void Compute::resetArrays() {
int indexX = thisIndex.x;
int indexY = thisIndex.y;
int indexZ = thisIndex.z;
float tmp;
for(int i=indexZ*subBlockDimXz; i<(indexZ+1)*subBlockDimXz; i++)
for(int j=0; j<blockDimY; j++) {
tmp = (float)drand48();
while(tmp > MAX_LIMIT || tmp < (-1)*MAX_LIMIT)
tmp = (float)drand48();
A[i*blockDimY + j] = tmp;
}
for(int j=indexX*subBlockDimYx; j<(indexX+1)*subBlockDimYx; j++)
for(int k=0; k<blockDimZ; k++) {
tmp = (float)drand48();
while(tmp > MAX_LIMIT || tmp < (-1)*MAX_LIMIT)
tmp = (float)drand48();
B[j*blockDimZ + k] = tmp;
}
for(int i=0; i<blockDimX; i++)
for(int k=0; k<blockDimZ; k++) {
C[i*blockDimZ + k] = 0.0;
#if USE_CKDIRECT
tmpC[i*blockDimZ + k] = 0.0;
#endif
}
sendA();
sendB();
}
void Compute::beginCopying() {
sendA();
sendB();
}
static void motor_thread_main()
{
motor_init();
while (1) {
pthread_mutex_lock(&task_mutex);
if (mutex_flag == 1) {
// sendSTOP();
// mylogfd (-1, "%s %d\n", "----", task_segNum);
if (task_segList != NULL) {
free(task_segList);
task_segList = NULL;
}
sliceTask(current);
mylogfd (1, "%s %d\n", "New Task", task_segNum);
mutex_flag = 0;
}
pthread_mutex_unlock(&task_mutex);
//mylogfd (1, "[moto] %d %d\n", task_segIdx, task_segNum);
if (task_segIdx >= task_segNum) {
mylogfd(MOTOFD,"[moto]main:job done\n");
pthread_mutex_lock(&task_mutex);
job_done = 1;
job_over = 1;
mylogfd (1, "[moto] job done\n");
pthread_mutex_unlock(&task_mutex);
// sendSTOP();
//sendAA(preleft,preright,0);
pthread_mutex_lock(&stop_mutex);
} else {
//mylogfd(1,"x");
if (task_segIdx == 0) {
if (((fabs(preleft - task_segList[task_segIdx].lspeed) > MINV)
||(fabs(preright - task_segList[task_segIdx].rspeed) > MINV))
&&(fabs(preleft > 10))) {
preleft = preleft/2;
preright = preright/2;
sendAA(preleft,preright,0);
usleep(1000000 * 0.1);
continue;
}
}
//mylogfd(-1,"[Control]/motor/main:deal with the task_seg\n");
if (task_segList[task_segIdx].type == TASK_ROTA) {
if (task_segList[task_segIdx].dur_time == 0) {
mylogfd(1,"time = 0\n");
task_segIdx ++;
continue;
}
sendA(task_segList[task_segIdx].lspeed,
task_segList[task_segIdx].rspeed,0,1);
usleep(1000000 * task_segList[task_segIdx].dur_time);
} else if (task_segList[task_segIdx].type == TASK_STOP) {
sendSTOP();
} else if (task_segList[task_segIdx].type == TASK_WITH_BALL) {
sendAA(task_segList[task_segIdx].lspeed,
task_segList[task_segIdx].rspeed,0);
usleep(1000000 * task_segList[task_segIdx].dur_time);
} else if (task_segList[task_segIdx].type == TASK_RUN) {
sendAA(task_segList[task_segIdx].lspeed+left_flag,
task_segList[task_segIdx].rspeed+right_flag,0);
usleep(1000000 * task_segList[task_segIdx].dur_time);
} else if (task_segList[task_segIdx].type == TASK_CATCH_BALL) {
sendAA(task_segList[task_segIdx].lspeed,
task_segList[task_segIdx].rspeed,0);
usleep(1000000 * task_segList[task_segIdx].dur_time);
}
preleft = task_segList[task_segIdx].lspeed;
preright = task_segList[task_segIdx].rspeed;
task_segIdx++;
}
}
}