size_t BasePrefetchingDataLayer<Ftype, Btype>::parser_threads(const LayerParameter& param) {
// Check user's override in prototxt file
size_t parser_threads = param.data_param().parser_threads();
if (!auto_mode(param) && parser_threads == 0U) {
parser_threads = 1U; // input error fix
}
// 1 thread for test net
return (auto_mode(param) || param.phase() == TEST || parser_threads == 0U) ? 1U : parser_threads;
}
// ------------------------------Auto Thread-------------------------------------
void* auto_thread(void*notused)
{
int homed;
homed = 0;
while(1)
{
//printf("home: %i\n",homed);
if ((last_input == BASECW) || (last_input == BASECCW) ||
(last_input == SHOULDERUP) || (last_input == SHOULDERDW) ||
(last_input == ELBOWUP) || (last_input == ELBOWDW) ||
(last_input == PITCHUP) || (last_input == PITCHDW) ||
(last_input == GRIPPEROP) || (last_input == GRIPPERCLOSE) ||
(last_input == ROLLCW) || (last_input == ROLLCCW))
homed = 0;
if (memData.autoModeOn == ON)
{
if (last_input == HOMEROBOT)
{
printf("homing!\n");
if (homed != 1)
{
homed = homing();
last_input = MANUALON;
writeMsg(last_input);
}
printf("home done\n");
flushall();
last_input = MANUALON;
writeMsg(last_input);
}
if (last_input == MANUALOFF)
{
if (readLowerByte.lowIpReserved1 == 1)
{
printf("No block in the loader\n");
flushall();
}
else
{
if (homed != 1)
homing();
homed = 0;
auto_mode();
}
last_input = MANUALON;
writeMsg(last_input);
printf("auto done\n");
flushall();
}
}
delay(50);
}
}
BasePrefetchingDataLayer<Ftype, Btype>::BasePrefetchingDataLayer(const LayerParameter& param)
: BaseDataLayer<Ftype, Btype>(param, threads(param)),
InternalThread(Caffe::current_device(), this->solver_rank_, threads(param), false),
auto_mode_(Caffe::mode() == Caffe::GPU && auto_mode(param)),
parsers_num_(parser_threads(param)),
transf_num_(threads(param)),
queues_num_(transf_num_ * parsers_num_),
next_batch_queue_(0UL) {
CHECK_EQ(transf_num_, threads_num());
// We begin with minimum required
ResizeQueues();
}
void manual_mode()
{
int discardSensors = 1;
while(1) {
_delay_ms(1);
//printf("\r\nPlease enter the input in the format : <dir> <l1><l0> <r1><r0>\r\n");
//char dir = getchar();
if( bit_is_set(UCSR0A, RXC0) != 0) {
char dir = UDR0;
printf("UDR0 = %c\r\n",dir);
if(dir == 'a') {
printf("Auto mode enabled\r\n");
auto_mode();
}
while( (dir !='d') & (dir !='h') & (dir !='f') & (dir !='b') & (dir !='l') & (dir !='r') & (dir !='s') ) {
printf("Enter valid direction character(f,b,l,r,s,d,h)");
char dir = getchar();
}
if(dir=='d') {
discardSensors = 1; // Discard Sensor Values
}
if(dir=='h') {
discardSensors = 0; // Hold Sensor Values
}
if(dir=='f') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveForward(speedl,speedr);
printf("Robot moves forward\r\n");
}
if(dir=='b') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveBackward(speedl,speedr);
printf("Robot moves backward\r\n");
}
if(dir=='r') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveRight(speedl,speedr);
printf("Robot moves right\r\n");
}
if(dir=='l') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveLeft(speedl,speedr);
printf("Robot moves left\r\n");
}
if(dir=='s') {
printf("You entered input as : %c\r\n", dir);
moveStop();
printf("Robot stops\r\n");
}
}
else if( discardSensors!=1 ) {
_delay_ms(50);
int adc_val0=ReadADC(0);
_delay_ms(50);
int adc_val1=ReadADC(1);
_delay_ms(50);
int adc_val2=ReadADC(2);
printf("Sensor Readings : ClifL = %d, ClifR = %d, Bump = %d\r\n",adc_val0,adc_val1,adc_val2);
if( (adc_val0 < 100) ) {
//if( (adc_val0 < 100) | (adc_val1 < 100) | (adc_val2 < 100) ) {
moveStop();
printf("Robot stops\r\n");
_delay_ms(0500);
moveBackward(160,160);
printf("Robot moves backward\r\n");
_delay_ms(1000);
moveStop();
printf("Robot stops\r\n");
_delay_ms(0500);
moveRight(160,160);
printf("Robot moves Right\r\n");
_delay_ms(0500);
moveStop();
printf("Robot stops\r\n");
_delay_ms(0500);
}
}
}
}