static int set_sdl_video_size(unsigned short int w, unsigned short int h)
{
if (window)
SDL_DestroyWindow(window);
if (!w || !h) {
w = 640;
h = 480;
if (flags & SDL_WINDOW_FULLSCREEN) {
SDL_DisplayMode mode;
if (!SDL_GetDesktopDisplayMode(0, &mode)) {
w = mode.w;
h = mode.h;
} else
log_e("SDL_GetDesktopDisplayMode: %s",
SDL_GetError());
}
}
log_i("%ux%u", w, h);
window = SDL_CreateWindow("greedy",
SDL_WINDOWPOS_CENTERED,
SDL_WINDOWPOS_CENTERED,
w, h, flags);
if (!window)
log_p("SDL_CreateWindow: %s", SDL_GetError());
SDL_Delay(50);
return 0;
}
shared_ptr<arma::mat> log_p_matrix(shared_ptr<arma::mat> z) {
shared_ptr<arma::mat> log_p( new arma::mat(z->n_rows, z->n_cols) );
for(arma::uword j=0; j<z->n_cols; ++j) {
for(arma::uword i=0; i<z->n_rows; ++i) {
(*log_p)(i, j) = compute_log_p((*z)(i, j));
}
}
return log_p;
}
// TODO: Clean up these similar functions
shared_ptr<arma::mat> log_p_matrix(shared_ptr<arma::mat> w,
shared_ptr<arma::mat> z,
shared_ptr<arma::mat> z_higher,
shared_ptr<arma::mat> z_bias) {
arma::mat param = (*w) * (*z_higher);
if (z_bias != NULL) {
assert(z_bias->n_cols == 1);
param.each_col() += z_bias->col(0);
}
shared_ptr<arma::mat> log_p( new arma::mat(z->n_rows, z->n_cols) );
for(arma::uword j=0; j<z->n_cols; ++j) {
for(arma::uword i=0; i<z->n_rows; ++i) {
// TODO inline?
(*log_p)(i, j) = compute_log_p((*z)(i, j), param(i, j));
}
}
return log_p;
}
//-----------------------------------------------------------------------------
int init( int argc, char* argv[] ) {
mythread = osthread_p( new osthread_c( argv[0] ) );
quit = false;
//quit.store( 0, std::memory_order_seq_cst );
mythread->pid = getpid();
if( argc < 4 ) {
printf( "ERROR: client process[%s] was not given enough arguments\nExiting client process.\n", mythread->name );
exit( 1 );
}
rand_seed = (unsigned) atoi( argv[1] );
min_cycles = (unsigned) atoi( argv[2] );
max_cycles = (unsigned) atoi( argv[3] );
//printf( "%s has started with rand_seed[%d], min_cycles[%d], max_cycles[%d].\n", client_name.c_str(), rand_seed, min_cycles, max_cycles );
srand( rand_seed );
rand_delta = max_cycles - min_cycles;
// open log * only for debugging client process ipc using test_client.cpp*
char logname[64];
sprintf( logname, "%s.log", mythread->name );
info = log_p( new log_c( logname, true ) );
log_c::error_e log_err = info->allocate( LOG_CAPACITY );
if( log_err != log_c::ERROR_NONE ) {
sprintf( spstr, "(client-process.cpp) init() failed calling log_c::allocate(...).\nExiting\n" );
printf( spstr );
exit( 1 );
}
// * install SIGTERM signal handler *
struct sigaction action;
memset( &action, 0, sizeof(struct sigaction) );
action.sa_handler = term_sighandler;
sigaction( SIGTERM, &action, NULL );
// close the coordinator side channels
__close( FD_TIMER_TO_COORDINATOR_READ_CHANNEL );
__close( FD_TIMER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_WAKEUP_TO_COORDINATOR_READ_CHANNEL );
__close( FD_WAKEUP_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_PREYCONTROLLER_TO_COORDINATOR_READ_CHANNEL );
__close( FD_PREDCONTROLLER_TO_COORDINATOR_READ_CHANNEL );
__close( FD_PREDPLANNER_TO_COORDINATOR_READ_CHANNEL );
__close( FD_COORDINATOR_TO_PREYCONTROLLER_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREDCONTROLLER_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREDPLANNER_WRITE_CHANNEL );
if( strcmp( mythread->name, "prey-controller" ) == 0 ) {
read_fd = FD_COORDINATOR_TO_PREYCONTROLLER_READ_CHANNEL;
write_fd = FD_PREYCONTROLLER_TO_COORDINATOR_WRITE_CHANNEL;
// close the other channels that should not be accessed
__close( FD_PREDCONTROLLER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREDCONTROLLER_READ_CHANNEL );
__close( FD_PREDPLANNER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREDPLANNER_READ_CHANNEL );
} else if( strcmp( mythread->name, "pred-controller" ) == 0 ) {
read_fd = FD_COORDINATOR_TO_PREDCONTROLLER_READ_CHANNEL;
write_fd = FD_PREDCONTROLLER_TO_COORDINATOR_WRITE_CHANNEL;
// close the other channels that should not be accessed
__close( FD_PREYCONTROLLER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREYCONTROLLER_READ_CHANNEL );
__close( FD_PREDPLANNER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREDPLANNER_READ_CHANNEL );
} else if( strcmp( mythread->name, "pred-planner" ) == 0 ) {
read_fd = FD_COORDINATOR_TO_PREDPLANNER_READ_CHANNEL;
write_fd = FD_PREDPLANNER_TO_COORDINATOR_WRITE_CHANNEL;
// close the other channels that should not be accessed
__close( FD_PREYCONTROLLER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREYCONTROLLER_READ_CHANNEL );
__close( FD_PREDCONTROLLER_TO_COORDINATOR_WRITE_CHANNEL );
__close( FD_COORDINATOR_TO_PREDCONTROLLER_READ_CHANNEL );
} else {
//printf( "ERROR: unable to reference correct program\nExiting\n" );
return 1;
}
//printf( "%s write_fd:%d; read_fd:%d\n", client_name.c_str(), write_fd, read_fd );
assert( rand_delta < RAND_MAX && rand_delta != 0 );
// build the notification prototypes
// - state notification -
state_note.source = notification_t::CLIENT;
state_note.type = notification_t::READ;
state_note.pid = mythread->pid;
// - command notification -
command_note.source = notification_t::CLIENT;
command_note.type = notification_t::WRITE;
command_note.pid = mythread->pid;
// - block notification -
yield_note.period = max_cycles;
yield_note.source = notification_t::CLIENT;
yield_note.type = notification_t::IDLE;
yield_note.pid = mythread->pid;
return 0;
}
autoClassificationTable Discriminant_and_TableOfReal_to_ClassificationTable_dw (Discriminant me, TableOfReal thee, int poolCovarianceMatrices, int useAprioriProbabilities, double alpha, double minProb, autoTableOfReal *displacements) {
try {
long g = Discriminant_getNumberOfGroups (me);
long p = Eigen_getDimensionOfComponents (my eigen.get());
long m = thy numberOfRows;
if (p != thy numberOfColumns) Melder_throw
(U"The number of columns does not agree with the dimension of the discriminant.");
autoNUMvector<double> log_p (1, g);
autoNUMvector<double> log_apriori (1, g);
autoNUMvector<double> ln_determinant (1, g);
autoNUMvector<double> buf (1, p);
autoNUMvector<double> displacement (1, p);
autoNUMvector<double> x (1, p);
autoNUMvector<SSCP> sscpvec (1, g);
autoSSCP pool = SSCPList_to_SSCP_pool (my groups.get());
autoClassificationTable him = ClassificationTable_create (m, g);
NUMstrings_copyElements (thy rowLabels, his rowLabels, 1, m);
autoTableOfReal adisplacements = Data_copy (thee);
// Scale the sscp to become a covariance matrix.
for (long i = 1; i <= p; i ++) {
for (long k = i; k <= p; k ++) {
pool -> data [k] [i] = pool -> data [i] [k] /= pool -> numberOfObservations - g;
}
}
double lnd;
autoSSCPList agroups;
SSCPList groups;
if (poolCovarianceMatrices) {
// Covariance matrix S can be decomposed as S = L.L'. Calculate L^-1.
// L^-1 will be used later in the Mahalanobis distance calculation:
// v'.S^-1.v == v'.L^-1'.L^-1.v == (L^-1.v)'.(L^-1.v).
NUMlowerCholeskyInverse (pool -> data, p, & lnd);
for (long j = 1; j <= g; j ++) {
ln_determinant [j] = lnd;
sscpvec [j] = pool.get();
}
groups = my groups.get();
} else {
//Calculate the inverses of all group covariance matrices.
// In case of a singular matrix, substitute inverse of pooled.
agroups = Data_copy (my groups.get());
groups = agroups.get();
long npool = 0;
for (long j = 1; j <= g; j ++) {
SSCP t = groups->at [j];
long no = (long) floor (SSCP_getNumberOfObservations (t));
for (long i = 1; i <= p; i ++) {
for (long k = i; k <= p; k ++) {
t -> data [k] [i] = t -> data [i] [k] /= no - 1;
}
}
sscpvec [j] = groups->at [j];
try {
NUMlowerCholeskyInverse (t -> data, p, & ln_determinant [j]);
} catch (MelderError) {
// Try the alternative: the pooled covariance matrix.
// Clear the error.
Melder_clearError ();
if (npool == 0) {
NUMlowerCholeskyInverse (pool -> data, p, & lnd);
}
npool ++;
sscpvec [j] = pool.get();
ln_determinant [j] = lnd;
}
}
if (npool > 0) {
Melder_warning (npool, U" groups use pooled covariance matrix.");
}
}
// Labels for columns in ClassificationTable
for (long j = 1; j <= g; j ++) {
const char32 *name = Thing_getName (my groups->at [j]);
if (! name) {
name = U"?";
}
TableOfReal_setColumnLabel (him.get(), j, name);
}
// Normalize the sum of the apriori probabilities to 1.
// Next take ln (p) because otherwise probabilities might be too small to represent.
double logg = log (g);
NUMvector_normalize1 (my aprioriProbabilities, g);
for (long j = 1; j <= g; j ++) {
log_apriori[j] = ( useAprioriProbabilities ? log (my aprioriProbabilities[j]) : - logg );
}
// Generalized squared distance function:
// D^2(x) = (x - mu)' S^-1 (x - mu) + ln (determinant(S)) - 2 ln (apriori)
for (long i = 1; i <= m; i ++) {
SSCP winner;
double norm = 0, pt_max = -1e308;
long iwinner = 1;
for (long k = 1; k <= p; k ++) {
x [k] = thy data [i] [k] + displacement [k];
}
for (long j = 1; j <= g; j ++) {
SSCP t = groups->at [j];
double md = mahalanobisDistanceSq (sscpvec [j] -> data, p, x.peek(), t -> centroid, buf.peek());
double pt = log_apriori [j] - 0.5 * (ln_determinant [j] + md);
if (pt > pt_max) {
pt_max = pt;
iwinner = j;
}
log_p [j] = pt;
}
for (long j = 1; j <= g; j ++) {
norm += log_p [j] = exp (log_p [j] - pt_max);
}
for (long j = 1; j <= g; j ++) {
his data [i] [j] = log_p [j] / norm;
}
// Save old displacement, calculate new displacement
winner = groups->at [iwinner];
for (long k = 1; k <= p; k ++) {
adisplacements -> data [i] [k] = displacement [k];
if (his data [i] [iwinner] > minProb) {
double delta_k = winner -> centroid [k] - x [k];
displacement [k] += alpha * delta_k;
}
}
}
*displacements = adisplacements.move();
return him;
} catch (MelderError) {
Melder_throw (U"ClassificationTable for Weenink procedure not created.");
}
}
ClassificationTable Discriminant_and_TableOfReal_to_ClassificationTable (Discriminant me, TableOfReal thee,
int poolCovarianceMatrices, int useAprioriProbabilities) {
try {
long g = Discriminant_getNumberOfGroups (me);
long p = Eigen_getDimensionOfComponents (me);
long m = thy numberOfRows;
if (p != thy numberOfColumns) Melder_throw
(U"The number of columns does not agree with the dimension of the discriminant.");
autoNUMvector<double> log_p (1, g);
autoNUMvector<double> log_apriori (1, g);
autoNUMvector<double> ln_determinant (1, g);
autoNUMvector<double> buf (1, p);
autoNUMvector<SSCP> sscpvec (1, g);
autoSSCP pool = SSCPs_to_SSCP_pool (my groups);
autoClassificationTable him = ClassificationTable_create (m, g);
NUMstrings_copyElements (thy rowLabels, his rowLabels, 1, m);
// Scale the sscp to become a covariance matrix.
for (long i = 1; i <= p; i++) {
for (long k = i; k <= p; k++) {
pool -> data[k][i] = (pool -> data[i][k] /= (pool -> numberOfObservations - g));
}
}
double lnd;
autoSSCPs agroups = 0; SSCPs groups;
if (poolCovarianceMatrices) {
/*
Covariance matrix S can be decomposed as S = L.L'. Calculate L^-1.
L^-1 will be used later in the Mahalanobis distance calculation:
v'.S^-1.v == v'.L^-1'.L^-1.v == (L^-1.v)'.(L^-1.v).
*/
NUMlowerCholeskyInverse (pool -> data, p, &lnd);
for (long j = 1; j <= g; j++) {
ln_determinant[j] = lnd;
sscpvec[j] = pool.peek();
}
groups = (SSCPs) my groups;
} else {
// Calculate the inverses of all group covariance matrices.
// In case of a singular matrix, substitute inverse of pooled.
agroups.reset (Data_copy ( (SSCPs) my groups)); groups = agroups.peek();
long npool = 0;
for (long j = 1; j <= g; j++) {
SSCP t = (SSCP) groups -> item[j];
long no = (long) floor (SSCP_getNumberOfObservations (t));
for (long i = 1; i <= p; i++) {
for (long k = i; k <= p; k++) {
t -> data[k][i] = (t -> data[i][k] /= (no - 1));
}
}
sscpvec[j] = (SSCP) groups -> item[j];
try {
NUMlowerCholeskyInverse (t -> data, p, &ln_determinant[j]);
} catch (MelderError) {
// Try the alternative: the pooled covariance matrix.
// Clear the error.
Melder_clearError ();
if (npool == 0) {
NUMlowerCholeskyInverse (pool -> data, p, &lnd);
}
npool++;
sscpvec[j] = pool.peek();
ln_determinant[j] = lnd;
}
}
if (npool > 0) {
Melder_warning (npool, U" groups use pooled covariance matrix.");
}
}
// Labels for columns in ClassificationTable
for (long j = 1; j <= g; j++) {
const char32 *name = Thing_getName ( (Thing) my groups -> item[j]);
if (! name) {
name = U"?";
}
TableOfReal_setColumnLabel (him.peek(), j, name);
}
// Normalize the sum of the apriori probabilities to 1.
// Next take ln (p) because otherwise probabilities might be too small to represent.
NUMvector_normalize1 (my aprioriProbabilities, g);
double logg = log (g);
for (long j = 1; j <= g; j++) {
log_apriori[j] = useAprioriProbabilities ? log (my aprioriProbabilities[j]) : - logg;
}
// Generalized squared distance function:
// D^2(x) = (x - mu)' S^-1 (x - mu) + ln (determinant(S)) - 2 ln (apriori)
for (long i = 1; i <= m; i++) {
double norm = 0, pt_max = -1e38;
for (long j = 1; j <= g; j++) {
SSCP t = (SSCP) groups -> item[j];
double md = mahalanobisDistanceSq (sscpvec[j] -> data, p, thy data[i], t -> centroid, buf.peek());
double pt = log_apriori[j] - 0.5 * (ln_determinant[j] + md);
if (pt > pt_max) {
pt_max = pt;
}
log_p[j] = pt;
}
for (long j = 1; j <= g; j++) {
norm += (log_p[j] = exp (log_p[j] - pt_max));
}
for (long j = 1; j <= g; j++) {
his data[i][j] = log_p[j] / norm;
}
}
return him.transfer();
} catch (MelderError) {
Melder_throw (U"ClassificationTable from Discriminant & TableOfReal not created.");
}
}
//-----------------------------------------------------------------------------
void init( int argc, char* argv[] ) {
//quit = false;
quit = 0;
//quit.store( 0, std::memory_order_seq_cst );
//quit.store( 0, std::memory_order_relaxed );
actual_timer_events = 0;
caught_timer_events = 0;
// * set variables from constants *
cpu = DEFAULT_CPU;
// * install SIGTERM signal handler *
struct sigaction action;
memset( &action, 0, sizeof(struct sigaction) );
action.sa_handler = term_sighandler;
sigaction( SIGTERM, &action, NULL );
// * open log *
#ifdef DO_LOGGING
info = log_p( new log_c( "info.log", true ) );
log_c::error_e log_err = info->allocate( LOG_CAPACITY );
if( log_err != log_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling log_c::allocate(...).\nExiting\n" );
printf( spstr );
exit( 1 );
}
#endif
// * get the process identifier *
coordinator_pid = getpid( );
sprintf( spstr, "coordinator pid: %d\n", coordinator_pid );
if( info ) info->write( spstr );
printf( "%s", spstr );
// * bind the process to a single cpu *
if( cpu_c::bind( coordinator_pid, cpu ) != cpu_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling cpu_c::_bind(coordinator_pid,DEFAULT_CPU).\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
exit( 1 );
}
// * set the process to be scheduled with realtime policy and max priority *
if( scheduler_c::set_realtime_policy( coordinator_pid, coordinator_os_priority ) != scheduler_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling schedule_set_realtime_max(coordinator_pid,coordinator_priority).\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
exit( 1 );
}
sprintf( spstr, "coordinator os priority: %d\n", coordinator_os_priority );
if( info ) info->write( spstr );
printf( "%s", spstr );
// * determine if the OS supports high resolution timers *
struct timespec res;
clock_getres( CLOCK_MONOTONIC, &res );
double clock_res = timespec_to_real( res );
sprintf( spstr, "clock resolution (secs): %10.9f\n", clock_res );
if( info ) info->write( spstr );
printf( "%s", spstr );
if( res.tv_sec != 0 && res.tv_nsec != 1 ) {
sprintf( spstr, "(coordinator.cpp) init() failed. The host operating system does not support high resolution timers. Consult your system documentation on enabling this feature.\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
exit( 1 );
}
// * get the cpu speed *
if( cpu_c::get_speed( cpu_speed, cpu ) != cpu_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling cpu_c::get_frequency(cpu_speed,cpu)\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
exit( 1 );
}
sprintf( spstr, "cpu speed(hz): %llu\n", cpu_speed );
if( info ) info->write( spstr );
printf( "%s", spstr );
// * initialize pipes *
if( !init_pipes() ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling init_pipes()\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
exit( 1 );
}
// * initialize shared memory *
msgbuffer = client_message_buffer_c( CLIENT_MESSAGE_BUFFER_NAME, CLIENT_MESSAGE_BUFFER_MUTEX_NAME, true );
if( msgbuffer.open( ) != client_message_buffer_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling actuator_msg_buffer_c.open(...,true)\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
close_pipes( );
exit( 1 );
}
// * initialize block detection, i.e. wakeup *
wakeup_os_priority = coordinator_os_priority - 2;
wakeup_enabled.store( 1 );
// set up the wakeup overhead to minimize what changes inside
wakeup_note.source = notification_t::WAKEUP;
wakeup_write_fd = FD_WAKEUP_TO_COORDINATOR_WRITE_CHANNEL;
if( info ) info->flush();
// lock into memory to prevent pagefaults. do last before main loop
mlockall( MCL_CURRENT );
/*
if( scheduler_c::create( wakeup_thread, wakeup_os_priority, wakeup ) != scheduler_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling wakeup_thread.create(...,wakeup)\nExiting\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
msgbuffer.close( );
close_pipes( );
exit( 1 );
}
*/
/*
if( scheduler_c::get_priority( wakeup_thread, wakeup_os_priority ) != scheduler_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling get_priority(wakeup_thread,...)\nExiting\n" );
info.write( spstr );
msgbuffer.close( );
close_pipes( );
// kill the wakeup thread?
exit(1);
}
*/
sprintf( spstr, "wakeup thread created... priority:%d\n", wakeup_os_priority );
if( info ) info->write( spstr );
printf( "%s", spstr );
// * initialize clients *
sprintf( spstr, "initializing clients\n" );
if( info ) info->write( spstr );
printf( "%s", spstr );
scheduler_c::error_e schedulererr;
double controller_floor_seconds = 0.001;
double controller_ceiling_seconds = 0.01;
double planner_floor_seconds = 0.01;
double planner_ceiling_seconds = 0.5;
std::string controller_seed = "1";
char numbuf[16];
sprintf(numbuf,"%llu",seconds_to_cycles(controller_floor_seconds, cpu_speed));
std::string controller_floor = numbuf;
sprintf(numbuf,"%llu",seconds_to_cycles(controller_ceiling_seconds, cpu_speed));
std::string controller_ceiling = numbuf;
sprintf(numbuf,"%llu",seconds_to_cycles(planner_floor_seconds, cpu_speed));
std::string planner_floor = numbuf;
sprintf(numbuf,"%llu",seconds_to_cycles(planner_ceiling_seconds, cpu_speed));
std::string planner_ceiling = numbuf;
CLIENT_OS_MAX_PRIORITY = coordinator_os_priority - 1;
CLIENT_OS_MIN_PRIORITY = coordinator_os_priority - 3;
int client_os_priority_step = CLIENT_OS_MAX_PRIORITY - CLIENT_OS_MIN_PRIORITY;
log_c* pinfo = NULL;
if( info ) pinfo = info.get();
/*
// - create a processor -
processor = boost::shared_ptr<processor_c>( new processor_c( "processor_0" ) );
timesink_p processor_timesink = boost::dynamic_pointer_cast<timesink_c>( processor );
processor_thread = boost::dynamic_pointer_cast<thread_c>( processor );
processor->info = pinfo;
// - create dynamics process -
dynamics = boost::shared_ptr<dynamics_c>( new dynamics_c( "dynamics", processor_timesink, cpu_speed ) );
dynamics->info = pinfo;
processor->run_queue.push( dynamics );
// - create prey processes -
prey = boost::shared_ptr<timesink_c>( new timesink_c( "prey", processor_timesink, scheduler_c::PROGRESS) );
prey->info = pinfo;
//prey->priority = 0;
processor->run_queue.push( prey );
prey_thread = boost::dynamic_pointer_cast<thread_c>(prey);
*/
prey_controller = boost::shared_ptr<osthread_c>( new osthread_c( "prey_controller", prey, &select, &read_notifications, &process_notifications, pinfo ) );
prey_controller->_max_os_priority = CLIENT_OS_MAX_PRIORITY;
prey_controller->_min_os_priority = CLIENT_OS_MIN_PRIORITY;
prey_controller->_os_priority_step = client_os_priority_step;
prey_controller->_cpu_speed = cpu_speed;
prey_controller->priority = 0;
prey_controller->desired_period = seconds_to_cycles( controller_ceiling_seconds, cpu_speed );
//prey->run_queue.push( prey_controller );
schedulererr = scheduler_c::create( prey_controller, 3, DEFAULT_CPU, "client-process", "prey-controller", controller_seed.c_str(), controller_floor.c_str(), controller_ceiling.c_str() );
//prey_controller->block();
sprintf( spstr, "created prey-controller: pid[%d], _os_priority[%d], _os_priority_step[%d], _max_os_priority[%d], _min_os_priority[%d]\n", prey_controller->pid, prey_controller->_os_priority, prey_controller->_os_priority_step, prey_controller->_max_os_priority, prey_controller->_min_os_priority );
if( info ) info->write( spstr );
/*
// - create predator processes -
pred = boost::shared_ptr<timesink_c>( new timesink_c( "pred", processor_timesink, scheduler_c::PROGRESS) );
pred->info = pinfo;
//prey->priority = 0;
processor->run_queue.push( pred );
pred_thread = boost::dynamic_pointer_cast<thread_c>(pred);
pred_controller = boost::shared_ptr<osthread_c>( new osthread_c( "pred_controller", pred, &select, &read_notifications, &process_notifications, pinfo ) );
pred_controller->_max_os_priority = CLIENT_OS_MAX_PRIORITY;
pred_controller->_min_os_priority = CLIENT_OS_MIN_PRIORITY;
pred_controller->_os_priority_step = client_os_priority_step;
pred_controller->_cpu_speed = cpu_speed;
pred_controller->priority = 0;
pred_controller->desired_period = seconds_to_cycles( controller_ceiling_seconds, cpu_speed );
pred->run_queue.push( pred_controller );
schedulererr = scheduler_c::create( pred_controller, 3, DEFAULT_CPU, "client-process", "pred-controller", controller_seed.c_str(), controller_floor.c_str(), controller_ceiling.c_str() );
//prey_controller->block();
sprintf( spstr, "created pred-controller: pid[%d], _os_priority[%d], _os_priority_step[%d], _max_os_priority[%d], _min_os_priority[%d]\n", pred_controller->pid, pred_controller->_os_priority, pred_controller->_os_priority_step, pred_controller->_max_os_priority, pred_controller->_min_os_priority );
if( info ) info->write( spstr );
*/
// * initialize timer *
// set up the timer handler overhead to minimize what changes inside
timer_note.source = notification_t::TIMER;
timer_write_fd = FD_TIMER_TO_COORDINATOR_WRITE_CHANNEL;
// create the timer
if( timer.create( timer_sighandler, RTTIMER_SIGNAL ) != timer_c::ERROR_NONE ) {
sprintf( spstr, "(coordinator.cpp) init() failed calling timer.create(timer_sighandler,RTTIMER_SIGNAL)\nExiting\n" );
pthread_cancel( wakeup_thread );
int status;
if( pred_controller ) {
kill( pred_controller->pid, SIGTERM );
waitpid( pred_controller->pid, &status, 0 );
}
if( prey_controller ) {
kill( prey_controller->pid, SIGTERM );
waitpid( prey_controller->pid, &status, 0 );
}
if( info ) info->write( spstr );
printf( "%s", spstr );
msgbuffer.close( );
close_pipes( );
exit( 1 );
}
// * initialize other resources *
//clients.push_back( prey_controller );
//clients.push_back( pred_controller );
//clients.push_back( pred_planner );
}
