static void *
listen_thread(void *data)
{
long length;
DNS_query *query;
while (running) {
if (queueIsEmpty(&queries_unused)) {
if ((query = malloc(sizeof (*query))) == NULL) {
syslog(LOG_ERR, "out of memory");
sleep(2);
continue;
}
} else {
query = queueDequeue(&queries_unused)->data;
}
do {
length = socketReadFrom(service, (unsigned char *) &query->packet.header, UDP_PACKET_SIZE, &query->client);
if (0 < debug && 0 < length) {
char *from = socketAddressToString(&query->client);
syslog(LOG_DEBUG, "from=%s length=%ld", from, length);
free(from);
}
} while (length <= 0);
query->node.data = query;
query->packet.length = length;
queueEnqueue(&queries_waiting, &query->node);
}
return NULL;
}
void *
consume(void *arg)
{
list *l = (list *)arg;
while(1) {
char buf[32];
int success;
success = queueDequeue(l, &buf);
if(!success) {
break;
}
}
return 0;
}
static void *
answer_thread(void *data)
{
DNS_query *query;
while (running) {
query = queueDequeue(&queries_waiting)->data;
find_answer(query);
socketWriteTo(service, (unsigned char *) &query->packet.header, query->packet.length, &query->client);
queueEnqueue(&queries_unused, &query->node);
}
return NULL;
}
int main()
{
int i = 0;
//int *queuedata;
void * dataout;
//void * dummyqueuezero = &dataqueue[1];
//void * dummyqueueone = &dataqueue[1];
queueInit(&queueTest, QUEUESIZE-1);
while( queueEnqueue(&queueTest, &dataqueue[i]) == noError)
{
i++;
}
while( queueDequeue(&queueTest, &dataout) == noError)
{
//queuedata = dataout;
//blaat = *(int *) dataout;
printf("dequeued element %d\n", *((int *) dataout));
}
return 0;
}
// to_goalがtrueのとき、ゴールまでの経路を探索する
// to_goalがfalseのとき、未探索の地点までの経路を探索する
enum action_t agent_explore(void) {
queueInit();
for(int y = 0; y < size; ++y) {
for(int x = 0; x < size; ++x) {
if(check_goal(y, x)) {
d[y][x] = 0;
inQueue[y][x] = true;
queueEnqueue(y, x);
}
else {
d[y][x] = UCHAR_MAX - 1;
inQueue[y][x] = false;
}
}
}
while(queueEmpty() == false) {
int vy, vx;
queueDequeue(&vy, &vx);
inQueue[vy][vx] = false;
for (int k = 0; k < 4; k++) {
if (wall[vy][vx][k] == false) {
int ny = vy + dy[k];
int nx = vx + dx[k];
if(d[ny][nx] > d[vy][vx] + 1) {
d[ny][nx] = d[vy][vx] + 1;
if(inQueue[ny][nx] == false) {
inQueue[ny][nx] = true;
queueEnqueue(ny, nx);
}
}
}
}
}
if(wall[curY][curX][(dir + 0)%4] == false &&
d[curY + dy[(dir + 0)%4]][curX + dx[(dir + 0)%4]] + 1 == d[curY][curX]) {
// GoForward
curY += dy[dir];
curX += dx[dir];
return GO_FORWARD;
}
if(wall[curY][curX][(dir + 1)%4] == false &&
d[curY + dy[(dir + 1)%4]][curX + dx[(dir + 1)%4]] + 1 == d[curY][curX]) {
// TurnLeft
dir = (dir + 1) % 4;
return TURN_LEFT;
}
if(wall[curY][curX][(dir + 3)%4] == false &&
d[curY + dy[(dir + 3)%4]][curX + dx[(dir + 3)%4]] + 1 == d[curY][curX]) {
// TurnRight
dir = (dir + 3) % 4;
return TURN_RIGHT;
}
if(wall[curY][curX][(dir + 2)%4] == false &&
d[curY + dy[(dir + 2)%4]][curX + dx[(dir + 2)%4]] + 1 == d[curY][curX]) {
// TurnLeft
dir = (dir + 1) % 4;
return TURN_LEFT;
}
return NO_OPERATION;
}