UDeleteProjectionNode::showROS(int* lpNodeID, ofstream* lpOfstream)
{
// The operator exists
if (m_bROSHasShown)
{
return;
}
m_bROSHasShown = 1;
// Set nodeID to have different variable name for this node
setNodeID(lpNodeID);
string sOps = "//DELETE ROS FROM PROJECTION: \n";
bool bIsNewDeleteVector = 0;
if (m_bDeleteOperatorHasShown == 0)
{
sOps = sOps + " // The following 2 lines of code will be replaced by\n";
sOps = sOps + " // WOSManager* lpWOSManager = CatalogInstance::getCatalog()->getWOSManager(m_sProjection);\n";
sOps = sOps + " string sColumnAny = CatalogInstance::getCatalog()->getPrimaryColumnName(\"" + m_sProjection + "\");\n";
sOps = sOps + " WOSManager* lpROS_WOSManager = CatalogInstance::getCatalog()->getWOSManager(sColumnAny);\n";
sOps = sOps + " DeleteOperator* lpDeleteOp = new DeleteOperator(lpROS_WOSManager);\n";
bIsNewDeleteVector = 1;
m_bDeleteOperatorHasShown = 1;
}
m_lpChild->showROS(lpNodeID, lpOfstream);
char sChildNode[15];
sprintf(sChildNode, "%d", m_lpChild->getNodeID());
if (m_bIsSinglePredicate == 1)
{
sOps = sOps + " lpDeleteOp->deleteTuple(lp_ROS" + string(sChildNode) + ", true);\n";
}
else
{
sOps = sOps + " lpDeleteOp->deleteByPositionList(lp_ROS" + string(sChildNode) + ", true);\n";
}
lpOfstream->write(sOps.c_str(), sOps.length());
}
// Common fucntions called in showROS
void BAggNode::commonShowWOS(int* lpNodeID, string sOperator, ofstream* lpOfstream)
{
m_bWOSHasShown = 1;
// Set nodeID to have different variable name for this node
setNodeID(lpNodeID);
if (m_lpLeft != NULL)
{
m_lpLeft->showWOS(lpNodeID, lpOfstream);
}
if (m_lpRight != NULL)
{
m_lpRight->showWOS(lpNodeID, lpOfstream);
}
commonShowROSWOS(sOperator, "WOS", lpOfstream);
}
static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
const std::string& name)
{
auto node = uavcan_linux::makeNode(ifaces);
node->setNodeID(nid);
node->setName(name.c_str());
ENFORCE(0 <= node->start());
uavcan::NetworkCompatibilityCheckResult ncc_result;
ENFORCE(0 <= node->checkNetworkCompatibility(ncc_result));
if (!ncc_result.isOk())
{
throw std::runtime_error("Network conflict with node " + std::to_string(ncc_result.conflicting_node.get()));
}
node->setStatusOk();
return node;
}
bool TreeNode::appendTree(shared_ptr<TreeNode> pTree){
switch (m_node->getType()){
case NodeContentType::nil:
m_node = pTree->m_node;
m_children = pTree->m_children;
setNodeID(initNodeID(m_node));
break;
case NodeContentType::leaf:
throw std::runtime_error("An attempt was made to append a tree to a leaf node");
break;
case NodeContentType::inner:
if (m_children.size() == m_node->getArity()) return false;
m_children.push_back(pTree);
pTree->updateID(getNodeID(), m_children.size()-1);
break;
}
return true;
}
static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
const std::string& name)
{
auto node = uavcan_linux::makeNode(ifaces);
/*
* Configuring the node.
*/
node->setNodeID(nid);
node->setName(name.c_str());
node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
/*
* Starting the node.
*/
std::cout << "Starting the node..." << std::endl;
const int start_res = node->start();
std::cout << "Start returned: " << start_res << std::endl;
ENFORCE(0 == start_res);
/*
* Checking if our node conflicts with other nodes. This may take a few seconds.
*/
uavcan::NetworkCompatibilityCheckResult init_result;
ENFORCE(0 == node->checkNetworkCompatibility(init_result));
if (!init_result.isOk())
{
throw std::runtime_error("Network conflict with node " + std::to_string(init_result.conflicting_node.get()));
}
std::cout << "Node started successfully" << std::endl;
/*
* Say Hi to the world.
*/
node->setStatusOk();
node->logInfo("init", "Hello world! I'm [%*], NID %*",
node->getNodeStatusProvider().getName().c_str(), int(node->getNodeID().get()));
return node;
}
void Radio::begin(byte groupID, byte freq) {
Serial << F("Radio. startup with unknown node number.") << endl;
radio.initialize(freq, NODESTART, groupID);
setNodeID(NODESTART);
radio.setHighPower(); // using RFM69HW board
radio.promiscuous(true); // so broadcasts are received
setPowerLevel();
Serial << F("Waiting....") << endl;
delay( random(0,MAX_NODES)*25UL ); // wait a tick
// clear rssi tracking
for(int i=0; i<MAX_NODES; i++) {
relRSSI[i]=1.0;
averageRSSI[i]=CSMA_LIMIT;
}
// set up pin
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, LOW);
}
// show what operator this node will run
void MInsertProjectionNode::show(int* lpNodeID, ofstream* lpOfstream)
{
// The operator exists
if (m_bROSHasShown)
{
return;
}
m_bROSHasShown = 1;
// Set nodeID to have different variable name for this node
setNodeID(lpNodeID);
string sOps = "";
// Run all child nodes first
int numCols = m_children.size();
if (m_listColumns.size() != m_children.size())
{
sOps = sOps + " //ERROR: Number of columns in the insert projection is different from the number of columns in the select query. Insert fails\n";
lpOfstream->write(sOps.c_str(), sOps.length());
}
char sTmp[15];
sprintf(sTmp, "%d", numCols);
string sSrcs = " Operator* srcs[" + string(sTmp) + "] = {";
string sNumCols = " int numColumns[" + string(sTmp) + "] = {";
int i = 0;
// Run all child nodes first
list<EColumn*>::iterator lpColumn = m_listColumns.begin();
list<Node*>::iterator lpDataSource = m_children.begin();
while ( (lpColumn != m_listColumns.end()) && (lpDataSource != m_children.end()) )
{
// get column index in the projection
int iColIndex = CatalogInstance::getCatalog()->getColumnIndex(m_lpProjection->toString(), (*lpColumn)->toString());
// run data source
if ((*lpDataSource) != NULL)
{
// only insert into WOS
(*lpDataSource)->showWOS(lpNodeID, lpOfstream);
sprintf(sTmp, "%d", (*lpDataSource)->getNodeID());
sSrcs = sSrcs + "lp_WOS" + string(sTmp);
sprintf(sTmp, "%d", iColIndex);
sNumCols = sNumCols + string(sTmp);
//srcs[i] = lpOpWOS;
//numColumns[i] = iColIndex;
i++;
if (i < numCols)
{
sSrcs = sSrcs + ", ";
sNumCols = sNumCols + ", ";
}
}
lpColumn++;
lpDataSource++;
}
sSrcs = sSrcs + "};\n";
sNumCols = sNumCols + "};\n";
char sCols[15];
sprintf(sCols, "%d", numCols);
sOps = sOps + sSrcs;
sOps = sOps + sNumCols;
sOps = sOps + "\n//INSERT\n";
sOps = sOps + " // The following 2 lines of code will be replaced by\n";
sOps = sOps + " // WOSManager* lpWOSManager = CatalogInstance::getCatalog()->getWOSManager(m_lpProjection->toString());\n";
sOps = sOps + " string sColumnAny = CatalogInstance::getCatalog()->getPrimaryColumnName(\"" + m_lpProjection->toString() + "\");\n";
sOps = sOps + " WOSManager* lpWOSManager = CatalogInstance::getCatalog()->getWOSManager(sColumnAny);\n\n";
sOps = sOps + " InsertOperator* lpInsertOp = new InsertOperator(lpWOSManager);\n";
sOps = sOps + " lpInsertOp->appendColumns(srcs, " + sCols + ", numColumns);\n";
lpOfstream->write(sOps.c_str(), sOps.length());
}
// show what operator this node will run
void BJoinNode::show(int* lpNodeID, ofstream* lpOfstream, bool rosOnly)
{
// The operator exists
if (m_bHasShown)
{
return;
}
m_bHasShown = 1;
// Set nodeID to have different variable name for this node
setNodeID(lpNodeID);
string sOps = "//JOINS\n";
if (rosOnly)
{
// show its children first
if (m_lpLeft != NULL)
{
m_lpLeft->showROS(lpNodeID, lpOfstream);
}
if (m_lpRight != NULL)
{
m_lpRight->showROS(lpNodeID, lpOfstream);
}
char sLeft[15];
sprintf(sLeft, "%d", m_lpLeft->getNodeID());
char sRight[15];
sprintf(sRight, "%d", m_lpRight->getNodeID());
char sNodeID[15];
sprintf(sNodeID, "%d", getNodeID());
sOps = sOps + " int colval = 0;\n";
sOps = sOps + " Operator* lpRosRos = new HashJoin(&lp_ROS" + string(sLeft) + ", &colval, " + " &lp_ROS" + string(sRight) + ", &colval, 1, 1, true);\n";
}
else
{
// show its children first
if (m_lpLeft != NULL)
{
m_lpLeft->showROS(lpNodeID, lpOfstream);
m_lpLeft->showWOS(lpNodeID, lpOfstream);
m_lpLeftReplica->showROS(lpNodeID, lpOfstream);
m_lpLeftReplica->showWOS(lpNodeID, lpOfstream);
}
if (m_lpRight != NULL)
{
m_lpRight->showROS(lpNodeID, lpOfstream);
m_lpRight->showWOS(lpNodeID, lpOfstream);
m_lpRightReplica->showROS(lpNodeID, lpOfstream);
m_lpRightReplica->showWOS(lpNodeID, lpOfstream);
}
char sLeft[15];
sprintf(sLeft, "%d", m_lpLeft->getNodeID());
char sRight[15];
sprintf(sRight, "%d", m_lpRight->getNodeID());
char sLeftReplica[15];
sprintf(sLeftReplica, "%d", m_lpLeftReplica->getNodeID());
char sRightReplica[15];
sprintf(sRightReplica, "%d", m_lpRightReplica->getNodeID());
char sNodeID[15];
sprintf(sNodeID, "%d", getNodeID());
sOps = sOps + " Operator* lpRosRos = new NLJoin(lp_ROS" + string(sLeft) + ", 0, " + " lp_ROS" + string(sRight) + ", 0);\n";
sOps = sOps + " Operator* lpRosWos = new NLJoin(lp_ROS" + string(sLeftReplica) + ", 0, " + " lp_WOS" + string(sRight) + ", 0);\n";
sOps = sOps + " Operator* lpWosRos = new NLJoin(lp_WOS" + string(sLeft) + ", 0, " + " lp_ROS" + string(sRightReplica) + ", 0);\n";
sOps = sOps + " Operator* lpWosWos = new NLJoin(lp_WOS" + string(sLeftReplica) + ", 0, " + " lp_WOS" + string(sRightReplica) + ", 0);\n";
}
lpOfstream->write(sOps.c_str(), sOps.length());
}
