int
SCOTCH_stratGraphMap (
SCOTCH_Strat * const stratptr,
const char * const string)
{
if (*((Strat **) stratptr) != NULL)
stratExit (*((Strat **) stratptr));
if ((*((Strat **) stratptr) = stratInit (&kgraphmapststratab, string)) == NULL) {
errorPrint ("SCOTCH_stratGraphMap: error in mapping strategy");
return (1);
}
return (0);
}
int
SCOTCH_stratDgraphOrder (
SCOTCH_Strat * const stratptr,
const char * const string)
{
if (*((Strat **) stratptr) != NULL)
stratExit (*((Strat **) stratptr));
if ((*((Strat **) stratptr) = stratInit (&hdgraphorderststratab, string)) == NULL) {
errorPrint ("SCOTCH_stratDgraphOrder: error in ordering strategy");
return (1);
}
return (0);
}
int main(void)
{
//RTOS initialization
halInit();
chSysInit();
palSetPad(GPIOG, GPIOG_LED4_RED);
//modules and peripherals initialization
dcmInit();
pcm9685Init();
max11628Init();
max7317Init();
lcdInit();
fieldInit();
posInit(position_computed_hook);
trajectoryInit();
asservInit();
mecaInit();
//stepInit();
//usirInit();
pathfinderInit();
//gyroInit();
stratInit();
lcdPrintln(LCD_WARNING, "Start: robot principal");
while(0)
{
while((max7317Read() & (1 << IO_SWITCH_BACK_LEFT)))
{
chThdSleepMilliseconds(100);
}
lcdPrintln(LCD_INFO, "Click !");
stepAction(STEP_ACTION_TAKE_RIGHT);
stepWait();
lcdPrintln(LCD_INFO, "Done !");
while(!(max7317Read() & (1 << IO_SWITCH_BACK_LEFT)))
{
chThdSleepMilliseconds(100);
}
}
lcdPrintln(LCD_INFO, "Attente tirette (mise en place)");
while(!(max7317Read() & (1 << IO_SWITCH_STARTUP)))
{
chThdSleepMilliseconds(100);
}
lcdPrintln(LCD_INFO, "Attente du depart");
while(max7317Read() & (1 << IO_SWITCH_STARTUP))
{
chThdSleepMilliseconds(100);
}
stratStart();
//chThdSleepMilliseconds(3000);
// dcmSetWidth(0, 500);
// dcmSetWidth(1, -500);
//while (true)
//{
// lcdPrintln(LCD_INFO,"l %ld, r %ld", posGetLeftTick(), posGetRightTick());
// chThdSleepMilliseconds(500);
//}
//int i = 0;
//int d = 400;
//while (true)
//{
// lcdPrintln(LCD_INFO, "tour: %d", i);
// i += 1;
// TRAJECTORY_XY_MM(d, 0);
// TRAJECTORY_XY_MM(d, d);
// TRAJECTORY_XY_MM(0, d);
// TRAJECTORY_XY_MM(0, 0);
// trajectoryWait();
//}
while(true)
{
chThdSleepMilliseconds(3000);
}
}
int
main (
int argc,
char * argv[])
{
FILE * fileptr;
FILE * stream;
Wgraph wgrfdat;
Strat * straptr;
double clktime[2];
double runtime;
struct timespec tp;
Gnum partnbr;
Gnum partval;
Gnum vertnum;
Gnum comploadsum;
Gnum comploadavg;
Gnum comploadmax;
Gnum comploadmin;
int i;
char c;
const Gnum * restrict vlbltax;
errorProg (argv[0]);
if (argc != 5) {
errorPrint ("main: usage is \"%s <nparts> <input source graph file> <output mapping file> <strategy>\"\n", argv[0]);
exit (1);
}
fprintf (stderr, "pid %d\n", getpid ());
printf ("Waiting for key press...\n");
scanf ("%c", &c);
if (graphInit (&wgrfdat.s) != 0) { /* Initialize source graph */
errorPrint ("main: cannot initialize graph");
return (1);
}
if ((partnbr = atoi (argv[1])) < 1) {
errorPrint ("main: invalid number of parts (\"%s\")", argv[1]);
return (1);
}
fileptr = NULL;
if ((fileptr = fopen (argv[2], "r")) == NULL) {
errorPrint ("main: cannot open graph file");
return (1);
}
if (graphLoad (&wgrfdat.s, fileptr, -1, 0) != 0) {
errorPrint ("main: cannot load graph file");
return (1);
}
if (fileptr != NULL)
fclose (fileptr);
wgraphInit (&wgrfdat, &wgrfdat.s, partnbr);
/* wgraphZero (&wgrfdat); TODO to clean? */
if ((straptr = stratInit (&wgraphpartststratab, argv[4])) == NULL) {
errorPrint ("main: cannot initialize strategy");
return (1);
}
/* Init clock. */
clktime[0] =
clktime[1] =
runtime = 0;
/* Start clock. */
clock_gettime (CLOCK_REALTIME, &tp); /* Elapsed time */
clktime[0] = ((double) tp.tv_sec + (double) tp.tv_nsec * 1.0e-9L);
wgraphPartSt (&wgrfdat, straptr);
/* Stop clock. */
clock_gettime (CLOCK_REALTIME, &tp); /* Elapsed time */
clktime[1] = ((double) tp.tv_sec + (double) tp.tv_nsec * 1.0e-9L);
runtime += (clktime[1] - clktime[0]);
comploadsum =
comploadavg =
comploadmax = 0;
comploadmin = GNUMMAX;
for (i = 0; i < partnbr; i ++) {
comploadsum += wgrfdat.compload[i];
if (wgrfdat.compload[i] > comploadmax)
comploadmax = wgrfdat.compload[i];
if (wgrfdat.compload[i] < comploadmin)
comploadmin = wgrfdat.compload[i];
}
comploadavg = comploadsum / wgrfdat.partnbr;
for (partval = 0; partval < wgrfdat.partnbr; partval ++) /* for each part */
printf("\033[0;33mcompload[%d] %d %d\033[0m\n", partval, wgrfdat.compload[partval], wgrfdat.compsize[partval]);
printf ("\033[0;32mCompLoad(max/avg)=%g,\t(min/avg)=%g\n",
((double) comploadmax / (double) comploadavg),
((double) comploadmin / (double) comploadavg));
printf ("\033[0;32mFronLoad=%ld\n",
(long) wgrfdat.fronload);
printf ("\033[0;32mTime=%f\n", runtime);
stream = NULL;
if ((stream = fopen (argv[3], "w")) == NULL) {
errorPrint ("main: cannot open graph file");
return (1);
}
vlbltax = (wgrfdat.s.vlbltax != NULL) ? (wgrfdat.s.vlbltax) : NULL;
if (fprintf (stream, "%ld\n", (long) wgrfdat.s.vertnbr) == EOF) {
errorPrint ("main: bad output (1)");
return (1);
}
for (vertnum = wgrfdat.s.baseval; vertnum < wgrfdat.s.vertnnd; vertnum ++) {
if (fprintf (stream, "%ld\t%ld\n",
(long) ((vlbltax != NULL) ? vlbltax[vertnum] : vertnum),
(long) wgrfdat.parttax[vertnum]) == EOF) {
errorPrint ("main: bad output (2)");
return (1);
}
}
if (stream != NULL)
fclose (stream);
wgrfdat.parttax = NULL; /* Do not free parttax as grouped with frontab */
wgraphExit (&wgrfdat);
stratExit (straptr);
exit (0);
}
