int pSim::Update()
{
#ifdef VERBOSE
update_log << "Update no contact" << endl;
#endif
#ifdef TIMING_CHECK
update_start_time = MPI_Wtime();
#endif
#ifdef PSIM_TEST
max_condition_number = -1.0;
max_sigma_ratio = -1.0;
max_condition_number_joint = 0;
max_sigma_ratio_joint = 0;
condition_numbers.resize(n_dof);
sigma_ratios.resize(n_dof);
condition_numbers.zero();
sigma_ratios.zero();
total_gamma_error = 0.0;
#endif
/**** assembly ****/
// position-dependent variables
update_position();
#if 1
if(do_connect)
{
//
// do collision computation if needed
//
update_collision();
// don't forget to recompute link velocities
CalcVelocity();
do_connect = false;
}
#endif
// velocity-dependent variables
update_velocity();
#ifdef TIMING_CHECK
cerr << "[" << rank << "] disassembly t = " << MPI_Wtime()-update_start_time << endl;
#endif
/**** disassembly ****/
disassembly();
#ifdef PSIM_TEST
cerr << "--- max condition number = " << max_condition_number << " at " << max_condition_number_joint->name << endl;
cerr << "--- max sigma ratio = " << max_sigma_ratio << " at " << max_sigma_ratio_joint->name << endl;
cerr << "--- total_gamma_error = " << total_gamma_error << endl;
// cerr << "condition_numbers = " << tran(condition_numbers) << endl;
// cerr << "sigma_ratios = " << tran(sigma_ratios) << endl;
#endif
#ifdef USE_MPI
// scatter results
scatter_acc();
#endif
return 0;
}
int main(int argc, char* argv[]) {
if (argv[1] == NULL) {
printf("PLEASE, INPUT BINARY FILE\n");
return READ_FILE_ERR;
}
FILE* Bin = fopen(argv[1], "rb");
if (Bin == NULL) {
printf("FILE READING ERROR\n");
return READ_FILE_ERR;
}
char* point = argv[1];
while (*point != '.') point++;
if (strcmp(point, ".bin") != 0) {
printf("INVALID INPUT FILE FORMAT\n");
return INV_INPUT_FILE;
}
strcpy(point, ".asm");
FILE* Asm = fopen(argv[1], "w");
if (Asm == NULL) {
printf("CAN'T CREATE FILE WITH DISASSEBLIED CODE\n");
return 0;
}
check(disassembly(Bin, Asm));
printf("SUCCESS!\n");
fclose(Bin);
fclose(Asm);
return 0;
}
U32
main () /* definition of main function */
{ /* start of main */
nexg_printf ("\n");
nexg_printf
("\t\t\t\t _______________________________________________________________\n");
nexg_printf ("\t\t\t\t|The name of this file is:-%s\t\t\t|\n", __FILE__); /*predefined macros to print the file name */
nexg_printf ("\t\t\t\t|The Current Time is:-%s\t\t\t|\n", __TIMESTAMP__); /*predefined macros to print the time */
nexg_printf
("\t\t\t\t|_______________________________________________________________|\n");
harq (); /* harq function call */
rq (); /* rq function call */
reorder (); /* reorder function call*/
disassembly (); /* disasembly function call */
nexg_printf ("\n\tThe current line is %d\n", __LINE__); /* predefined macro to print number of lines */
return (ZERO); /* returning control to the operating system */
} /* end of main */
void dumpOpcodes(SCMFile* scm, SCMOpcodes* codes, unsigned int offset, unsigned int size)
{
std::cout << "Offs Opcd " << std::setw(FIELD_DESC_WIDTH) << std::left
<< "Description" << "Parameters" << std::endl;
ScriptDisassembly disassembly(codes, scm);
try
{
disassembly.disassemble(offset);
}
catch( IllegalInstruction& ex )
{
std::cerr << "Error during disassembly: \n"
<< ex.what() << std::endl;
}
for( auto& inst : disassembly.getInstructions() )
{
ScriptFunctionMeta* code;
if(! codes->findOpcode(inst.second.opcode, &code) )
{
std::cerr << "Invalid opcode in disassembly (" << inst.second.opcode << ")" << std::endl;
}
std::cout << std::hex << std::setfill('0') << std::right <<
std::setw(4) << inst.first << ":" <<
std::setw(4) << inst.second.opcode << " " <<
std::setw(FIELD_DESC_WIDTH) << std::setfill(' ') <<
std::left << code->signature << std::right << "(";
for( SCMOpcodeParameter& param : inst.second.parameters )
{
switch( param.type )
{
case TInt8:
std::cout << " i8: " << param.integer;
break;
case TInt16:
std::cout << " i16: " << param.integer;
break;
case TInt32:
std::cout << " i32: " << param.integer;
break;
case TFloat16:
std::cout << " f16: " << param.real;
break;
case TString:
std::cout << " str: " << param.string;
break;
case TGlobal:
std::cout << " g: " << param.globalPtr;
break;
case TLocal:
std::cout << " l: " << param.globalPtr;
break;
}
}
std::cout << " )\n";
}
}
