/**
@details
-# If real-time synchronization has been enabled:
-# Set the active flag to true.
-# If real-time synchronization has been disabled set the active flag to false.
*/
int Trick::RealtimeSync::initialize() {
if ( enable_flag ) {
active = true ;
enable_flag = false ;
}
if ( disable_flag ) {
active = false ;
disable_flag = false ;
}
tics_per_sec = exec_get_time_tic_value();
/* Start the sleep timer hardware if realtime is active */
start_sleep_timer();
if ( align_sim_to_wall_clock ) {
rt_clock->sync_to_wall_clock( align_tic_mult , tics_per_sec ) ;
message_publish(MSG_INFO, "Syncing sim to %f second wall clock interval\n", align_tic_mult ) ;
if ( exec_get_mode() == Freeze ) {
rt_clock->clock_spin(exec_get_freeze_time_tics()) ;
} else {
rt_clock->clock_spin(exec_get_time_tics()) ;
}
}
return(0) ;
}
int Trick::Master::init() {
unsigned int ii ;
/** @li Call Trick::SlaveInfo::start() for each slave */
if ( enabled ) {
for ( ii = 0 ; ii < slaves.size() ; ii++ ) {
slaves[ii]->start() ;
/** @li Write the master's software frame to each slave */
slaves[ii]->connection->write_time(exec_get_software_frame_tics()) ;
/** @li Write the master's time tic value to each slave */
slaves[ii]->connection->write_time(exec_get_time_tic_value()) ;
/** @li Write the master's sync_wait_limit to each slave */
slaves[ii]->connection->write_time((long long)(slaves[ii]->sync_wait_limit * exec_get_time_tic_value())) ;
/** @li Cast the freeze command and write it to the slave */
slaves[ii]->connection->write_command((MS_SIM_COMMAND)exec_get_freeze_command()) ;
/** @li Write a flag word containing the checkpoint pre_init, post_init, and end flags to the slave */
slaves[ii]->connection->write_time((long long) ((get_checkpoint_pre_init() << 2) +
(get_checkpoint_post_init() << 1) +
(get_checkpoint_end())) );
}
// Freezes are only allowed on frame boundaries when Master/Slave is enabled.
exec_set_freeze_on_frame_boundary(true) ;
}
return(0) ;
}
TEST_F(ExecutiveTest , JobCycleNotDivisibleByTimeTic) {
//req.add_requirement("r_exec_jobs");
//"The Executive Scheduler shall provide the capability to list jobs not handled by any scheduler."
EXPECT_EQ(exec_get_time_tic_value(), 1000000) ;
exec_add_sim_object(&empty_so , "empty_so") ;
EXPECT_EQ(exec.check_all_job_cycle_times() , -1 ) ;
}
Trick::VariableServerThread::VariableServerThread(TCDevice * in_listen_dev) :
Trick::ThreadBase("VarServer") ,
listen_dev(in_listen_dev) {
debug = 0 ;
enabled = true ;
log = false ;
connection_accepted = false ;
conn_type = TCP ;
copy_mode = VS_COPY_ASYNC ;
write_mode = VS_WRITE_ASYNC ;
frame_multiple = 1 ;
frame_offset = 0 ;
freeze_frame_multiple = 1 ;
freeze_frame_offset = 0 ;
binary_data = false;
multicast = false;
byteswap = false ;
retry_bad_ref = false ;
pause_cmd = false ;
exit_cmd = false ;
send_stdio = false ;
update_rate = 0.1 ;
cycle_tics = (long long)(update_rate * exec_get_time_tic_value()) ;
next_tics = TRICK_MAX_LONG_LONG ;
freeze_next_tics = TRICK_MAX_LONG_LONG ;
connection.disabled = TC_COMM_FALSE ;
connection.disable_handshaking = TC_COMM_TRUE ;
connection.blockio_limit = 0.0 ;
connection.blockio_type = TC_COMM_BLOCKIO ;
connection.client_id = 0 ;
connection.dmtcp_use_real = 1 ;
strcpy(connection.client_tag, "") ;
connection.error_handler = (TrickErrorHndlr *) calloc(1, (int)sizeof(TrickErrorHndlr));
connection.error_handler->report_level = TRICK_ERROR_CAUTION;
pthread_mutex_init(©_mutex, NULL);
var_data_staged = false;
packets_copied = 0 ;
incoming_msg = (char *) calloc(1, MAX_CMD_LEN);
stripped_msg = (char *) calloc(1, MAX_CMD_LEN);
}
//Create the DP files to display trick and user job execution times.
int Trick::FrameLog::create_DP_job_files() {
std::vector<std::string>::iterator job_iterator;
FILE *fpx;
int pages, plots, total_plots, vcells, dot;
char *bg_color;
double time_scale;
std::string DP_buff;
const char *headerx = "<?xml version=\"1.0\" encoding=\"ISO-8859-1\"?>\n" \
"<!DOCTYPE product PUBLIC \"-//Tricklab//DTD Product V1.0//EN\" \"Product.dtd\">\n\n" \
"<!-- Description: Plot of Y(t) vs. t, with attributes, titles, labels, units -->\n\n" \
"<product version=\"1.0\">\n";
time_scale = 1.0 / exec_get_time_tic_value();
DP_buff = DP_dir + "/DP_rt_frame.xml";
if ((fpx = fopen(DP_buff.c_str(), "w")) == NULL) {
message_publish(MSG_WARNING, "Could not open DP_rt_frame.xml file for Frame Logging\n") ;
return(0);
}
fprintf(fpx, "%s", headerx);
fprintf(fpx, " <title>Real-Time Frame Overrun/Underrun History</title>\n <page>\n <title>Real-Time Scheduling Frame</title>\n");
fprintf(fpx, " <plot grid=\"yes\">\n <title>Frame Overrun/Underrun</title>\n");
fprintf(fpx, " <xaxis> <label>Time</label> <units>s</units> </xaxis>\n");
fprintf(fpx, " <yaxis> <label>Frame Overrun/Underrun</label> </yaxis>\n");
fprintf(fpx, " <curve>\n <var>sys.exec.out.time</var>\n");
fprintf(fpx, " <var scale=\"%g\" line_color=\"darkgreen\" label=\"Overrun/Underrun\">%s.rt_sync.frame_overrun_time</var>\n",
time_scale,rt_sim_object_name.c_str());
fprintf(fpx, " </curve>\n");
fprintf(fpx, " </plot>\n");
fprintf(fpx, " <plot grid=\"yes\">\n <title>Frame Scheduled Jobs Time</title>\n");
fprintf(fpx, " <xaxis> <label>Time</label> <units>s</units> </xaxis>\n");
fprintf(fpx, " <yaxis> <label>Frame Scheduled Jobs Time</label> </yaxis>\n");
fprintf(fpx, " <curve>\n <var>sys.exec.out.time</var>\n");
fprintf(fpx, " <var scale=\"%g\" line_color=\"red\" label=\"Frame Sched Time\">%s.rt_sync.frame_sched_time</var>\n",
time_scale,rt_sim_object_name.c_str());
fprintf(fpx, " </curve>\n");
fprintf(fpx, " </plot>\n");
fprintf(fpx, " </page>\n");
//unsigned int total_pages = (unsigned int)(drg_users.size() / 8) + 1 ;
unsigned int total_pages ;
if ( drg_users.size() <= 1 ) {
total_pages = 1 ;
} else {
total_pages = (unsigned int)((drg_users.size() - 2)/ 8) + 1 ;
}
unsigned int page_count ;
for ( page_count = 0 ; page_count < total_pages ; page_count++ ) {
unsigned int ii = 0 ;
// this check is to avoid empty page creation
if ((page_count * 8 + ii + 1) >= drg_users.size()) {
continue;
}
fprintf(fpx, " <page>\n");
for ( ii = 0 ; ii < 8 and (page_count * 8 + ii + 1) < drg_users.size() ; ii++ ) {
fprintf(fpx, " <plot grid=\"yes\">\n");
fprintf(fpx, " <title>Child thread %d Frame Scheduled Jobs</title>\n", (page_count * 8 + ii + 1));
fprintf(fpx, " <xaxis> <label>Time</label> <units>s</units> </xaxis>\n");
fprintf(fpx, " <yaxis> <label>Frame Scheduled Jobs Time</label> </yaxis>\n");
fprintf(fpx, " <curve>\n");
fprintf(fpx, " <var>sys.exec.out.time</var>\n");
std::ostringstream group_name ;
group_name << "frame_userjobs_C" << (page_count * 8 + ii + 1) ;
fprintf(fpx, " <var scale=\"%g\" line_color=\"red\" label=\"Frame Sched Time\">%s.frame_sched_time</var>\n",
time_scale,group_name.str().c_str());
fprintf(fpx, " </curve>\n");
fprintf(fpx, " </plot>\n");
}
fprintf(fpx, " </page>\n");
}
fprintf(fpx, " <table>\n <title>Real-Time Frame Overrun/Underrun History</title>\n");
fprintf(fpx, " <column format=\"%%13.6f\">\n");
fprintf(fpx, " <label>Sim Time</label>\n <var>sys.exec.out.time</var>\n");
fprintf(fpx, " </column>\n");
fprintf(fpx, " <column format=\"%%13.6f\">\n");
fprintf(fpx, " <label>Overrun/Underrun</label>\n <var scale=\"%g\">%s.rt_sync.frame_overrun_time</var>\n",
time_scale,rt_sim_object_name.c_str());
fprintf(fpx, " </column>\n");
fprintf(fpx, " <column format=\"%%13.6f\">\n");
fprintf(fpx, " <label>Frame Sched Time</label>\n <var scale=\"%g\">%s.rt_sync.frame_sched_time</var>\n",
time_scale,rt_sim_object_name.c_str());
fprintf(fpx, " </column>\n");
fprintf(fpx, " </table>\n</product>");
fclose(fpx);
// sort the saved job names
sort(user_jobs.begin(), user_jobs.end());
sort(trick_jobs.begin(), trick_jobs.end());
// DP_rt_userjobs --------------------------------------------------------------
int ii ;
char numstr[21];
for ( ii = 0 ; ii < num_threads ; ii++ ) {
if ( ii == 0 ) {
DP_buff = DP_dir + "/DP_rt_userjobs.xml";
} else {
sprintf(numstr, "%d", ii);
DP_buff = DP_dir + "/DP_rt_userjobs_C" + numstr + ".xml";
}
if ((fpx = fopen(DP_buff.c_str(), "w")) == NULL) {
message_publish(MSG_WARNING, "Could not open DP_rt_userjobs.xml file for Frame Logging\n") ;
return(0);
}
fprintf(fpx, "%s", headerx);
fprintf(fpx, " <title>User Job Execution History</title>\n");
pages = 0; plots = 0;
total_plots = drg_users[ii]->rec_buffer.size();
std::vector <Trick::DataRecordBuffer *>::iterator drb_it ;
bg_color = (char *)"cornsilk2";
for ( drb_it = drg_users[ii]->rec_buffer.begin() + 1 ; drb_it != drg_users[ii]->rec_buffer.end() ; drb_it++ ) {
if ( ! (*drb_it)->name.compare(0, 5, "frame") ) continue ;
// 8 job plots per page
if ((plots == 0) || (plots > 8)) {
pages++;
vcells = (total_plots/pages > 8) * 4;
if (pages > 1) {
fprintf(fpx, " </page>\n");
}
fprintf(fpx, " <page vcells=\"%d\">\n <title>User Job Execution Times</title>\n", vcells);
plots = 1;
}
fprintf(fpx, " <plot grid=\"yes\" background_color=\"%s\">\n <title>%s</title>\n", bg_color, (*drb_it)->name.c_str());
fprintf(fpx, " <xaxis> <label>Time</label> <units>s</units> </xaxis>\n");
fprintf(fpx, " <yaxis> <label>Execution Time</label> </yaxis>\n");
fprintf(fpx, " <curve>\n <var>sys.exec.out.time</var>\n");
fprintf(fpx, " <var line_color=\"red\" scale=\"%g\">%s</var>\n", time_scale, (*drb_it)->name.c_str());
fprintf(fpx, " </curve>\n");
fprintf(fpx, " </plot>\n");
plots++;
}
fprintf(fpx, " </page>\n</product>");
fclose(fpx);
}
// DP_rt_trickjobs -------------------------------------------------------------
DP_buff = DP_dir + "/DP_rt_trickjobs.xml";
if ((fpx = fopen(DP_buff.c_str(), "w")) == NULL) {
message_publish(MSG_WARNING, "Could not open DP_rt_trickjobs.xml file for Frame Logging\n") ;
return(0);
}
fprintf(fpx, "%s", headerx);
fprintf(fpx, " <title>Trick Job Execution History</title>\n");
pages = 0; plots = 0;
total_plots = trick_jobs.size();
job_iterator = trick_jobs.begin();
while (job_iterator != trick_jobs.end()) {
dot = (*job_iterator).find_first_of(".");
// default background color, for trick_whatever jobs and anything else we don't list here
bg_color = (char *)"cornsilk3";
// give the different types of trick jobs a different background color
if (!(*job_iterator).compare(0,dot,std::string("JOB_") + msg_sim_object_name)) {
bg_color = (char *)"lavenderblush3";
}
if (!(*job_iterator).compare(0,dot,std::string("JOB_") + dr_sim_object_name) ||
!(*job_iterator).compare(0,21,std::string("JOB_data_record_group")) ) {
bg_color = (char *)"slategray2";
}
if (!(*job_iterator).compare(0,dot,std::string("JOB_") + rt_sim_object_name)) {
bg_color = (char *)"honeydew3";
}
if (!(*job_iterator).compare(0,dot,std::string("JOB_") + ms_sim_object_name)) {
bg_color = (char *)"bisque2";
}
if (strncmp((*job_iterator).c_str(),"JOB_sys_integ",13)==0) {
bg_color = (char *)"burlywood";
}
//other good colors in case you need more:
//bg_color = "khaki3";
// 8 job plots per page
if ((plots == 0) || (plots > 8)) {
pages++;
vcells = (total_plots/pages > 8) * 4;
if (pages > 1) {
fprintf(fpx, " </page>\n");
}
fprintf(fpx, " <page vcells=\"%d\">\n <title>Trick Job Execution Times</title>\n", vcells);
plots = 1;
}
fprintf(fpx, " <plot grid=\"yes\" background_color=\"%s\">\n <title>%s</title>\n", bg_color, (*job_iterator).c_str());
fprintf(fpx, " <xaxis> <label>Time</label> <units>s</units> </xaxis>\n");
fprintf(fpx, " <yaxis> <label>Execution Time</label> </yaxis>\n");
fprintf(fpx, " <curve>\n <var>sys.exec.out.time</var>\n");
fprintf(fpx, " <var line_color=\"darkgreen\" scale=\"%g\">%s</var>\n", time_scale, (*job_iterator).c_str());
fprintf(fpx, " </curve>\n");
fprintf(fpx, " </plot>\n");
job_iterator++;
plots++;
}
fprintf(fpx, " </page>\n</product>");
fclose(fpx);
return(0) ;
}
//Shutdown job that writes the job timeline data to disk and closes log files.
int Trick::FrameLog::shutdown() {
/** @par Detailed Design: */
int thread, ii, jj;
char log_buff[128];
Trick::timeline_t *tl;
double start, stop, time_scale;
if ( frame_log_flag == false ) {
return(0) ;
}
/** @li Manually create the log_timeline and log_timeline_init files from saved timeline data. */
if (fp_time_main == NULL) {
sprintf(log_buff, "%s/log_timeline.csv", command_line_args_get_output_dir());
if ((fp_time_main = fopen(log_buff, "w")) == NULL) {
message_publish(MSG_ERROR, "Could not open log_timeline.csv file for Job Timeline Logging\n") ;
exit(0);
}
fprintf(fp_time_main, "trick_frame_log.frame_log.job_time {s},");
fprintf(fp_time_main, "trick_frame_log.frame_log.job_trick_id {--},frame_log.frame_log.job_user_id {--}");
for (jj=1; jj<num_threads; jj++) {
fprintf(fp_time_main, ",trick_frame_log.frame_log.job_userC%d_id {--}",jj);
}
fprintf(fp_time_main, "\n");
sprintf(log_buff, "%s/log_timeline_init.csv", command_line_args_get_output_dir());
if ((fp_time_other = fopen(log_buff, "w")) == NULL) {
message_publish(MSG_ERROR, "Could not open log_timeline_init.csv file for Job Timeline Logging\n") ;
exit(0);
}
fprintf(fp_time_other, "trick_frame_log.frame_log.job_init_time {s},");
fprintf(fp_time_other, "trick_frame_log.frame_log.job_trickinit_id {--},trick_frame_log.frame_log.job_userinit_id {--}\n");
}
time_scale = 1.0 / exec_get_time_tic_value();
// print to log like this:
// (only one of the job ids will be filled in depending on what type of job this is)
// start job time, 0, 0
// start job time, trick job id, user job id
// stop job time, trick job id, user job id
// stop job time, 0, 0
/** @li print a 0 id before each start time & after each stop time for a stairstep effect in plot. */
// cyclic jobs
for ( thread = 0 ; thread < num_threads ; thread++ ) {
tl = timeline[thread];
for ( ii = 0 ; ii < tl_count[thread] ; ii++ ) {
// start & stop time are in tics, so convert to seconds
start = tl[ii].start * time_scale;
stop = tl[ii].stop * time_scale;
fprintf(fp_time_main, "%f,0", start); // start stairstep
for (jj=0; jj<num_threads; jj++) {
fprintf(fp_time_main, ",0");
}
fprintf(fp_time_main, "\n");
if (tl[ii].trick_job) {
fprintf(fp_time_main, "%f,%f", start, tl[ii].id); // trick job start
for (jj=0; jj<num_threads; jj++) {
fprintf(fp_time_main, ",0");
}
} else { // user job
fprintf(fp_time_main, "%f,0", start); // user job start
for (jj=0; jj<num_threads; jj++) {
if (jj==thread) {
fprintf(fp_time_main, ",%f", tl[ii].id); // user thread id (0=main)
} else {
fprintf(fp_time_main, ",0");
}
}
}
fprintf(fp_time_main, "\n");
if (tl[ii].trick_job) {
fprintf(fp_time_main, "%f,%f", stop, tl[ii].id); // trick job end
for (jj=0; jj<num_threads; jj++) {
fprintf(fp_time_main, ",0");
}
} else { // user job
fprintf(fp_time_main, "%f,0", stop); // user job end
for (jj=0; jj<num_threads; jj++) {
if (jj==thread) {
fprintf(fp_time_main, ",%f", tl[ii].id); // user thread id (0=main)
} else {
fprintf(fp_time_main, ",0");
}
}
}
fprintf(fp_time_main, "\n");
fprintf(fp_time_main, "%f,0", stop); // end stairstep
for (jj=0; jj<num_threads; jj++) {
fprintf(fp_time_main, ",0");
}
fprintf(fp_time_main, "\n");
} // end for thread
} // end for ii
// non-cyclic jobs
for ( thread = 0 ; thread < num_threads ; thread++ ) {
tl = timeline_other[thread];
for ( ii = 0 ; ii < tl_other_count[thread] ; ii++ ) {
// start & stop time are in tics, so convert to seconds
start = tl[ii].start * time_scale;
stop = tl[ii].stop * time_scale;
fprintf(fp_time_other, "%f,0,0\n", start); // start stairstep
if (tl[ii].trick_job) {
fprintf(fp_time_other, "%f,%f,0\n", start, tl[ii].id); // trick job start
fprintf(fp_time_other, "%f,%f,0\n", stop, tl[ii].id); // trick job end
} else { // user job
fprintf(fp_time_other, "%f,0,%f\n", start, tl[ii].id); // user job start
fprintf(fp_time_other, "%f,0,%f\n", stop, tl[ii].id); // user job end
}
fprintf(fp_time_other, "%f,0,0\n", stop); // end stairstep
} // end for thread
} // end for ii
fclose(fp_time_main);
fclose(fp_time_other);
return(0) ;
}
int Trick::VariableServerThread::copy_sim_data() {
unsigned int ii ;
VariableReference * curr_var ;
if ( vars.size() == 0 ) {
return 0 ;
}
if ( pthread_mutex_trylock(©_mutex) == 0 ) {
// Get the simulation time we start this copy
time = (double)exec_get_time_tics() / exec_get_time_tic_value() ;
for ( ii = 0 ; ii < vars.size() ; ii++ ) {
curr_var = vars[ii] ;
// if this variable is unresolved, try to resolve it
if ( retry_bad_ref ) {
if (curr_var->ref->address == &bad_ref_int) {
REF2 *new_ref = ref_attributes(const_cast<char*>(curr_var->ref->reference));
if (new_ref != NULL) {
curr_var->ref = new_ref;
}
}
}
// if there's a pointer somewhere in the address path, follow it in case pointer changed
if ( curr_var->ref->pointer_present == 1 ) {
curr_var->address = follow_address_path(curr_var->ref) ;
if ( curr_var->address == NULL ) {
std::string save_name(curr_var->ref->reference) ;
if ( curr_var->ref->attr) {
free(curr_var->ref->attr) ;
}
free(curr_var->ref) ;
curr_var->ref = make_error_ref(save_name) ;
curr_var->address = curr_var->ref->address ;
} else {
curr_var->ref->address = curr_var->address ;
}
}
// if this variable is a string we need to get the raw character string out of it.
if (( curr_var->string_type == TRICK_STRING ) && !curr_var->need_deref) {
std::string * str_ptr = (std::string *)curr_var->ref->address ;
curr_var->address = (void *)(str_ptr->c_str()) ;
}
// if this variable itself is a pointer, dereference it
if ( curr_var->need_deref) {
curr_var->address = *(void**)curr_var->ref->address ;
}
// handle c++ string and char*
if ( curr_var->string_type == TRICK_STRING ) {
if (curr_var->address == NULL) {
curr_var->size = 0 ;
} else {
curr_var->size = strlen((char*)curr_var->address) + 1 ;
}
}
// handle c++ wstring and wchar_t*
if ( curr_var->string_type == TRICK_WSTRING ) {
if (curr_var->address == NULL) {
curr_var->size = 0 ;
} else {
curr_var->size = wcslen((wchar_t *)curr_var->address) * sizeof(wchar_t);
}
}
memcpy( curr_var->buffer_in , curr_var->address , curr_var->size ) ;
}
retry_bad_ref = false ;
// Indicate that sim data has been written and is now ready in the buffer_in's of the vars variable list.
var_data_staged = true;
packets_copied++ ;
pthread_mutex_unlock(©_mutex) ;
}
return (0) ;
}
TEST_F(ExecutiveTest , DefaultTimeTicValue) {
//req.add_requirement("2436759852");
// "The Executive Scheduler shall default to 1,000,000 tics/second") ;
EXPECT_EQ(exec_get_time_tic_value(), 1000000) ;
}
int Trick::VariableServerThread::var_cycle(double in_rate) {
update_rate = in_rate ;
cycle_tics = (long long)(update_rate * exec_get_time_tic_value()) ;
return(0) ;
}
