DiameterSessionEntryList::DiameterSessionEntryList()
{
ACE_Time_Value tm = ACE_OS::gettimeofday();
m_LastKnownCounter.High() = tm.sec();
m_LastKnownCounter.Low() = tm.usec();
}
int
run_main (int argc, ACE_TCHAR *argv[])
{
ACE_START_TEST (ACE_TEXT ("NDDS_Timer_Test"));
RTIClock *timer = RTIHighResolutionClock_new();
u_int errors = 0;
u_int iterations = 1;
ACE_Get_Opt getoptarg (argc, argv, ACE_TEXT ("i:"));
for (int c; (c = getoptarg ()) != -1; )
{
switch (c)
{
case 'i':
iterations = ACE_OS::atoi (getoptarg.opt_arg ());
break;
}
}
// We don't check for errors if the interval is shorter than this
// value because the OS has a finite resolution anyway.
static u_int const TIMER_RESOLUTION = 10000;
for (u_int i = 0; i < sizeof intervals / sizeof (u_int); ++i)
{
for (u_int j = 0; j < iterations; ++j)
{
ACE_Time_Value const interval (0, intervals[i]);
RTINtpTime duration;
time_interval (timer, interval, duration);
unsigned long long microseconds, nanoseconds;
int sec;
RTINtpTime_unpackToMicrosec (sec, microseconds, duration);
RTINtpTime_unpackToNanosec (sec, nanoseconds, duration);
time_t const interval_usec =
interval.sec () * ACE_ONE_SECOND_IN_USECS + interval.usec ();
time_t const measured_usec =
sec * ACE_ONE_SECOND_IN_USECS + microseconds;
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("interval: %: usec, measured: %: usec %s\n"),
interval_usec,
measured_usec,
(intervals[i] <= TIMER_RESOLUTION
? ACE_TEXT (" (interval and measured may differ)")
: ACE_TEXT (""))));
if (intervals[i] > TIMER_RESOLUTION)
{
errors += check (interval.sec () * ACE_ONE_SECOND_IN_USECS
+ interval.usec (),
sec * ACE_ONE_SECOND_IN_USECS + microseconds);
// Don't check for error for intervals below 10 msec.
}
errors += check_micro_nano (microseconds, nanoseconds);
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("NDDS_Timer usec: %Q, nsec: %Q\n"),
microseconds,
nanoseconds));
}
}
ACE_END_TEST;
return errors == 0 ? 0 : 1;
}
int ACE_TMAIN (int argc, ACE_TCHAR *argv[])
{
if ( argc < 2 )
ACE_ERROR_RETURN ((LM_ERROR,
"Usage: %s <rate> <PDU> <session> <host> <selector> [ host sel ] ...\n"
"\tUse 0 for default values\n",
argv[0]),
1);
int rate = ACE_OS::atoi( argv[ 1 ]);
rate = ( rate != 0 ) ? rate : 170000;
int pdu_size = ACE_OS::atoi( argv[ 2 ]) * 1024;
pdu_size = ( pdu_size != 0 ) ? pdu_size : 8192;
int session = ACE_OS::atoi( argv[ 3 ]);
session = ( session != 0 ) ? session : 100;
ACE_OS::printf( "ATM_Client: rate: %d c/s, PDU: %dB, session: %d pkts\n",
rate, pdu_size, session );
// Record all hosts/selectors
ACE_ATM_Addr hosts[ MAX_LEAVES ];
int num_leaves = argc / 2 - 2;
ACE_OS::printf( "ATM_Client: Connecting to ...\n" );
for ( int i = 0; i < num_leaves; i++ ) {
hosts[ i ].set( argv[ i*2 + 4 ],
( argv[ i*2 + 5 ] != 0 )
? ACE_OS::atoi( argv[ i*2 + 5 ]) : ACE_ATM_Addr::DEFAULT_SELECTOR );
ACE_OS::printf( "ATM_Client: leaf: %s (%s), sel: %d\n",
argv[ i*2 + 4 ],
hosts[ i ].addr_to_string(),
hosts[ i ].get_selector());
}
// The timeout really gets ignored since FORE's drivers don't work when
// ioctl or fcntl calls are made on the transport id/file descriptor
int timeout = ACE_DEFAULT_TIMEOUT;
char buf[BUFSIZ];
ACE_ATM_Stream atm_stream;
char hostname[ MAXNAMELEN ];
ACE_OS::hostname( hostname, MAXNAMELEN );
ACE_ATM_Addr local_addr( hostname, hosts[ 0 ].get_selector());
ACE_OS::printf( "ATM_Client: local host: %s(%s)\n",
hostname, local_addr.addr_to_string());
// In order to construct connections options the file handle is
// needed. Therefore, we need to open the ATM_Stream before we
// construct the options.
ACE_OS::printf( "ATM_Client: to open a stream\n" );
if (atm_stream.open () == -1)
ACE_ERROR_RETURN ((LM_ERROR,
"%p\n",
"open failed"),
1);
ACE_DEBUG ((LM_DEBUG,
"ATM_Client: starting non-blocking connection\n"));
// Initiate timed, non-blocking connection with server.
ACE_ATM_Connector con;
// Construct QoS options - currently FORE only supports bandwidth
ACE_OS::printf( "ATM_Client: specify cell rate at %d c/s\n", rate );
ACE_ATM_QoS qos;
qos.set_rate(atm_stream.get_handle (),
rate,
ACE_ATM_QoS::OPT_FLAGS_CPID);
if ( num_leaves == 1 ) {
// Point-to-point connection
// Not sure why but reuse_addr set to true/1 causes problems for
// FORE/XTI/ATM - this is now handled in ACE_ATM_Connector::connect()
ACE_OS::printf( "ATM_Client: to open a connection \n" );
ACE_ATM_Params params = ACE_ATM_Params();
if (con.connect (atm_stream,
hosts[ 0 ],
params,
qos,
(ACE_Time_Value *) &ACE_Time_Value::zero,
local_addr,
0,
0 ) == -1) {
if (errno != EWOULDBLOCK)
ACE_ERROR_RETURN ((LM_ERROR,
"%p\n",
"ATM_Client: connection failed"),
1);
ACE_DEBUG ((LM_DEBUG,
"ATM_Client: starting timed connection\n"));
// Check if non-blocking connection is in progress, and wait up
// to timeout seconds for it to complete.
ACE_Time_Value tv (timeout);
ACE_OS::printf( "ATM_Client: connection completed\n" );
if (con.complete (atm_stream,
&hosts[ 0 ],
&tv) == -1)
ACE_ERROR_RETURN ((LM_ERROR,
"%p\n",
"ATM_Client: connection failed"),
1);
else
ACE_DEBUG ((LM_DEBUG,
"ATM_Client: connected to %s\n",
hosts[ 0 ].addr_to_string()));
}
} else {
// Point-to-multipoint connection
for ( int i = 0; i < num_leaves; i++ ) {
con.add_leaf( atm_stream,
hosts[ i ],
i,
NULL );
}
} /* if num_leaves == 1 */
ACE_UINT16 vpi, vci;
atm_stream.get_vpi_vci(vpi, vci);
ACE_DEBUG ((LM_DEBUG,
"ATM_Client: connected to VPI %d VCI %d\n",
vpi, vci));
// Send data to server (correctly handles "incomplete writes").
int s_bytes;
int total;
int xmit = 0;
ACE_High_Res_Timer timer;
ACE_Time_Value elapsed;
double real_time;
double actual_rate;
for ( ;; ) {
total = 0;
timer.start_incr();
for ( ;; ) {
s_bytes = atm_stream.send_n( buf, BUFSIZ, 0 );
if ( s_bytes == -1 )
ACE_ERROR_RETURN ((LM_ERROR,
"%p\n",
"send_n"),
1);
total += s_bytes;
if ( total >= session * pdu_size )
break;
}
timer.stop_incr();
timer.elapsed_time_incr( elapsed );
real_time = elapsed.sec() * ACE_ONE_SECOND_IN_USECS + elapsed.usec();
xmit += total;
actual_rate = ( double )xmit * ( double )8 / real_time;
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("(%t) bytes = %d, usec = %f, rate = %0.00f Mbps\n"),
xmit,
real_time,
actual_rate < 0 ? 0 : actual_rate ));
}
// Explicitly close the connection.
ACE_OS::printf( "ATM_Client: close connection\n" );
if (atm_stream.close () == -1)
ACE_ERROR_RETURN ((LM_ERROR,
"%p\n",
"close"),
-1);
return 0;
}
void
Consumer::handleMessage(const Miro::DevMessage * _message)
{
++Connection::gotTicks_;
if (pOdometry_) {
const FaulController::OdometryMessage * pFaulMsg =
static_cast<const FaulController::OdometryMessage *>(_message);
if (pFaulMsg->wheel_ == FaulController::OdometryMessage::LEFT) {
// cout << "L: " << pFaulMsg->ticks_;
ticksL_ = pFaulMsg->ticks_;
timeStampL_ = pFaulMsg->time();
}
else {
// cout << "R: " << pFaulMsg->ticks_;
ticksR_ = pFaulMsg->ticks_;
timeStampR_ = pFaulMsg->time();
}
if (prevTimeStampL_+ ACE_Time_Value(0, 10000) < timeStampR_ &&
prevTimeStampR_+ ACE_Time_Value(0, 10000) < timeStampL_ &&
prevTimeStampL_ != timeStampL_ &&
prevTimeStampR_ != timeStampR_) {
if (init_ == 0) {
double dL = -(ticksL_ - prevTicksL_) / params_->leftTicksPerMM;
double dR = (ticksR_ - prevTicksR_) / params_->rightTicksPerMM;
// cout << "dL: " << dL << " dR: " << dR << endl;
// reset tick counters to minimize overhead
//if ((pFaulMsg->lPos < 3000) or (pFaulMsg->lPos > 10000) pConnection->setPos1(0);
//if ((pFaulMsg->RPos < 3000) or (pFaulMsg->RPos > 10000) pConnection->setPos0(0);
// calculate new orientation
double turn = (dR - dL) / wheelBase_;
status_.position.heading += turn;
Miro::Angle::normalize(status_.position.heading);
double dist = (dL + dR) / 2.;
xPos_ += cos(status_.position.heading) * dist;
yPos_ += sin(status_.position.heading) * dist;
ACE_Time_Value timeDelta = timeStampR_ - prevTimeStampR_;
double deltaT = (double)timeDelta.sec() + (double)timeDelta.usec() / 1000000.;
// compose odometry message
Miro::timeA2C(timeStampR_, status_.time);
if (!Sparrow::Parameters::instance()->goalie) {
status_.position.point.x = (long) xPos_;
status_.position.point.y = (long) yPos_;
}
else {
status_.position.point.x = (long) yPos_;
status_.position.point.y = (long) -xPos_;
}
status_.velocity.translation = (long)(dist / deltaT);
status_.velocity.rotation = turn / deltaT;
//cout << status_.time.sec<< " " << status_.time.usec <<endl; //(dL+dR) / 2*dtime<< endl;
// berechnung
if (false) {
ACE_Time_Value dTR = timeStampR_ - prevTimeStampR_;
deltaTR[counter] = (double)dTR.sec() + (double)dTR.usec() / 1000000.;
ACE_Time_Value dTL = timeStampL_ - prevTimeStampL_;
deltaTL[counter] = (double)dTL.sec() + (double)dTL.usec()/ 1000000.;
ACE_Time_Value dTLR = (timeStampL_ > timeStampR_)?
timeStampL_ - timeStampR_ :
timeStampR_ - timeStampL_;
deltaTLR[counter] = (double)dTLR.sec() + (double)dTLR.usec()/ 1000000.;
cout << "TimerOdo dTR: " << dTR << " \tdTL: " << dTL << " \tdTLR: " << dTLR << endl;
int i;
if (counter == 0) {
double meanL = deltaTL[0];
double meanR = deltaTR[0];
double meanLR = deltaTLR[0];
for ( i = 49; i > 0; --i) {
meanL += deltaTL[i];
meanR += deltaTR[i];
meanLR += deltaTLR[i];
}
meanL /= 50.;
meanR /= 50.;
meanLR /= 50.;
double varL = 0.;
double varR = 0.;
double varLR = 0.;
for ( i = 49; i >= 0; --i) {
varL += (deltaTL[i] - meanL) * (deltaTL[i] - meanL);
varR += (deltaTR[i] - meanR) * (deltaTR[i] - meanR);
varLR += (deltaTLR[i] - meanLR) * (deltaTLR[i] - meanLR);
}
varL /= 49.;
varR /= 49.;
varLR /= 49.;
cout << "TimerOdo L: mean=" << meanL << "sec \t var=" <<sqrt(varL)<< endl;
cout << "TimerOdo R: mean=" << meanR << "sec \t var=" <<sqrt(varR)<< endl;
cout << "TimerOdo LR: mean=" << meanLR << "sec \t var=" <<sqrt(varLR)<< endl;
counter = 50;
}
--counter;
}
// save current values for next iteration
prevTimeStampL_ = timeStampL_;
prevTimeStampR_ = timeStampR_;
prevTicksL_ = ticksL_;
prevTicksR_ = ticksR_;
pOdometry_->integrateData(status_);
return;
}
else {
// save current values for next iteration
prevTimeStampL_ = timeStampL_;
prevTimeStampR_ = timeStampR_;
prevTicksL_ = ticksL_;
prevTicksR_ = ticksR_;
--init_;
}
}
}
}
int
run_main (int argc, ACE_TCHAR *argv[])
{
ACE_START_TEST (ACE_TEXT ("High_Res_Timer_Test"));
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("The ACE_High_Res_Timer scale factor is %u ")
ACE_TEXT ("1/microsecond\n"),
ACE_High_Res_Timer::global_scale_factor ()));
u_int errors = 0;
u_int iterations = 1;
ACE_Get_Opt getoptarg (argc, argv, ACE_TEXT ("i:"));
for (int c; (c = getoptarg ()) != -1; )
{
switch (c)
{
case 'i':
iterations = ACE_OS::atoi (getoptarg.opt_arg ());
break;
}
}
// We don't check for errors if the interval is shorter than this
// value because the OS has a finite resolution anyway.
static u_int const TIMER_RESOLUTION = 10000;
for (u_int i = 0; i < sizeof intervals / sizeof (u_int); ++i)
{
for (u_int j = 0; j < iterations; ++j)
{
ACE_Time_Value const interval (0, intervals[i]);
ACE_hrtime_t nanoseconds;
ACE_hrtime_t microseconds;
ACE_Time_Value const measured = time_interval (interval,
nanoseconds,
microseconds);
time_t const interval_usec =
interval.sec () * ACE_ONE_SECOND_IN_USECS + interval.usec ();
time_t const measured_usec =
measured.sec () * ACE_ONE_SECOND_IN_USECS + measured.usec ();
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("interval: %: usec, measured: %: usec %s\n"),
interval_usec,
measured_usec,
(intervals[i] <= TIMER_RESOLUTION
? ACE_TEXT (" (interval and measured may differ)")
: ACE_TEXT (""))));
if (intervals[i] > TIMER_RESOLUTION)
{
errors += check (interval.sec () * ACE_ONE_SECOND_IN_USECS
+ interval.usec (),
measured.sec () * ACE_ONE_SECOND_IN_USECS
+ measured.usec ());
// Don't check for error for intervals below 10 msec.
}
// Check the ACE_Timer_Value-calculated microseconds against
// the ACE_High_Res_Timer-calculated nanoseconds.
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("ACE_Time_Value usec: %:, ACE_HR nsec: %Q\n"),
measured_usec,
nanoseconds));
// This gives problems -> should be fixed
errors += check_micro_nano (measured.sec () * ACE_ONE_SECOND_IN_USECS
+ measured.usec (),
nanoseconds);
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("ACE_High_Res_Timer usec: %Q, nsec: %Q\n"),
microseconds,
nanoseconds));
// Now check the ACE_High_Res_Timer-calculated values against
// each other.
errors += check_micro_nano (microseconds, nanoseconds);
}
}
ACE_END_TEST;
return errors == 0 ? 0 : 1;
}
void
Writer::start()
{
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%P|%t) Writer::start \n")));
try {
OpenDDS::DCPS::DataReaderImpl* dr_servant =
dynamic_cast<OpenDDS::DCPS::DataReaderImpl*>(reader_);
::Xyz::Foo foo;
foo.x = 0.0;
foo.y = 0.0;
::OpenDDS::DCPS::SequenceNumber seq;
if (!multiple_instances_) {
foo.key = default_key;
}
for (int i = 0; i < num_writes_per_thread_; ++i) {
++seq;
foo.x = (float)i;
foo.y = (float)i;
if (multiple_instances_) {
foo.key = i + 1;
}
ACE_Time_Value now = ACE_OS::gettimeofday();
ACE_OS::printf("\"writing\" foo.x = %f foo.y = %f, foo.key = %d\n",
foo.x, foo.y, foo.key);
OpenDDS::DCPS::ReceivedDataSample sample(0);
sample.header_.message_length_ = sizeof(foo);
sample.header_.message_id_ = OpenDDS::DCPS::SAMPLE_DATA;
sample.header_.sequence_ = seq.getValue();
// RepoIds are conventionally created and managed by the DCPSInfoRepo. Those
// generated here are for the sole purpose of verifying internal behavior.
OpenDDS::DCPS::RepoIdBuilder builder(sample.header_.publication_id_);
builder.participantId(1);
builder.entityKey(1);
builder.entityKind(OpenDDS::DCPS::ENTITYKIND_OPENDDS_NIL_WRITER);
sample.header_.source_timestamp_sec_ = static_cast<ACE_INT32>(now.sec());
sample.header_.source_timestamp_nanosec_ = now.usec() * 1000;
sample.sample_ = new ACE_Message_Block(sizeof(foo));
::OpenDDS::DCPS::Serializer ser(sample.sample_);
ser << foo;
dr_servant->data_received(sample);
}
} catch (const CORBA::Exception& ex) {
ex._tao_print_exception("Exception caught in svc:");
}
}
int
ACE_TMAIN (int argc, ACE_TCHAR *argv[])
{
ACE_Service_Config daemon;
daemon.open (argv[0]);
parse_args (argc, argv);
if (child)
{
worker (n_iterations);
ACE_OS::exit (exit_code);
}
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Process_Manager test. Expect output from"
"2 or 3 processes...\n"));
ACE_Process_Manager::instance ()->register_handler
(new ExitHandler ("default"));
pid_t pid1 = respawn_self (argv[0],
n_iterations,
111);
pid_t pid2 = respawn_self (argv[0],
n_iterations + 500,
222);
#if !defined (ACE_WIN32)
pid_t pid3 = ACE_OS::fork ();
if (!pid3)
{
worker (n_iterations);
return 999;
}
#endif /* ACE_WIN32 */
ACE_Process_Manager::instance ()->register_handler (new ExitHandler ("specific"),
pid2);
if (pid1 == ACE_INVALID_PID || pid2 == ACE_INVALID_PID)
ACE_ERROR_RETURN ((LM_ERROR,
"(%P|%t) %p\n",
"start_n"),
1);
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent waiting (synchronously, "
"up to 6 seconds) for children...\n"));
int result =
ACE_Process_Manager::instance ()->wait (ACE_Time_Value (6));
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent: %d processes left\n",
result));
if (result > 0)
{
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent waiting (synchronously, "
"indefinitely) for remaining children...\n"));
result =
ACE_Process_Manager::instance ()->wait ();
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent finished waiting: %d\n",
result));
}
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent: try auto-reap functions\n"));
ACE_Process_Manager::instance ()->open (ACE_Process_Manager::DEFAULT_SIZE,
ACE_Reactor::instance ());
pid1 = respawn_self (argv[0],
n_iterations + 200,
333 );
pid2 = respawn_self (argv[0],
n_iterations + 500,
444);
#if !defined (ACE_WIN32)
pid3 = ACE_OS::fork ();
if (!pid3)
{
worker (n_iterations);
return 888;
}
#endif /* ACE_WIN32 */
ExitHandler *main_thread_work = 0;
ACE_NEW_RETURN (main_thread_work,
ExitHandler ("main thread worker"),
1);
ACE_Reactor::instance ()->schedule_timer (main_thread_work,
0,
ACE_Time_Value (2),
ACE_Time_Value (1, 500000));
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent: expect several Processes "
"to be auto-detected over the next 30 seconds.\n"
"The main thread will do some other work, too.\n" ));
ACE_Time_Value briefly (30);
result = ACE_Reactor::run_event_loop (briefly);
ACE_DEBUG ((LM_DEBUG,
"(%P|%t@%T) Test parent: finished (%d) %d.%d. Close"
"Process_Manager...\n",
result,
briefly.sec (),
briefly.usec ()));
ACE_Process_Manager::instance ()->close ();
return 0;
}
int
Client::svc (void)
{
try
{
Octet_Seq octetSeq(SIZE_BLOCK);
Char_Seq charSeq(SIZE_BLOCK);
ACE_High_Res_Timer timer;
ACE_OS::printf("Start sending %d Msgs...\n",this->niterations_);
charSeq.length(SIZE_BLOCK);
octetSeq.length(SIZE_BLOCK);
// This sets up the connector, so that we do not incur
// the overhead on the first call in the loop.
server_->sendCharSeq (charSeq);
timer.start ();
ACE_UINT32 client_count = 0;
for (ACE_UINT32 i = 0; i < this->niterations_; ++i)
{
client_count++;
server_->sendCharSeq (charSeq);
//server_->sendOctetSeq (octetSeq);
//ACE_DEBUG ((LM_DEBUG, "."));
}
timer.stop ();
ACE_Time_Value measured;
timer.elapsed_time (measured);
//ACE_DEBUG ((LM_DEBUG, "...finished\n"));
time_t dur = measured.sec () * 1000000 + measured.usec ();
if (dur == 0 || this->niterations_ == 0)
ACE_DEBUG ((LM_DEBUG, "Time not measurable, calculation skipped\n"));
else
{
ACE_DEBUG ((LM_DEBUG,
"Time for %u Msgs: %u usec\n",
this->niterations_,
dur));
ACE_DEBUG ((LM_DEBUG, "Time for 1 Msg: %u usec, %u calls/sec\n",
dur / this->niterations_,
1000000 / (dur / this->niterations_)));
}
for (int c = 0; c < 10; ++c)
server_->shutdown ();
}
catch (const CORBA::Exception& ex)
{
ex._tao_print_exception ("MT_Client: exception raised");
}
return 0;
}
int
ACE_TMAIN(int argc, ACE_TCHAR *argv[])
{
int n = 100;
int low = 64;
int hi = 4096;
int s = 4;
int quiet = 0;
ACE_Get_Opt get_opt (argc, argv, ACE_TEXT("dn:l:h:s:q"));
int opt;
while ((opt = get_opt ()) != EOF)
{
switch (opt)
{
case 'd':
TAO_debug_level++;
break;
case 'n':
n = ACE_OS::atoi (get_opt.opt_arg ());
break;
case 'l':
low = ACE_OS::atoi (get_opt.opt_arg ());
break;
case 'h':
hi = ACE_OS::atoi (get_opt.opt_arg ());
break;
case 's':
s = ACE_OS::atoi (get_opt.opt_arg ());
break;
case 'q':
quiet = 1;
break;
case '?':
default:
ACE_DEBUG ((LM_DEBUG,
"Usage: %s "
"-d debug"
"-l low "
"-h high "
"-s step "
"-n n "
"\n"
"Writes and then reads longs to a CDR stream "
"starting from <low> up to <high> incrementing "
"by <step>, at each step run <n> iterations to "
"average."
"\n",
argv[0]));
return -1;
}
}
for (int x = low; x <= hi; x += s)
{
ACE_High_Res_Timer writing;
ACE_High_Res_Timer reading;
if (TAO_debug_level > 0)
ACE_DEBUG ((LM_DEBUG, "\nx= %d\n", x));
for (int i = 0; i < n; ++i)
{
writing.start_incr ();
TAO_OutputCDR output;
if (test_write (output, x) != 0)
{
return 1;
}
writing.stop_incr ();
reading.start_incr ();
TAO_InputCDR input (output);
if (test_read (input, x) != 0)
{
return 1;
}
reading.stop_incr ();
}
double m = n * x;
ACE_Time_Value wtv;
writing.elapsed_time_incr (wtv);
ACE_hrtime_t wusecs = wtv.sec ();
wusecs *= static_cast<ACE_UINT32> (ACE_ONE_SECOND_IN_USECS);
wusecs += wtv.usec ();
ACE_Time_Value rtv;
reading.elapsed_time_incr (rtv);
ACE_hrtime_t rusecs = rtv.sec ();
rusecs *= static_cast<ACE_UINT32> (ACE_ONE_SECOND_IN_USECS);
rusecs += rtv.usec ();
double write_average = ACE_HRTIME_CONVERSION(wusecs) / m;
double read_average = ACE_HRTIME_CONVERSION(rusecs) / m;
if (!quiet)
ACE_OS::printf ("AVE: %d %f %f\n",
x, write_average, read_average);
}
return 0;
}
int
ACE_TMAIN (int argc, ACE_TCHAR *argv[])
{
ACE_Time_Value timeout (ACE_DEFAULT_TIMEOUT);
//unsigned char selector = ACE_ATM_Addr::DEFAULT_SELECTOR;
//int selector_specified = 0;
if (argc > 2)
ACE_ERROR_RETURN ((LM_ERROR,
"Usage: %s [selector]\n",
argv[0]),
1);
// Create a server address.
ACE_ATM_Addr addr;
//if (selector_specified)
unsigned char selector = ( argc == 2 ) ? ACE_OS::atoi( argv[ 1 ]) : ACE_ATM_Addr::DEFAULT_SELECTOR;
addr.set_selector( selector );
ACE_OS::printf( "ATM_Server: selector changed to %d\n", addr.get_selector());
// Create a server, reuse the addr.
ACE_ATM_Acceptor peer_acceptor;
ACE_ATM_Params params;
// Not sure why but reuse_addr set to true/1 causes problems for
// FORE/XTI/ATM - this is now handled in ACE_ATM_Acceptor::open()
ACE_HANDLE ret = peer_acceptor.open (addr, 5, params);
if ( ret == ACE_INVALID_HANDLE )
ACE_ERROR_RETURN ((LM_ERROR,
"%p\n",
"open"),
-1);
ACE_ATM_Stream new_stream;
ACE_ATM_Addr local_addr;
local_addr.set_selector( selector );
peer_acceptor.get_local_addr( local_addr );
ACE_DEBUG ((LM_DEBUG,
"starting server at address %s\n",
local_addr.addr_to_string ()));
// Performs the iterative server activities
char buf[BUFSIZ];
ACE_High_Res_Timer timer;
int total;
ACE_Time_Value tv;
double real_time;
double actual_rate;
for (;;)
{
// Create a new ACE_ATM_Stream endpoint (note automatic restart
// if errno == EINTR).
ACE_OS::printf( "ATM_Server: expecting clients\n" );
if (peer_acceptor.accept (new_stream,
&addr,
&timeout) == -1)
{
ACE_ERROR ((LM_ERROR,
"%p\n",
"accept"));
continue;
}
ACE_OS::printf( "ATM_Server: got a connection\n" );
ACE_UINT16 vpi, vci;
vpi = vci = 0;
// This has problem on PMP connections on NT
//new_stream.get_vpi_vci(vpi, vci);
ACE_DEBUG ((LM_DEBUG,
"connected to VPI %d VCI %d\n",
vpi, vci));
ACE_OS::printf( "ATM_Server: connection accepted\n" );
ACE_DEBUG ((LM_DEBUG,
"client %s connected\n",
addr.addr_to_string ()));
ACE_DEBUG ((LM_DEBUG,
"client %s connected to host\n",
new_stream.get_peer_name ()));
// Read data from client (terminate on error).
int recvd = 0;
for ( ;; )
{
total = 0;
timer.start_incr();
for (int r_bytes;
(r_bytes = new_stream.recv (buf, sizeof buf, 0)) > 0; )
{
// ACE_OS::printf( "ATM_Server: received %dB\n", r_bytes );
// if (ACE_OS::write (ACE_STDOUT,
// buf,
// r_bytes) != r_bytes)
// ACE_ERROR ((LM_ERROR,
// "%p\n",
// "ACE::send_n"));
total += r_bytes;
if ( total > 10000000 )
break;
}
timer.stop_incr();
timer.elapsed_time_incr( tv );
real_time = tv.sec() * ACE_ONE_SECOND_IN_USECS + tv.usec();
recvd += total;
actual_rate = ( double )recvd * ( double )8 / real_time;
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("(%t) bytes = %d, usec = %f, rate = %0.00f Mbps\n"),
recvd,
real_time,
actual_rate < 0 ? 0 : actual_rate ));
}
// Close new endpoint (listening endpoint stays open).
if (new_stream.close () == -1)
ACE_ERROR ((LM_ERROR,
"%p\n",
"close"));
}
/* NOTREACHED */
return 0;
}
int
Timer_Helper::handle_timeout (const ACE_Time_Value &,
const void *)
{
int no_of_servers = 0;
CORBA::ULongLong sum = 0;
// The following are used to keep a track of the inaccuracy
// in synchronization.
CORBA::ULongLong lowest_time = ACE_UINT64_LITERAL (0xFFFFFFFFFFFFFFFF);
CORBA::ULongLong highest_time = 0;
try
{
IORS::TYPE* value;
for (IORS::ITERATOR server_iterator (this->clerk_->server_);
server_iterator.next (value) != 0;
server_iterator.advance ())
{
// This is a remote call.
CosTime::UTO_var UTO_server =
(*value)->universal_time ();
if (TAO_debug_level > 0)
ORBSVCS_DEBUG ((LM_DEBUG,
"\nTime = %Q\nInaccuracy = %Q\nTimeDiff = %d\nstruct.time = %Q\n"
"struct.inacclo = %d\nstruct.inacchi = %d\nstruct.Tdf = %d\n",
UTO_server->time (),
UTO_server->inaccuracy (),
UTO_server->tdf (),
(UTO_server->utc_time ()).time,
(UTO_server->utc_time ()).inacclo,
(UTO_server->utc_time ()).inacchi,
(UTO_server->utc_time ()).tdf));
CORBA::ULongLong curr_server_time =
UTO_server->time ();
sum += curr_server_time;
++no_of_servers;
// Set the highest time to the largest time seen so far.
if (curr_server_time > highest_time)
highest_time = curr_server_time;
// Set the lowest time to the smallest time seen so far.
if (curr_server_time < lowest_time)
lowest_time = curr_server_time;
}
if (TAO_debug_level > 0)
ORBSVCS_DEBUG ((LM_DEBUG,
"\nUpdated time from %d servers in the network",
no_of_servers));
// Return the average of the times retrieved from the various
// servers.
clerk_->time_ = sum / no_of_servers ;
// Set the Time Displacement Factor. The TZ environment variable is
// read to set the time zone. We convert the timezone value from seconds
// to minutes.
ACE_OS::tzset ();
long arg = ACE_OS::timezone () / 60;
CORBA::Short goodarg = static_cast<CORBA::Short> (arg);
clerk_->time_displacement_factor (goodarg);
// Set the inaccuracy.
if (highest_time > lowest_time)
clerk_->inaccuracy (highest_time - lowest_time);
else
clerk_->inaccuracy (0);
const ACE_Time_Value timeofday = ACE_OS::gettimeofday ();
// Record the current time in a timestamp to know when global
// updation of time was done.
clerk_->update_timestamp_ =
static_cast<CORBA::ULongLong> (timeofday.sec ()) *
static_cast<ACE_UINT32> (10000000) +
static_cast<CORBA::ULongLong> (timeofday.usec () * 10);
}
catch (const CORBA::Exception& ex)
{
if (TAO_debug_level > 0)
ex._tao_print_exception ("Exception in handle_timeout()\n");
return -1;
}
return 0;
}
// reads incoming packets from the canBus connection and stores the values
// in the local (class internal) variables.
void
Consumer::handleMessage(const Miro::DevMessage * _message)
{
const Can::Message& message = *((Can::Message*)_message);
int versNr, versSub;
connection->boardReply = 1;
Can::Parameters *CanParams = new Can::Parameters();
CanId msgID = message.id();
if (CanParams->module == "pcan")
msgID = (msgID | 0x80000000);
switch (msgID) {
// Motor Messages
case CAN_R_MOTOR_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: MOTOR_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"MOTOR_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"MOTOR_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(motorAliveMutex);
motorAliveCond.broadcast();
break;
}
case CAN_R_GET_ACCELS:
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: GET_ACCELS");
// Odometry Messages
case CAN_R_GET_POS:
if (pOdometry_) {
// get data
xPos_ = message.shortData(0);
yPos_ = message.shortData(2);
phi_ = ticks2rad(message.shortData(4));
// the goalie is special
if (params_->goalie) {
std::swap(xPos_, yPos_);
yPos_ *= -1;
xPos_ += (short)(125 * cos(phi_) + 85 * sin(phi_));
yPos_ += (short)(125 * sin(phi_) - 85 * cos(phi_));
}
double dx = (short)(xPos_ - xPrev_);
double dy = (short)(yPos_ - yPrev_);
x_ += dx;
y_ += dy;
double dPhi = phi_ - phiPrev_;
xPrev_ = xPos_;
yPrev_ = yPos_;
phiPrev_ = phi_;
// fill motion status data struct
double deltaT = 1000. / (double) (params_->odometryPulse.msec());
Miro::timeA2C(message.time(), status_.time);
status_.position.point.x = x_ * params_->transFactor;
status_.position.point.y = y_ * params_->transFactor;
status_.position.heading = phi_;
status_.velocity.translation = (long) rint(sqrt(dx * dx + dy * dy) * deltaT);
status_.velocity.rotation = dPhi * deltaT;
pOdometry_->integrateData(status_);
break;
}
case 0x82820201: { // DISTANCE LR
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: DISTANCE LR "
<< message.shortData(0) << " "
<< message.shortData(2));
Miro::Guard guard(distanceLRMutex);
distanceL = message.shortData(0);
distanceR = message.shortData(2);
distanceLRCond.broadcast();
break;
}
case CAN_R_ODO_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: ODO_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"ODO_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"ODO_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(odoAliveMutex);
odoAliveCond.broadcast();
break;
}
// Port Messages
case CAN_R_READ_PORTS: { // DIGITAL
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: DIGITAL ");
Miro::Guard guard(digitalMutex);
for (int i = 1; i >= 0; --i) {
if ( ((message.byteData(1) ^ digital[1]) & (0x01 << i)) && pButtons_) {
ACE_Time_Value t = ACE_OS::gettimeofday();
ButtonStatusIDL * pEvent = new ButtonStatusIDL();
pEvent->time.usec = t.usec();
pEvent->time.sec = t.sec();
pEvent->number = i;
pEvent->event = (message.byteData(1) & (0x01 << i))?
Miro::Button::ON_RELEASE : Miro::Button::ON_PRESS;
pButtons_->pushEvent(pEvent);
}
}
for (int i = 7; i >= 0; --i) {
digital[i] = message.byteData(i);
}
digitalCond.broadcast();
break;
}
case CAN_R_READ_ANALOG: {
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: ANALOG "
<< message.shortData(0) << " "
<< message.shortData(2));
Miro::Guard guard(analogMutex);
analog[message.shortData(0)]= message.shortData(2);
analogCond.broadcast();
break;
}
case CAN_R_PORTS_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: PORTS_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"PORTS_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"PORTS_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(portsAliveMutex);
portsAliveCond.broadcast();
break;
}
// Stall Messages
case CAN_R_STALL:
connection->stallTimerStart();
if (pStall_)
pStall_->pushEvent();
break;
case CAN_R_STALL_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: STALL_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"STALL_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"STALL_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(stallAliveMutex);
stallAliveCond.broadcast();
break;
}
// Kicker Messages
case CAN_R_KICK_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: KICK_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"KICK_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"KICK_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(kickerAliveMutex);
kickerAliveCond.broadcast();
break;
}
// Servo Messages
case CAN_R_SERVO_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: SERVO_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"SERVO_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"SERVO_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(servoAliveMutex);
servoAliveCond.broadcast();
break;
}
// Infrared Messages:
case CAN_R_IR_GET_CONT:
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: receiveThread message: IR_CONT");
if (pIR_) {
Sparrow::Parameters * param = Sparrow::Parameters::instance(); //uli
long calRange;
Miro::RangeGroupEventIDL * data = new Miro::RangeGroupEventIDL();
Miro::timeA2C(message.time(), data->time);
data->group = 0;
data->range.length(8);
for (int i = 7; i >= 0; --i) {
if (message.charData(i) != -1) {
calRange = ((int)message.charData(i) * 10 - param->irScaling[i].offset);
calRange = calRange - param->irScaling[i].minDistance;
calRange = (long) (calRange * param->irScaling[i].scaling);
calRange = calRange + param->irScaling[i].minDistance ;
if ((calRange < param->irScaling[i].minDistance) ||
(calRange > param->irScaling[i].maxDistance)) {
calRange = -1;
}
}
else {
calRange = -1;
}
data->range[i] = calRange;
}
pIR_->integrateData(data);
}
break;
case CAN_R_IR_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: IR_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"IR_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"IR_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(irAliveMutex);
irAliveCond.broadcast();
break;
}
// Debug Messages
case CAN_R_DBG_PRINT:
for (int k = 0; k < std::min(message.length(), 8); ++k)
//if (message.canMessage()->d[k] != 0)
// cout << message.canMessage()->d[k] << flush;
break;
case CAN_R_DBG_ALIVE: {
MIRO_DBG(SPARROW, LL_PRATTLE,
"Consumer::receiveThread: received message: DBG_ALIVE");
versSub = message.shortData(0);
versNr = versSub >> 4;
versSub = versSub & 0x0F; // versNr loeschen mit AND 00001111
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"DBG_ALIVE_VERSION: "<< versNr << "." << versSub);
MIRO_DBG_OSTR(SPARROW, LL_PRATTLE,
"DBG_TIME_STAMP (sec): " << message.shortData(2));
Miro::Guard guard(dbgAliveMutex);
dbgAliveCond.broadcast();
break;
}
default:
MIRO_LOG_OSTR(LL_ERROR,
"SparrowConsumer: Unhandled can bus message: " << message);
}
}
int run_domain_test ()
{
::DDS::ReturnCode_t ret;
// create participant
::DDS::DomainParticipant_var new_dp
= dpf->create_participant(MY_DOMAIN,
PARTICIPANT_QOS_DEFAULT,
::DDS::DomainParticipantListener::_nil (),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
TEST_CHECK (! CORBA::is_nil (new_dp.in ()));
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(! CORBA::is_nil (new_dp.in ()))")
ACE_TEXT("\n")
));
::DDS::DomainId_t domain_id
= new_dp->get_domain_id ();
TEST_CHECK (domain_id == MY_DOMAIN);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(domain_id == MY_DOMAIN)")
ACE_TEXT("\n")
));
MyTypeSupport_var fts (new MyTypeSupportImpl);
if (::DDS::RETCODE_OK != fts->register_type(new_dp.in (), MY_TYPE))
{
ACE_ERROR ((LM_ERROR,
ACE_TEXT ("Failed to register the FooTypeSupport.")));
return 1;
}
// lookup existent participant
::DDS::DomainParticipant_var looked_dp
= dpf->lookup_participant(MY_DOMAIN);
OpenDDS::DCPS::DomainParticipantImpl* new_dp_servant
= dynamic_cast<OpenDDS::DCPS::DomainParticipantImpl*>(new_dp.in());
OpenDDS::DCPS::DomainParticipantImpl* looked_dp_servant
= dynamic_cast<OpenDDS::DCPS::DomainParticipantImpl*>(looked_dp.in ());
TEST_CHECK (looked_dp_servant == new_dp_servant);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(looked_dp_servant == new_dp_servant)")
ACE_TEXT("\n")
));
// create topic
::DDS::Topic_var new_topic
= new_dp->create_topic(MY_TOPIC,
MY_TYPE,
TOPIC_QOS_DEFAULT,
::DDS::TopicListener::_nil (),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
OpenDDS::DCPS::TopicImpl* new_topic_servant
= dynamic_cast<OpenDDS::DCPS::TopicImpl*>(new_topic.in ());
::DDS::Duration_t timeout;
timeout.sec = static_cast<long>(find_topic_timeout.sec ());
timeout.nanosec = find_topic_timeout.usec ();
// find existent topic
::DDS::Topic_var found_topic
= new_dp->find_topic(MY_TOPIC, timeout);
::OpenDDS::DCPS::TopicImpl* found_topic_servant
= dynamic_cast<OpenDDS::DCPS::TopicImpl*>
(found_topic.in ());
TEST_CHECK (new_topic_servant == found_topic_servant);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(new_topic_servant == found_topic_servant)")
ACE_TEXT("\n")
));
// find existent topicdescription
::DDS::TopicDescription_var found_topicdescription
= new_dp->lookup_topicdescription(MY_TOPIC);
TEST_CHECK (! CORBA::is_nil (found_topicdescription.in ()));
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(! CORBA::is_nil (found_topicdescription.in ()))")
ACE_TEXT("\n")
));
// widen the topicdescription to topic
::DDS::Topic_var widened_topic
= ::DDS::Topic::_narrow(found_topicdescription.in ());
TEST_CHECK (! CORBA::is_nil (widened_topic.in ()));
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(! CORBA::is_nil (widened_topic.in ()))")
ACE_TEXT("\n")
));
ACE_ERROR((LM_ERROR,
"We expect to see an error message from delete_participant\n"));
ret = dpf->delete_participant(new_dp.in ());
TEST_CHECK (ret == ::DDS::RETCODE_PRECONDITION_NOT_MET);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(ret == ::DDS::RETCODE_PRECONDITION_NOT_MET)")
ACE_TEXT("\n")
));
// delete existent topic first time
ret = new_dp->delete_topic(found_topic.in ());
TEST_CHECK (ret == ::DDS::RETCODE_OK);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(ret == ::DDS::RETCODE_OK)")
ACE_TEXT("\n")
));
// delete existent topic second time
ret = new_dp->delete_topic(new_topic.in ());
TEST_CHECK (ret == ::DDS::RETCODE_OK);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(ret == ::DDS::RETCODE_OK)")
ACE_TEXT("\n")
));
// an extra delete existent topic
ACE_ERROR((LM_ERROR,
"We expect to see an error message from delete_topic\n"));
ret = new_dp->delete_topic(new_topic.in ());
TEST_CHECK (ret == ::DDS::RETCODE_ERROR);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(ret == ::DDS::RETCODE_ERROR)")
ACE_TEXT("\n")
));
// Look up the topicdescription after the topic is deleted will
// return nil.
found_topicdescription
= new_dp->lookup_topicdescription(MY_TOPIC);
TEST_CHECK (CORBA::is_nil(found_topicdescription.in ()));
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(CORBA::is_nil(found_topicdescription.in ()))")
ACE_TEXT("\n")
));
// find a non-existent topic - return nil
ACE_High_Res_Timer timer;
ACE_Time_Value elapsedTime(0, 0);
timer.start ();
found_topic = new_dp->find_topic(OTHER_TOPIC, timeout);
timer.stop();
timer.elapsed_time(elapsedTime);
ACE_Time_Value tenMillis (0, 10000);
elapsedTime += tenMillis;
// some systems can be short by up to 10 milliseconds
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(CORBA::is_nil(found_topic.in ()) && elapsedTime.msec() >= find_topic_timeout.msec())")
ACE_TEXT("\n")
));
// delete the existent participant
ret = dpf->delete_participant(new_dp.in ());
TEST_CHECK (ret == ::DDS::RETCODE_OK);
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(ret == ::DDS::RETCODE_OK)")
ACE_TEXT("\n")
));
// lookup the participant after it's deleted - return nil
looked_dp = dpf->lookup_participant(MY_DOMAIN);
TEST_CHECK (CORBA::is_nil(looked_dp.in ()));
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) run_domain_test: ")
ACE_TEXT("(CORBA::is_nil(looked_dp.in ()))")
ACE_TEXT("\n")
));
return 0;
}
int
TAO_AV_RTP_Object::send_frame (const iovec *iov,
int iovcnt,
TAO_AV_frame_info *frame_info)
{
int result = -1;
RTP_Packet *rtp_packet = 0;
ACE_UINT32 csrc_count = 0; // Assume for now no mixers/translators
ACE_UINT32 *csrc_list = 0;
if (this->connection_gone_)
{
errno = ECONNRESET;
return -1;
}
if (frame_info != 0)
{
if (frame_info->format != this->format_)
ORBSVCS_DEBUG ((LM_DEBUG,
"TAO_AV_RTP_Object::send_frame - error: format type mismatch"));
this->sequence_num_ = static_cast<ACE_UINT16> (frame_info->sequence_num);
if (frame_info->ssrc != 0)
this->ssrc_ = frame_info->ssrc;
TAO_AV_RTCP_Object *rtcp_prot_obj = dynamic_cast<TAO_AV_RTCP_Object*> (this->control_object_);
// set the ssrc on the control object so the RTCP traffic can be matched
// to the RTP traffic
rtcp_prot_obj->ssrc(this->ssrc_);
ACE_UINT16 data_size = static_cast<ACE_UINT16> (iov[0].iov_len);
ACE_NEW_RETURN (rtp_packet,
RTP_Packet (0, // padding
frame_info->boundary_marker, // marker
static_cast<unsigned char> (this->format_), // payload type
frame_info->sequence_num, // sequence num
frame_info->timestamp, // time stamp
this->ssrc_, // ssrc
static_cast<unsigned char> (csrc_count), // csrc count
csrc_list, // csrc list
(char *)iov[0].iov_base, // data
data_size), // data size
-1);
frame_info->sequence_num ++;
}
else
{
// TODO: For periodic RTP packets (constant rate), the RFC suggests
// increasing the clock by the number of samples each frame rather
// than relying on the system time
// The RFC specifies at least one timestamp unit per sample as well as a
// random offset. It used to be in milliseconds so I left it that way
// for non-audio streams.
unsigned int samples_per_sec;
double samples_per_usec;
switch (this->format_)
{
case RTP_PT_PCMU:
case RTP_PT_CELP:
case RTP_PT_G721:
case RTP_PT_GSM:
case RTP_PT_DVI:
case RTP_PT_LPC:
case RTP_PT_PCMA:
case RTP_PT_G722:
samples_per_sec = 8000;
break;
case RTP_PT_L16_STEREO:
case RTP_PT_L16_MONO:
samples_per_sec = 44100;
break;
default:
samples_per_sec = 1000000;
};
samples_per_usec = samples_per_sec/1000000.0;
ACE_Time_Value now = ACE_OS::gettimeofday();
ACE_UINT32 ts = (ACE_UINT32)
(now.sec () * samples_per_sec +
((double)now.usec () * samples_per_usec) +
this->timestamp_offset_);
ACE_UINT16 data_size = static_cast<ACE_UINT16> (iov[0].iov_len);
ACE_NEW_RETURN (rtp_packet,
RTP_Packet (0, // padding
0, // marker
static_cast<unsigned char> (this->format_), // payload type
this->sequence_num_, // sequence num
ts, // time stamp
this->ssrc_, // ssrc
static_cast<unsigned char> (csrc_count), // csrc count
csrc_list, // csrc list
(char *)iov[0].iov_base, // data
data_size), // data size
-1);
this->sequence_num_ ++;
}
char *data_ptr;
ACE_UINT16 data_length;
rtp_packet->get_packet_data (&data_ptr, data_length);
iovec send_iov[ACE_IOV_MAX];
send_iov [0].iov_base = data_ptr;
send_iov [0].iov_len = data_length;
for (int i=1;i<iovcnt; i++)
send_iov [i] = iov [i];
result = this->transport_->send (send_iov, iovcnt);
delete rtp_packet;
if (result < 0)
ORBSVCS_ERROR_RETURN ((LM_ERROR,"TAO_AV_RTP::send_frame failed\n"),result);
return 0;
}
static int
run_test (int disable_notify_pipe,
const ACE_Time_Value &tv)
{
// Create special reactors with the appropriate flags enabled.
ACE_Select_Reactor *reactor_impl = 0;
if (disable_notify_pipe)
ACE_NEW_RETURN (reactor_impl,
ACE_Select_Reactor (0, 0, 1),
-1);
else
ACE_NEW_RETURN (reactor_impl,
ACE_Select_Reactor,
-1);
ACE_Reactor *reactor;
ACE_NEW_RETURN (reactor,
ACE_Reactor (reactor_impl, 1), // Delete implementation
-1);
// Make sure this stuff gets cleaned up when this function exits.
auto_ptr<ACE_Reactor> r (reactor);
// Set the Singleton Reactor.
ACE_Reactor *orig_reactor = ACE_Reactor::instance (reactor);
ACE_TEST_ASSERT (ACE_LOG_MSG->op_status () != -1);
ACE_TEST_ASSERT (ACE_Reactor::instance () == reactor);
Supplier_Task task (disable_notify_pipe,
tv);
ACE_TEST_ASSERT (ACE_LOG_MSG->op_status () != -1);
int result;
result = task.open ();
ACE_TEST_ASSERT (result != -1);
if (tv.sec () == LONG_TIMEOUT)
// Sleep for a while so that the <ACE_Reactor>'s notification
// buffers will fill up!
ACE_OS::sleep (tv);
int shutdown = 0;
// Run the event loop that handles the <handle_output> and
// <handle_exception> notifications.
for (int iteration = 1;
shutdown == 0;
iteration++)
{
ACE_Time_Value timeout (tv);
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("(%t) starting handle_events() on iteration %d")
ACE_TEXT (" with time-out = %d seconds\n"),
iteration,
timeout.sec ()));
// Use a timeout to inform the Reactor when to shutdown.
switch (ACE_Reactor::instance ()->handle_events (timeout))
{
case -1:
if (! disable_notify_pipe)
ACE_ERROR ((LM_ERROR,
ACE_TEXT ("(%t) %p\n"),
ACE_TEXT ("reactor")));
shutdown = 1;
break;
/* NOTREACHED */
case 0:
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("(%t) handle_events timed out\n")));
shutdown = 1;
break;
/* NOTREACHED */
default:
break;
/* NOTREACHED */
}
}
if (tv.sec () == LONG_TIMEOUT)
{
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("(%t) releasing supplier task thread\n")));
task.release ();
}
ACE_Reactor::instance (orig_reactor);
return 0;
}
inline RtecScheduler::Period_t time_val_to_period (const ACE_Time_Value &tv)
{
//100s of nanoseconds
return static_cast<RtecScheduler::Period_t> (tv.sec () * 1000000 + tv.usec ())*10;
}
bool
XML_Saver::open(const ACE_TString & base_name, size_t backup_count)
{
this->base_name_ = base_name;
this->backup_count_ = backup_count;
if (base_name == ACE_TEXT("cout"))
{
this->output_ = stdout;
this->close_out_ = false;
}
else if (base_name == ACE_TEXT("cerr"))
{
this->output_ = stderr;
this->close_out_ = false;
}
else
{
ACE_TString file_name = base_name;
file_name += ACE_TEXT(".new");
this->output_ = ACE_OS::fopen (file_name.c_str(), ACE_TEXT("wb"));
if (this->output_) {
this->close_out_ = true;
} else {
ORBSVCS_ERROR ((LM_ERROR,
ACE_TEXT ("(%P|%t) XML_Saver unable to open %s\n"),
base_name.c_str()));
}
}
if (this->output_ != 0)
{
FILE * const out = this->output_;
ACE_OS::fprintf (out, "<?xml version=\"1.0\"?>\n");
try
{
bool changed = true;
NVPList attrs;
ACE_Time_Value const now = ACE_High_Res_Timer::gettimeofday();
ACE_UINT64 nowus = now.usec();
static const ACE_UINT64 USECSPERSEC = 1000 * 1000;
ACE_UINT64 const tmpus = now.sec();
nowus += tmpus * USECSPERSEC;
ACE_TCHAR nowusstr[128];
ACE_OS::sprintf(nowusstr, ACE_UINT64_FORMAT_SPECIFIER, nowus);
attrs.push_back(NVP("version", "1.0"));
if (this->timestamp_)
{
attrs.push_back(NVP("timestamp", ACE_TEXT_ALWAYS_CHAR(nowusstr)));
}
this->begin_object(0, "notification_service", attrs, changed);
}
catch (const CORBA::Exception& ex)
{
ex._tao_print_exception (
ACE_TEXT (
"(%P|%t) XML_Saver Unknown exception\n"));
if (this->close_out_ && this->output_ != 0)
{
(void) ACE_OS::fclose (this->output_);
}
this->output_ = 0;
}
}
return this->output_ != 0;
}
