void display()
{
if(lastTime == 0)
{
lastTime = glutGet(GLUT_ELAPSED_TIME);
}
now = glutGet(GLUT_ELAPSED_TIME);
delta_t = (now - lastTime) / 1000.0f;
//lastTime = now; //1 / delta_t here means the frame rate.
fpsTracker.timestamp();
//update camera information per frame
updateCamera();
checkClear();
if(moved)
lastTime = now;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//do raytrace
raytrace();
//render result as texture
displayTexture();
//draw tool bar
TwDraw();
drawFps();
glutSwapBuffers();
glutPostRedisplay();
}
void TransportSocketCache::onSocketDisconnected(Url url, const ServiceInfo& info)
{
// remove from the available connections
boost::mutex::scoped_lock lock(_socketMutex);
ConnectionMap::iterator machineIt = _connections.find(info.machineId());
if (machineIt == _connections.end())
return;
qiLogDebug() << "onSocketDisconnected: about to erase socket";
auto attempt = machineIt->second[url];
attempt->state = State_Error;
checkClear(attempt, info.machineId());
auto syncDisconnectInfos = _disconnectInfos.synchronize();
updateDisconnectInfos(*syncDisconnectInfos, attempt->endpoint);
}
void TransportSocketCache::onSocketDisconnected(TransportSocketPtr socket,
Url url,
const std::string& reason,
const ServiceInfo& info)
{
// remove from the available connections
boost::mutex::scoped_lock lock(_socketMutex);
ConnectionMap::iterator machineIt = _connections.find(info.machineId());
if (machineIt == _connections.end())
return;
machineIt->second[url]->state = State_Error;
checkClear(machineIt->second[url], info.machineId());
}
void SensorManager::retrieveStatistics(bool ignoreshutdown)
{
const char* xmlpre = "<vermont>\n\t<sensorData time=\"%s\" epochtime=\"%d.%03d\" host=\"%s\">\n";
const char* xmlpost = "\t</sensorData>\n</vermont>\n";
const char* xmlglobals = "\t\t<%s>%s</%s>\n";
string lockfile = outputFilename + ".lock";
bool haveGraphLock;
bool clearFlag;
// we must not wait for the graph lock, else there may be a race condition with
// the ConfigManager
while (! (haveGraphLock = graphIS->tryLockGraph())) {
if (smExitFlag) break;
timespec timeout = { 0, 200000 };
nanosleep(&timeout, NULL);
}
if (!ignoreshutdown && smExitFlag) return;
if ((clearFlag = checkClear())) {
msg(LOG_WARNING, "Clearing sensor statistics");
}
const char* openflags = (append ? "a" : "w");
FILE* file = fopen(outputFilename.c_str(), openflags);
if (!file) {
THROWEXCEPTION("failed to reopen file %s", outputFilename.c_str());
perror("error:");
}
timeval tvcurtime = unixtime();
time_t curtime = tvcurtime.tv_sec;
char curtimestr[100];
ctime_r(&curtime, curtimestr);
curtimestr[strlen(curtimestr)-1] = 0;
fprintf(file, xmlpre, curtimestr, curtime, tvcurtime.tv_usec/1000, hostname);
char text[100];
snprintf(text, 100, "%u", static_cast<uint32_t>(getpid()));
fprintf(file, xmlglobals, "pid", text, "pid");
char lasttimestr[100];
ctime_r(&lasttime, lasttimestr);
lasttimestr[strlen(lasttimestr)-1] = 0;
fprintf(file, xmlglobals, "lastTime", lasttimestr, "lastTime");
#if defined(__linux__)
const char* xmlglobalsuint = "\t\t<%s>%u</%s>\n";
ThreadCPUInterface::SystemInfo si = ThreadCPUInterface::getSystemInfo();
fprintf(file, "\t\t<jiffyFrequency>%llu</jiffyFrequency>\n", (long long unsigned)hertzValue);
fprintf(file, xmlglobalsuint, "processorAmount", si.noCPUs, "processorAmount");
for (uint16_t i=0; i<si.sysJiffies.size(); i++) {
double sysutil = (si.sysJiffies[i]-lastSystemInfo.sysJiffies[i])/(static_cast<double>(curtime)-lasttime)/hertzValue*100;
double userutil = (si.userJiffies[i]-lastSystemInfo.userJiffies[i])/(static_cast<double>(curtime)-lasttime)/hertzValue*100;
fprintf(file, "\t\t<processor id=\"%u\"><util type=\"system\">%.2f</util><util type=\"user\">%.2f</util></processor>\n",
i, sysutil, userutil);
}
fprintf(file, "\t\t<memory><free type=\"bytes\">%llu</free><total type=\"bytes\">%llu</total></memory>\n",
(long long unsigned)si.freeMemory, (long long unsigned)si.totalMemory);
lastSystemInfo = si;
#endif
//DPRINTF_INFO("*** sensor data at %s", ctime(&curtime));
Graph* g = graphIS->getGraph();
vector<CfgNode*> nodes = g->getNodes();
vector<CfgNode*>::iterator iter = nodes.begin();
while (iter != nodes.end()) {
Cfg* cfg = (*iter)->getCfg();
Sensor* s = cfg->getInstance();
if (clearFlag) s->clearStatistics();
vector<uint32_t> nextids = cfg->getNext();
writeSensorXML(file, s, cfg->getName().c_str(), cfg->getID(), true, curtime, lasttime, &nextids);
iter++;
}
// iterate through all non-module sensors
mutex.lock();
list<SensorEntry>::const_iterator siter = sensors.begin();
while (siter != sensors.end()) {
//DPRINTFL(LOG_ERR, "non-module cfg->getName()=%s, s=%u", siter->name.c_str(), siter->sensor);
Sensor* s = siter->sensor;
if (clearFlag) s->clearStatistics();
writeSensorXML(file, s, siter->name.c_str(), siter->id, false, curtime, lasttime, NULL);
siter++;
}
mutex.unlock();
fprintf(file, "%s", xmlpost);
fclose(file);
if (haveGraphLock) graphIS->unlockGraph();
}
/*
* Corner case to manage (TODO):
*
* You are connecting to machineId foo, you are machineId bar. foo and bar are
* on different sub-networks with the same netmask. They sadly got the same IP
* on their subnet: 192.168.1.42. When trying to connect to foo from bar, we
* will try to connect its endpoints, basically:
* - tcp://1.2.3.4:1333 (public IP)
* - tcp://192.168.1.42:1333 (subnet public IP)
* If bar is listening on port 1333, we may connect to it instead of foo (our
* real target).
*/
void TransportSocketCache::onSocketParallelConnectionAttempt(Future<void> fut,
MessageSocketPtr socket,
Url url,
const ServiceInfo& info)
{
boost::mutex::scoped_lock lock(_socketMutex);
if (_dying)
{
qiLogDebug() << "ConnectionAttempt: TransportSocketCache is closed";
if (!fut.hasError())
{
_allPendingConnections.remove(socket);
socket->disconnect();
}
return;
}
ConnectionMap::iterator machineIt = _connections.find(info.machineId());
std::map<Url, ConnectionAttemptPtr>::iterator urlIt;
if (machineIt != _connections.end())
urlIt = machineIt->second.find(url);
if (machineIt == _connections.end() || urlIt == machineIt->second.end())
{
// The socket was disconnected at some point, and we removed it from our map:
// return early.
_allPendingConnections.remove(socket);
socket->disconnect();
return;
}
ConnectionAttemptPtr attempt = urlIt->second;
attempt->attemptCount--;
if (attempt->state != State_Pending)
{
qiLogDebug() << "Already connected: reject socket " << socket.get() << " endpoint " << url.str();
_allPendingConnections.remove(socket);
socket->disconnect();
checkClear(attempt, info.machineId());
return;
}
if (fut.hasError())
{
// Failing to connect to some of the endpoint is expected.
qiLogDebug() << "Could not connect to service #" << info.serviceId() << " through url " << url.str();
_allPendingConnections.remove(socket);
// It's a critical error if we've exhausted all available endpoints.
if (attempt->attemptCount == 0)
{
std::stringstream err;
err << "Could not connect to service #" << info.serviceId() << ": no endpoint replied.";
qiLogError() << err.str();
attempt->promise.setError(err.str());
attempt->state = State_Error;
checkClear(attempt, info.machineId());
}
return;
}
qi::SignalLink disconnectionTracking = socket->disconnected.connect(
&TransportSocketCache::onSocketDisconnected, this, url, info)
.setCallType(MetaCallType_Direct);
attempt->state = State_Connected;
attempt->endpoint = socket;
attempt->promise.setValue(socket);
attempt->disconnectionTracking = disconnectionTracking;
qiLogDebug() << "Connected to service #" << info.serviceId() << " through url " << url.str() << " and socket "
<< socket.get();
}
void render()
{
// Clears the buffer with this colour attribute
clearBuffer(0x00);
// Set up sample colours, and output shadings
const WORD colors[] = {
0x1A, 0x2B, 0x3C, 0x4D, 0x5E, 0x6F,
0xA1, 0xB2, 0xC3, 0xD4, 0xE5, 0xF6
};
COORD c;
// displays the framerate
std::ostringstream ss;
ss << std::fixed << std::setprecision(3);
ss << 1.0 / deltaTime << "fps";
c.X = ConsoleSize.X-9;
c.Y = 0;
writeToBuffer(c, ss.str());
// displays the elapsed time
ss.str("");
ss << elapsedTime << "secs";
c.X = 0;
c.Y = ConsoleSize.Y - 1;
writeToBuffer(c, ss.str(), 0x59);
if (!levelStart)
levelStart = initLevel();
renderShip();
moveBullets();
checkBulletCollision(enemyArr, levelInfo.number);
renderBullets();
if (!spawnBufferCount && enemiesSpawned < levelInfo.number)
{
if (spawnEnemy(enemyArr, levelInfo.number))
{
spawnBufferCount += levelInfo.spawnBuffer;
enemiesSpawned++;
}
}
else if (spawnBufferCount) spawnBufferCount--;
moveEnemy(enemyArr, levelInfo.number);
checkBulletCollision(enemyArr, levelInfo.number);
checkEnemyCollision(enemyArr, levelInfo.number);
renderEnemy(enemyArr, levelInfo.number);
if (levelInfo.bullets)
{
if (spawnEnemyBullet(enemyArr))
{
spawnBufferCount += bulletInfo.spawnBuffer;
}
moveEnemy(enemyBulletArr, bulletInfo.number);
checkEnemyCollision(enemyBulletArr, bulletInfo.number);
renderEnemy(enemyBulletArr, bulletInfo.number);
}
// Writes the buffer to the console, hence you will see what you have written
flushBufferToConsole();
if (enemiesSpawned == levelInfo.number)
{
if (checkClear(enemyArr, levelInfo.number))
{
levelStart = false;
enemiesSpawned = 0;
spawnBufferCount = 0;
delete[] enemyArr;
delete[] enemyBulletArr;
levelInfo.level = levelInfo.nextLevel;
}
}
}
