void Sys::Error(Str::StringRef message)
{
// Only try sending an ErrorMsg once
static std::atomic_flag errorEntered;
if (!errorEntered.test_and_set()) {
// Disable checks for sending sync messages when handling async messages.
// At this point we don't really care since this is an error.
VM::rootChannel.canSendSyncMsg = true;
// Try to tell the engine about the error, but ignore errors doing so.
try {
VM::SendMsg<VM::ErrorMsg>(message);
} catch (...) {}
}
#ifdef BUILD_VM_IN_PROCESS
// Then engine will close the root socket when it wants us to exit, which
// will trigger an error in the IPC functions. If we reached this point then
// we try to exit the thread semi-cleanly by throwing an exception.
throw ExitException();
#else
// The SendMsg should never return since the engine should kill our process.
// Just in case it doesn't, exit here.
_exit(255);
#endif
}
void append_number(int x)
{
while (lock_stream.test_and_set()) {
}
stream << "thread #" << x << '\n';
lock_stream.clear();
}
Terminator::Terminator() {
static std::atomic_flag created = ATOMIC_FLAG_INIT;
if (created.test_and_set()) {
throw std::runtime_error("Terminator may be crated exactly once.");
}
std::atomic_init(&this->should_terminate_, false);
signal_handler_ = SpawnThread(this);
}
void step()
{
while(lock_vis.test_and_set()){}
for(auto i = elements->begin(); i != elements->end(); ++i)
{
if(i->step())
{
i = elements->erase(i);
--i;
}
}
lock_vis.clear();
}
void g(int n)
{
using namespace std::chrono_literals;
std::this_thread::sleep_for(2s);
std::cout << "Thread " << n << " is going to clear the flag." << std::endl;
lock.clear(); // 解锁
}
void* initializeNotifier(void (*process)(uint64_t, void*), void *param, int32_t *status)
{
if (!process) {
*status = NULL_PARAMETER;
return nullptr;
}
if (!notifierAtexitRegistered.test_and_set())
std::atexit(cleanupNotifierAtExit);
if (notifierRefCount.fetch_add(1) == 0) {
std::lock_guard<priority_mutex> sync(notifierInterruptMutex);
// create manager and alarm if not already created
if (!notifierManager) {
notifierManager = new tInterruptManager(1 << kTimerInterruptNumber, false, status);
notifierManager->registerHandler(alarmCallback, NULL, status);
notifierManager->enable(status);
}
if (!notifierAlarm) notifierAlarm = tAlarm::create(status);
}
std::lock_guard<priority_recursive_mutex> sync(notifierMutex);
// create notifier structure and add to list
Notifier* notifier = new Notifier();
notifier->prev = nullptr;
notifier->next = notifiers;
if (notifier->next) notifier->next->prev = notifier;
notifier->param = param;
notifier->process = process;
notifiers = notifier;
return notifier;
}
namespace atomTest{
std::atomic_flag lock = ATOMIC_FLAG_INIT;
void f(int n)
{
while(lock.test_and_set(std::memory_order_acquire)){
cout<<"waiting from thread "<< n <<endl;
}
cout<<"thread "<< n <<"starts working!"<<endl;
}
void g(int n)
{
cout<<"thread "<< n << "is going to start"<<endl;
lock.clear();
cout<<"thread "<< n << "starts working"<<endl;
}
void test()
{
lock.test_and_set();
thread t1(f, 1);
thread t2(g, 2);
t1.join();
usleep(100); //posix unix
t2.join();
}
}
int main()
#endif
{
gViewerThread = nullptr;
gRunThread.clear();
lua_State* L = luaL_newstate();
luaL_openlibs(L);
IupOpen(nullptr, nullptr);
IupControlsOpen();
iuplua_open(L);
iupcontrolslua_open(L);
TER::LoadFunctions(L);
ZON::LoadFunctions(L);
MOD::LoadFunctions(L);
WLD::LoadFunctions(L);
Viewer::LoadFunctions(L);
Util::LoadFunctions(L);
if (luaL_loadfile(L, "gui/main.lua") != 0)
{
ShowError("Could not load GUI script:\n%s\n", lua_tostring(L, -1));
}
else if (lua_pcall(L, 0, 0, 0) != 0)
{
ShowError("Runtime error:\n%s\n", lua_tostring(L, -1));
}
lua_close(L);
return 0;
}
void robotPoseCallback(const wrecs_msgs::sf_state_est::ConstPtr& msg)
{
if (!lock.test_and_set()) {
for (int i = 0; i < 30; i++) {
stored_msg.Joints[i] = msg->joints[i];
}
for (int i = 0; i < 3; i++) {
stored_msg.ComEst[i] = msg->com_est[i];
}
for (int i = 0; i < 2; i++) {
stored_msg.CopEst[i] = msg->cop_est[i];
}
stored_msg.FootBF0.X = msg->foot_b_F[0].x;
stored_msg.FootBF0.Y = msg->foot_b_F[0].y;
stored_msg.FootBF0.Z = msg->foot_b_F[0].z;
stored_msg.FootBF1.X = msg->foot_b_F[1].x;
stored_msg.FootBF1.Y = msg->foot_b_F[1].y;
stored_msg.FootBF1.Z = msg->foot_b_F[1].z;
stored_msg.SdfMidFoot0.Position.X = msg->sdf_mid_foot[0].position.x;
stored_msg.SdfMidFoot0.Position.Y = msg->sdf_mid_foot[0].position.y;
stored_msg.SdfMidFoot0.Position.Z = msg->sdf_mid_foot[0].position.z;
stored_msg.SdfMidFoot0.Orientation.W = msg->sdf_mid_foot[0].orientation.w;
stored_msg.SdfMidFoot0.Orientation.X = msg->sdf_mid_foot[0].orientation.x;
stored_msg.SdfMidFoot0.Orientation.Y = msg->sdf_mid_foot[0].orientation.y;
stored_msg.SdfMidFoot0.Orientation.Z = msg->sdf_mid_foot[0].orientation.z;
stored_msg.SdfMidFoot1.Position.X = msg->sdf_mid_foot[1].position.x;
stored_msg.SdfMidFoot1.Position.Y = msg->sdf_mid_foot[1].position.y;
stored_msg.SdfMidFoot1.Position.Z = msg->sdf_mid_foot[1].position.z;
stored_msg.SdfMidFoot1.Orientation.W = msg->sdf_mid_foot[1].orientation.w;
stored_msg.SdfMidFoot1.Orientation.X = msg->sdf_mid_foot[1].orientation.x;
stored_msg.SdfMidFoot1.Orientation.Y = msg->sdf_mid_foot[1].orientation.y;
stored_msg.SdfMidFoot1.Orientation.Z = msg->sdf_mid_foot[1].orientation.z;
newMessageArrived = true;
lock.clear();
}
}
void lock() {
while (m_lock.test_and_set(std::memory_order_acquire)) {
//spin
}
// test_and_set, atomically sets the flag to true and obtains its previous value
// if value is false, set to true, return false, no spin, acquire lock.
// if value is true, return true, spin...
}
/// <summary>
/// Updates the cover art.
/// </summary>
void Update() {
// Set while the updater thread is running.
static std::atomic_flag closed = ATOMIC_FLAG_INIT;
if (!closed.test_and_set()) {
std::thread([] () {
TextFunctions::_Update();
SendMessage(gLSModule.GetMessageWindow(), WindowMessages::WM_TEXTUPDATENOTIFY, 0, 0);
for (auto &coverArt : gCoverArt) {
coverArt.second.Update();
}
closed.clear();
}).detach();
}
}
void f(int n)
{
while(lock.test_and_set(std::memory_order_acquire)){
cout<<"waiting from thread "<< n <<endl;
}
cout<<"thread "<< n <<"starts working!"<<endl;
}
// CODETAG_IOR_SIGNALS
//++
// Details: The SIGINT signal is sent to a process by its controlling terminal
// when a
// user wishes to interrupt the process. This is typically initiated by
// pressing
// Control-C, but on some systems, the "delete" character or "break"
// key can be
// used.
// Be aware this function may be called on another thread besides the
// main thread.
// Type: Function.
// Args: vSigno - (R) Signal number.
// Return: None.
// Throws: None.
//--
void sigint_handler(int vSigno) {
#ifdef _WIN32 // Restore handler as it is not persistent on Windows
signal(SIGINT, sigint_handler);
#endif
static std::atomic_flag g_interrupt_sent = ATOMIC_FLAG_INIT;
CMIDriverMgr &rDriverMgr = CMIDriverMgr::Instance();
lldb::SBDebugger *pDebugger = rDriverMgr.DriverGetTheDebugger();
if (pDebugger != nullptr) {
if (!g_interrupt_sent.test_and_set()) {
pDebugger->DispatchInputInterrupt();
g_interrupt_sent.clear();
}
}
// Send signal to driver so that it can take suitable action
rDriverMgr.DeliverSignal(vSigno);
}
int main()
{
lock.test_and_set();
std::thread t1(f,1);
std::thread t2(g,2);
t1.join();
t2.join();
}
/**
* \param error The error that occured, if any.
*/
void handleTimeout_(boost::system::error_code const & error) {
if (!error) {
std::cout << "Executing random behavior." << std::endl;
if (!engine_.behavior.queued()) engine_.behavior.enqueueRandom(prefix);
asyncWaitRandom_();
} else {
started_.clear();
}
}
void visLoop()
{
running = true;
while(running)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
while(lock_vis.test_and_set()){}
for(auto i = elements->begin(); i != elements->end(); ++i)
{
i->draw();
}
lock_vis.clear();
glfwSwapBuffers(window);
glfwPollEvents();
}
}
/**
* \param engine The script engine to control.
* \param prefix The prefix to select behaviors from.
* \param min The minimum time in milliseconds between two random poses.
* \param max The maximum time in milliseconds between two random poses.
*/
PoseChanger(ScriptEngine & engine, std::string prefix, unsigned int min = 2000, unsigned int max = 8000) :
prefix(prefix),
min(min),
max(max),
engine_(engine),
timer_(engine_.ios())
{
started_.clear();
}
/* Function: mdlOutputs =======================================================
* Abstract:
* In this function, you compute the outputs of your S-function
* block.
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
real_T *isNew = (real_T *)ssGetOutputPortRealSignal(S, 0);
SL_ROS_SUB_MSG *msg = (SL_ROS_SUB_MSG *)ssGetOutputPortSignal(S, 1);
int_T* busInfo = (int_T *)ssGetUserData(S);
//mexPrintf("Acquiring lock...");
while (lock.test_and_set());
//mexPrintf("Acquired lock. Outputing message...");
isNew[0] = (int)newMessageArrived;
//memcpy(msg, &stored_msg, sizeof(SL_ROS_SUB_MSG));
if (newMessageArrived) {
*msg = stored_msg;
/*Copy temporary structure into output bus*/
/*(void)memcpy(msg + busInfo[0], stored_msg.Joints, busInfo[1]);
(void)memcpy(msg + busInfo[2], stored_msg.ComEst, busInfo[3]);
(void)memcpy(msg + busInfo[4], stored_msg.CopEst, busInfo[5]);
(void)memcpy(msg + busInfo[6], &stored_msg.SdfMidFoot1.Position.X, busInfo[7]);
(void)memcpy(msg + busInfo[8], &stored_msg.SdfMidFoot1.Position.Y, busInfo[9]);
(void)memcpy(msg + busInfo[10], &stored_msg.SdfMidFoot1.Position.Z, busInfo[11]);
(void)memcpy(msg + busInfo[12], &stored_msg.SdfMidFoot1.Orientation.X, busInfo[13]);
(void)memcpy(msg + busInfo[14], &stored_msg.SdfMidFoot1.Orientation.Y, busInfo[15]);
(void)memcpy(msg + busInfo[16], &stored_msg.SdfMidFoot1.Orientation.Z, busInfo[17]);
(void)memcpy(msg + busInfo[18], &stored_msg.SdfMidFoot1.Orientation.W, busInfo[19]);
(void)memcpy(msg + busInfo[20], &stored_msg.FootBF1.X, busInfo[21]);
(void)memcpy(msg + busInfo[22], &stored_msg.FootBF1.Y, busInfo[23]);
(void)memcpy(msg + busInfo[24], &stored_msg.FootBF1.Z, busInfo[25]);
(void)memcpy(msg + busInfo[26], &stored_msg.FootBF0.X, busInfo[27]);
(void)memcpy(msg + busInfo[28], &stored_msg.FootBF0.Y, busInfo[29]);
(void)memcpy(msg + busInfo[30], &stored_msg.FootBF0.Z, busInfo[31]);
(void)memcpy(msg + busInfo[32], &stored_msg.SdfMidFoot0.Position.X, busInfo[33]);
(void)memcpy(msg + busInfo[34], &stored_msg.SdfMidFoot0.Position.Y, busInfo[35]);
(void)memcpy(msg + busInfo[36], &stored_msg.SdfMidFoot0.Position.Z, busInfo[37]);
(void)memcpy(msg + busInfo[38], &stored_msg.SdfMidFoot0.Orientation.X, busInfo[39]);
(void)memcpy(msg + busInfo[40], &stored_msg.SdfMidFoot0.Orientation.Y, busInfo[41]);
(void)memcpy(msg + busInfo[42], &stored_msg.SdfMidFoot0.Orientation.Z, busInfo[43]);
(void)memcpy(msg + busInfo[44], &stored_msg.SdfMidFoot0.Orientation.W, busInfo[45]);*/
}
newMessageArrived = false;
lock.clear();
}
void test()
{
lock.test_and_set();
thread t1(f, 1);
thread t2(g, 2);
t1.join();
usleep(100); //posix unix
t2.join();
}
void DataChunStorage::writeCache(int cacheNumber, int numberOfEntries)
{
// Lock until all data are written
while (storeChunkLock.test_and_set()) {ERROR("CACHE IS FULL!!!");}
// Go through cache and identify all data chunks. Write them with the
// correct size.
for(int i = 0; i < numberOfEntries; i++)
{
int writeSize;
switch((int)dataCache[cacheNumber][i].typeNumberId)
{
case CHUNK_TYPE_ID_MALLOC:
writeSize = sizeof(DataChunkMalloc);
break;
case CHUNK_TYPE_ID_FREE:
writeSize = sizeof(DataChunkFree);
break;
case CHUNK_TYPE_ID_CALLOC:
writeSize = sizeof(DataChunkCalloc);
break;
case CHUNK_TYPE_ID_REALLOC:
writeSize = sizeof(DataChunkRealloc);
break;
case CHUNK_TYPE_ID_MEMALIGN:
writeSize = sizeof(DataChunkMemalign);
break;
default:
ERROR("Unknown chunk type");
writeSize = 0;
break;
}
int written = write(logFileFd, (char*)&dataCache[cacheNumber][i], writeSize);
(void)written;
}
// Unlock writeing
storeChunkLock.clear();
}
static void handler()
{
// Avoid doing crazy things if we get an uncaught exception inside
// an uncaught exception
static std::atomic_flag lock = ATOMIC_FLAG_INIT;
if (lock.test_and_set()) {
XBT_ERROR("Multiple uncaught exceptions");
std::abort();
}
// Get the current backtrace and exception
auto e = std::current_exception();
auto bt = backtrace();
try {
std::rethrow_exception(e);
}
// We manage C++ exception ourselves
catch (std::exception& e) {
logException(xbt_log_priority_critical, "Uncaught exception", e);
showBacktrace(bt);
std::abort();
}
// We don't know how to manage other exceptions
catch (...) {
// If there was another handler let's delegate to it
if (previous_terminate_handler)
previous_terminate_handler();
else {
XBT_ERROR("Unknown uncaught exception");
showBacktrace(bt);
std::abort();
}
}
}
void count1m(int id)
{
while (!ready) {
std::this_thread::yield();
} // 等待主线程中设置 ready 为 true.
for (int i = 0; i < 1000000; ++i) {
} // 计数.
// 如果某个线程率先执行完上面的计数过程，则输出自己的 ID.
// 此后其他线程执行 test_and_set 是 if 语句判断为 false，
// 因此不会输出自身 ID.
if (!winner.test_and_set()) {
std::cout << "thread #" << id << " won!\n";
}
};
int main(int, char**)
{
#if TEST_STD_VER >= 11
assert(global.test_and_set() == 1);
#endif
{
std::atomic_flag f(false);
assert(f.test_and_set() == 0);
}
{
std::atomic_flag f(true);
assert(f.test_and_set() == 1);
}
return 0;
}
int APIENTRY _tWinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPTSTR lpCmdLine, int nCmdShow)
{
auto ev = OpenEvent(EVENT_ALL_ACCESS, FALSE, _T("B_ready_mutex"));
SetEvent(ev);
while(working.test_and_set())
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
::MessageBox(NULL, _T("call succeeded"), _T("Remote Call"), MB_OK);
CloseHandle(ev);
return 0;
}
bool shouldTranslate(const Func* func, TransKind kind) {
if (!shouldTranslateNoSizeLimit(func)) return false;
auto const main_under = code().main().used() < CodeCache::AMaxUsage;
auto const cold_under = code().cold().used() < CodeCache::AColdMaxUsage;
auto const froz_under = code().frozen().used() < CodeCache::AFrozenMaxUsage;
// Otherwise, follow the Eval.JitAMaxUsage limits.
if (main_under && cold_under && froz_under) return true;
// We use cold and frozen for all kinds of translations, but we allow PGO
// translations past the limit for main if there's still space in code.hot.
if (cold_under && froz_under) {
switch (kind) {
case TransKind::ProfPrologue:
case TransKind::Profile:
case TransKind::OptPrologue:
case TransKind::Optimize:
return code().hotEnabled();
default:
break;
}
}
if (main_under && !s_did_log.test_and_set() &&
RuntimeOption::EvalProfBranchSampleFreq == 0) {
// If we ran out of TC space in cold or frozen but not in main, something
// unexpected is happening and we should take note of it. We skip this
// logging if TC branch profiling is on, since it fills up code and frozen
// at a much higher rate.
if (!cold_under) {
logPerfWarning("cold_full", 1, [] (StructuredLogEntry&) {});
}
if (!froz_under) {
logPerfWarning("frozen_full", 1, [] (StructuredLogEntry&) {});
}
}
return false;
}
HAL_NotifierHandle HAL_InitializeNotifier(HAL_NotifierProcessFunction process,
void* param, int32_t* status) {
if (!process) {
*status = NULL_PARAMETER;
return 0;
}
if (!notifierAtexitRegistered.test_and_set())
std::atexit(cleanupNotifierAtExit);
if (notifierRefCount.fetch_add(1) == 0) {
std::lock_guard<priority_mutex> sync(notifierInterruptMutex);
// create manager and alarm if not already created
if (!notifierManager) {
notifierManager = std::make_unique<tInterruptManager>(
1 << kTimerInterruptNumber, false, status);
notifierManager->registerHandler(alarmCallback, nullptr, status);
notifierManager->enable(status);
}
if (!notifierAlarm) notifierAlarm.reset(tAlarm::create(status));
}
std::lock_guard<priority_recursive_mutex> sync(notifierMutex);
std::shared_ptr<Notifier> notifier = std::make_shared<Notifier>();
HAL_NotifierHandle handle = notifierHandles.Allocate(notifier);
if (handle == HAL_kInvalidHandle) {
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
// create notifier structure and add to list
notifier->next = notifiers;
if (notifier->next) notifier->next->prev = notifier;
notifier->param = param;
notifier->process = process;
notifier->handle = handle;
notifier->threaded = false;
notifiers = notifier;
return handle;
}
void unlock() {
m_lock.clear(std::memory_order_release);
}
void lock() {
while (m_lock.test_and_set(std::memory_order_acquire))
;
}
spinlock()
{
m_lock.clear();
}
bool try_lock(void)
{
return !lc_.test_and_set(std::memory_order_acquire);
}
